diff --git a/blenderobj_eval/target/scene_000005__traj000__backward/caption.txt b/blenderobj_eval/target/scene_000005__traj000__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..8077c4cc6c9918eac588193606301a77d35086d9 --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj000__backward/caption.txt @@ -0,0 +1 @@ +In a modern living room with light wooden floors and large windows overlooking a cityscape, a round glass coffee table sits centrally, surrounded by a beige sofa and a floor lamp. Various household items—including boxes, a red bag, a yellow container, and a small figurine—suddenly float and scatter in midair before falling and settling on the floor and table, creating a chaotic yet visually dynamic scene. 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 reversed, playing backward so the objects rise back up from where they landed. diff --git a/blenderobj_eval/target/scene_000005__traj000__backward/extras/blender_meta.json b/blenderobj_eval/target/scene_000005__traj000__backward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0f26dde456ac957efb4b45dd7ec92c1cd55e0c --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj000__backward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000005", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "backward", + "pattern_params": { + "kind": "time_backward", + "stride": -1, + "cam_start": 0, + "src_frame_range": [ + 0, + 80 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": -1, + "timestamps": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "timestamp_range": [ + 0.0, + 2.666666667 + ], + "scene_time_span_seconds": 2.666666667, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000005__traj000__backward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000005__traj000__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..678842963065d8a73b61c737047b2306a2efde07 --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj000__backward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "backward", + "original_pattern": "backward", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": -1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "timestamps_seconds": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000005__traj000__backward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000005__traj000__backward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj000__backward/extras/traj_caption.txt @@ -0,0 +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. diff --git a/blenderobj_eval/target/scene_000005__traj000__backward/transforms.json b/blenderobj_eval/target/scene_000005__traj000__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5929e0ac101104f99c05796c9aaaf6b3467639ec --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj000__backward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9896224141120911, + -0.034762248396873474, + 0.13942384719848633, + -0.2951933443546295 + ], + [ + -0.14369212090969086, + -0.23941105604171753, + 0.9602266550064087, + -2.4203169345855713 + ], + [ + 1.0598668609418382e-09, + -0.9702959656715393, + -0.24192160367965698, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9914708137512207, + -0.03152936324477196, + 0.12645742297172546, + -0.2770403325557709 + ], + [ + -0.1303287297487259, + -0.23985826969146729, + 0.9620200991630554, + -2.422827959060669 + ], + [ + -1.4398904291113013e-09, + -0.9702959060668945, + -0.24192166328430176, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9931387901306152, + -0.02829073928296566, + 0.11346795409917831, + -0.2588551342487335 + ], + [ + -0.11694162338972092, + -0.2402619868516922, + 0.9636383652687073, + -2.425093650817871 + ], + [ + 2.7765967303139405e-10, + -0.970295786857605, + -0.24192187190055847, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.994625985622406, + -0.02504696324467659, + 0.10045785456895828, + -0.24064099788665771 + ], + [ + -0.10353323817253113, + -0.24062182009220123, + 0.9650813341140747, + -2.4271140098571777 + ], + [ + -3.879530474648618e-09, + -0.9702957272529602, + -0.24192190170288086, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9959321618080139, + -0.02179861068725586, + 0.0874294713139534, + -0.22240126132965088 + ], + [ + -0.09010600298643112, + -0.24093779921531677, + 0.9663488268852234, + -2.4288883209228516 + ], + [ + 1.1387687237629507e-08, + -0.970295786857605, + -0.24192190170288086, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9970570802688599, + -0.01854630932211876, + 0.07438520342111588, + -0.20413926243782043 + ], + [ + -0.07666239887475967, + -0.24120986461639404, + 0.9674403667449951, + -2.4304163455963135 + ], + [ + 4.631485417405656e-09, + -0.9702958464622498, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980005621910095, + -0.015290618874132633, + 0.06132737547159195, + -0.18585830926895142 + ], + [ + -0.063204824924469, + -0.24143807590007782, + 0.9683557748794556, + -2.4316980838775635 + ], + [ + 9.874555395583684e-09, + -0.9702958464622498, + -0.2419217824935913, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987624287605286, + -0.012032168917357922, + 0.048258379101753235, + -0.16756172478199005 + ], + [ + -0.049735743552446365, + -0.24162253737449646, + 0.9690949320793152, + -2.4327328205108643 + ], + [ + -2.0083934515469082e-10, + -0.9702957272529602, + -0.24192193150520325, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993425011634827, + -0.008771508932113647, + 0.03518060967326164, + -0.14925284683704376 + ], + [ + -0.03625761345028877, + -0.24176275730133057, + 0.969657838344574, + -2.433520793914795 + ], + [ + 2.4316644253730146e-09, + -0.9702958464622498, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997406601905823, + -0.0055092619732022285, + 0.022096434608101845, + -0.13093499839305878 + ], + [ + -0.022772887721657753, + -0.24185913801193237, + 0.9700441360473633, + -2.4340617656707764 + ], + [ + -1.357189804984671e-09, + -0.970295786857605, + -0.24192187190055847, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999569058418274, + -0.0022460068576037884, + 0.009008239023387432, + -0.11261153221130371 + ], + [ + -0.009284013882279396, + -0.2419113665819168, + 0.9702539443969727, + -2.4343554973602295 + ], + [ + -1.4738490428101159e-09, + -0.970295786857605, + -0.2419217824935913, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999911785125732, + 0.0010176560608670115, + -0.004081597551703453, + -0.0942857638001442 + ], + [ + 0.004206550307571888, + -0.24191971123218536, + 0.9702872037887573, + -2.4344019889831543 + ], + [ + -5.945942627150202e-10, + -0.970295786857605, + -0.24192185699939728, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999843418598175, + 0.004281132016330957, + -0.01717069186270237, + -0.07596103847026825 + ], + [ + 0.017696348950266838, + -0.24188373982906342, + 0.9701439738273621, + -2.434201240539551 + ], + [ + 8.990061473035382e-10, + -0.9702959060668945, + -0.24192163348197937, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995136857032776, + 0.00754382973536849, + -0.030256658792495728, + -0.0576406829059124 + ], + [ + 0.031182924285531044, + -0.2418040633201599, + 0.969823956489563, + -2.433753490447998 + ], + [ + 1.7070401758800813e-09, + -0.9702958464622498, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9990020990371704, + 0.010805151425302029, + -0.04333712160587311, + -0.039328042417764664 + ], + [ + 0.04466382414102554, + -0.24168036878108978, + 0.9693275094032288, + -2.433058500289917 + ], + [ + -3.2479394729278965e-09, + -0.970295786857605, + -0.2419217973947525, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9983086585998535, + 0.014064508490264416, + -0.056409694254398346, + -0.02102643996477127 + ], + [ + 0.05813659727573395, + -0.24151258170604706, + 0.9686546921730042, + -2.4321165084838867 + ], + [ + -1.4103020973266212e-09, + -0.970295786857605, + -0.24192175269126892, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974334836006165, + 0.01732132025063038, + -0.06947200745344162, + -0.0027392124757170677 + ], + [ + 0.07159879803657532, + -0.24130071699619293, + 0.9678056836128235, + -2.4309277534484863 + ], + [ + 1.296108997905776e-08, + -0.9702959656715393, + -0.24192161858081818, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9963768720626831, + 0.020574958994984627, + -0.08252166956663132, + 0.015530314296483994 + ], + [ + 0.08504795283079147, + -0.241045281291008, + 0.9667803049087524, + -2.429492235183716 + ], + [ + -3.0928810623720437e-09, + -0.9702958464622498, + -0.2419217973947525, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9951388835906982, + 0.023824861273169518, + -0.09555631130933762, + 0.03377881646156311 + ], + [ + 0.09848164021968842, + -0.24074575304985046, + 0.9655791521072388, + -2.4278106689453125 + ], + [ + -2.271313137569564e-09, + -0.9702958464622498, + -0.24192176759243011, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.993719756603241, + 0.02707042172551155, + -0.1085735559463501, + 0.05200297012925148 + ], + [ + 0.11189737915992737, + -0.24040250480175018, + 0.9642020463943481, + -2.4258828163146973 + ], + [ + -1.5591128388336983e-10, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9921197891235352, + 0.030311085283756256, + -0.12157104909420013, + 0.07019945979118347 + ], + [ + 0.1252927929162979, + -0.24001546204090118, + 0.9626496434211731, + -2.4237093925476074 + ], + [ + 1.8473542695573997e-08, + -0.970295786857605, + -0.24192185699939728, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9903392791748047, + 0.033546172082424164, + -0.1345464438199997, + 0.08836497366428375 + ], + [ + 0.13866539299488068, + -0.23958458006381989, + 0.960922122001648, + -2.421290874481201 + ], + [ + -1.2145666694607371e-08, + -0.9702958464622498, + -0.24192172288894653, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9883785247802734, + 0.03677520900964737, + -0.1474972814321518, + 0.10649620741605759 + ], + [ + 0.15201272070407867, + -0.23911042511463165, + 0.9590194821357727, + -2.4186272621154785 + ], + [ + 3.018339356231081e-09, + -0.9702957272529602, + -0.24192190170288086, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9862378835678101, + 0.03999753296375275, + -0.16042135655879974, + 0.12458985298871994 + ], + [ + 0.16533243656158447, + -0.23859235644340515, + 0.956942617893219, + -2.4157192707061768 + ], + [ + 8.037487120304831e-09, + -0.9702959060668945, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.983917772769928, + 0.04321255162358284, + -0.17331619560718536, + 0.14264263212680817 + ], + [ + 0.1786220222711563, + -0.23803111910820007, + 0.9546912908554077, + -2.412567615509033 + ], + [ + -1.1998256610468161e-08, + -0.970295786857605, + -0.24192175269126892, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9814185500144958, + 0.046419765800237656, + -0.18617947399616241, + 0.16065125167369843 + ], + [ + 0.19187910854816437, + -0.23742668330669403, + 0.9522662162780762, + -2.409172773361206 + ], + [ + -4.967675160116869e-10, + -0.9702957272529602, + -0.24192193150520325, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9787407517433167, + 0.04961846396327019, + -0.19900889694690704, + 0.17861242592334747 + ], + [ + 0.20510128140449524, + -0.23677878081798553, + 0.9496679902076721, + -2.4055352210998535 + ], + [ + -2.50697134163147e-08, + -0.970295786857605, + -0.24192185699939728, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9758847951889038, + 0.05280814319849014, + -0.21180211007595062, + 0.19652289152145386 + ], + [ + 0.21828612685203552, + -0.23608757555484772, + 0.9468970894813538, + -2.401655673980713 + ], + [ + -1.3319910507902932e-08, + -0.9702959656715393, + -0.2419215589761734, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9728512763977051, + 0.05598825216293335, + -0.22455675899982452, + 0.21437940001487732 + ], + [ + 0.2314312607049942, + -0.23535382747650146, + 0.9439536333084106, + -2.3975348472595215 + ], + [ + -1.773876334709712e-08, + -0.9702959060668945, + -0.24192169308662415, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9696406722068787, + 0.05915815010666847, + -0.2372705638408661, + 0.2321786880493164 + ], + [ + 0.24453426897525787, + -0.23457711935043335, + 0.9408383369445801, + -2.3931734561920166 + ], + [ + -2.4656273467371648e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9662535786628723, + 0.06231730431318283, + -0.2499411255121231, + 0.24991752207279205 + ], + [ + 0.25759273767471313, + -0.23375782370567322, + 0.9375517964363098, + -2.3885724544525146 + ], + [ + -4.38454694773327e-09, + -0.970295786857605, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9626906514167786, + 0.06546513736248016, + -0.2625662684440613, + 0.2675926685333252 + ], + [ + 0.27060437202453613, + -0.23289582133293152, + 0.9340947866439819, + -2.383732557296753 + ], + [ + 1.660870196928954e-08, + -0.9702959060668945, + -0.24192176759243011, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9589524865150452, + 0.06860098242759705, + -0.275143563747406, + 0.28520092368125916 + ], + [ + 0.2835666835308075, + -0.23199166357517242, + 0.9304674863815308, + -2.3786544799804688 + ], + [ + -2.342553706569106e-08, + -0.9702957272529602, + -0.24192193150520325, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9550398588180542, + 0.07172437757253647, + -0.2876707911491394, + 0.30273908376693726 + ], + [ + 0.29647743701934814, + -0.2310449630022049, + 0.9266712069511414, + -2.3733396530151367 + ], + [ + 3.4095073431217315e-09, + -0.970295786857605, + -0.2419217973947525, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9509533643722534, + 0.07483470439910889, + -0.3001457452774048, + 0.3202039301395416 + ], + [ + 0.30933427810668945, + -0.2300562560558319, + 0.922706127166748, + -2.367788314819336 + ], + [ + -1.311510899881796e-10, + -0.9702958464622498, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9466938376426697, + 0.07793144881725311, + -0.31256598234176636, + 0.33759230375289917 + ], + [ + 0.32213476300239563, + -0.22902581095695496, + 0.9185731410980225, + -2.36200213432312 + ], + [ + 1.678736083476906e-08, + -0.9702958464622498, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9422619938850403, + 0.0810139924287796, + -0.3249293267726898, + 0.3549010157585144 + ], + [ + 0.3348765969276428, + -0.2279537320137024, + 0.9142728447914124, + -2.3559818267822266 + ], + [ + 2.4525157016341836e-08, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9376586675643921, + 0.0840817466378212, + -0.33723360300064087, + 0.372126966714859 + ], + [ + 0.34755754470825195, + -0.22684000432491302, + 0.9098063111305237, + -2.349728584289551 + ], + [ + -6.6872090087599645e-09, + -0.9702958464622498, + -0.24192172288894653, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.932884693145752, + 0.08713426440954208, + -0.34947648644447327, + 0.3892669975757599 + ], + [ + 0.360175222158432, + -0.22568519413471222, + 0.9051741361618042, + -2.3432435989379883 + ], + [ + -2.2832129076277852e-08, + -0.9702958464622498, + -0.24192184209823608, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9279409050941467, + 0.09017091989517212, + -0.36165571212768555, + 0.40631794929504395 + ], + [ + 0.37272730469703674, + -0.22448915243148804, + 0.9003772139549255, + -2.3365280628204346 + ], + [ + 2.0172478798485827e-08, + -0.9702958464622498, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9228282570838928, + 0.09319115430116653, + -0.3737691640853882, + 0.42327678203582764 + ], + [ + 0.38521161675453186, + -0.2232523411512375, + 0.8954163789749146, + -2.329582929611206 + ], + [ + 2.9546420421411312e-08, + -0.9702957272529602, + -0.24192188680171967, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9175477027893066, + 0.09619433432817459, + -0.3858145773410797, + 0.44014036655426025 + ], + [ + 0.39762574434280396, + -0.22197480499744415, + 0.8902926445007324, + -2.3224096298217773 + ], + [ + -3.561894246217889e-08, + -0.970295786857605, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.912100076675415, + 0.09918013215065002, + -0.3977898359298706, + 0.45690566301345825 + ], + [ + 0.4099676311016083, + -0.22065681219100952, + 0.8850069642066956, + -2.315009593963623 + ], + [ + 1.4772947309893425e-08, + -0.9702959060668945, + -0.24192172288894653, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9064865112304688, + 0.10214778780937195, + -0.409692645072937, + 0.4735695719718933 + ], + [ + 0.42223480343818665, + -0.21929876506328583, + 0.8795601725578308, + -2.3073840141296387 + ], + [ + -3.594926312189273e-08, + -0.9702959060668945, + -0.24192169308662415, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9007079601287842, + 0.10509692132472992, + -0.4215208888053894, + 0.49012911319732666 + ], + [ + 0.43442514538764954, + -0.21790079772472382, + 0.8739532232284546, + -2.299534320831299 + ], + [ + -3.032109674450112e-09, + -0.9702959060668945, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8947654366493225, + 0.10802693665027618, + -0.4332723915576935, + 0.5065812468528748 + ], + [ + 0.44653642177581787, + -0.21646328270435333, + 0.8681871294975281, + -2.291461944580078 + ], + [ + 2.7057112106376735e-08, + -0.9702957272529602, + -0.24192184209823608, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8886601328849792, + 0.11093726009130478, + -0.4449451267719269, + 0.5229229927062988 + ], + [ + 0.4585665166378021, + -0.214986190199852, + 0.8622632622718811, + -2.283168315887451 + ], + [ + 1.1052151194235194e-08, + -0.9702958464622498, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8823930621147156, + 0.11382739990949631, + -0.45653679966926575, + 0.5391513705253601 + ], + [ + 0.4705130457878113, + -0.21347014605998993, + 0.8561822772026062, + -2.2746551036834717 + ], + [ + -1.612571942644081e-08, + -0.970295786857605, + -0.24192184209823608, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.875965416431427, + 0.1166967824101448, + -0.4680453836917877, + 0.5552634596824646 + ], + [ + 0.4823739528656006, + -0.21191513538360596, + 0.8499455451965332, + -2.2659237384796143 + ], + [ + -2.0729299166077908e-08, + -0.970295786857605, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8693783283233643, + 0.11954494565725327, + -0.47946882247924805, + 0.5712562203407288 + ], + [ + 0.49414709210395813, + -0.21032169461250305, + 0.8435541987419128, + -2.2569756507873535 + ], + [ + -1.147301418313873e-07, + -0.9702958464622498, + -0.24192188680171967, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8626329898834229, + 0.12237139046192169, + -0.4908050298690796, + 0.5871268510818481 + ], + [ + 0.5058303475379944, + -0.20868957042694092, + 0.8370093107223511, + -2.2478127479553223 + ], + [ + 1.734975896283686e-08, + -0.9702959060668945, + -0.24192164838314056, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8557307124137878, + 0.12517555058002472, + -0.5020518898963928, + 0.6028724312782288 + ], + [ + 0.5174214839935303, + -0.2070198357105255, + 0.8303119540214539, + -2.238436698913574 + ], + [ + 2.26169589723213e-08, + -0.9702958464622498, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8486726880073547, + 0.12795697152614594, + -0.5132072567939758, + 0.6184900999069214 + ], + [ + 0.5289183855056763, + -0.2053123563528061, + 0.8234636187553406, + -2.228848934173584 + ], + [ + 5.5796288478404676e-08, + -0.9702958464622498, + -0.24192176759243011, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8414601683616638, + 0.130715012550354, + -0.5242693424224854, + 0.6339769959449768 + ], + [ + 0.5403191447257996, + -0.2035675346851349, + 0.8164653182029724, + -2.2190513610839844 + ], + [ + 4.102065531697008e-08, + -0.970295786857605, + -0.2419217824935913, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8340945243835449, + 0.13344928622245789, + -0.5352360606193542, + 0.6493303179740906 + ], + [ + 0.5516215562820435, + -0.2017856389284134, + 0.8093184232711792, + -2.209045886993408 + ], + [ + -2.0448844395559718e-08, + -0.970295786857605, + -0.2419217824935913, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8265771269798279, + 0.13615933060646057, + -0.5461052656173706, + 0.6645472645759583 + ], + [ + 0.5628235340118408, + -0.19996702671051025, + 0.8020243048667908, + -2.19883394241333 + ], + [ + -1.6189147800105275e-09, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.818909227848053, + 0.13884451985359192, + -0.5568751096725464, + 0.6796250343322754 + ], + [ + 0.5739230513572693, + -0.19811201095581055, + 0.7945841550827026, + -2.188417911529541 + ], + [ + 2.126526510437543e-09, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8110923767089844, + 0.1415044665336609, + -0.5675435662269592, + 0.6945609450340271 + ], + [ + 0.5849181413650513, + -0.19622093439102173, + 0.786999523639679, + -2.1777992248535156 + ], + [ + -3.0044414955909815e-08, + -0.9702958464622498, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8031277656555176, + 0.14413873851299286, + -0.5781087875366211, + 0.7093522548675537 + ], + [ + 0.5958068370819092, + -0.19429418444633484, + 0.7792714834213257, + -2.166980028152466 + ], + [ + 2.957029821004653e-08, + -0.9702957272529602, + -0.24192190170288086, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7950171232223511, + 0.1467466503381729, + -0.5885688066482544, + 0.7239962220191956 + ], + [ + 0.6065870523452759, + -0.1923319697380066, + 0.7714017629623413, + -2.1559624671936035 + ], + [ + -2.9705525150802714e-08, + -0.9702958464622498, + -0.2419217824935913, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7867617607116699, + 0.14932796359062195, + -0.5989216566085815, + 0.7384902834892273 + ], + [ + 0.6172568202018738, + -0.19033467769622803, + 0.7633917331695557, + -2.1447482109069824 + ], + [ + 7.661591894247977e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7783631682395935, + 0.15188196301460266, + -0.609165608882904, + 0.7528316974639893 + ], + [ + 0.6278143525123596, + -0.18830303847789764, + 0.7552425265312195, + -2.1333394050598145 + ], + [ + -7.583395955634842e-08, + -0.9702958464622498, + -0.2419217824935913, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.769822895526886, + 0.15440842509269714, + -0.6192986369132996, + 0.7670179009437561 + ], + [ + 0.638257622718811, + -0.1862369179725647, + 0.7469559907913208, + -2.1217381954193115 + ], + [ + -5.2840618991467636e-08, + -0.9702958464622498, + -0.24192175269126892, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7611425518989563, + 0.15690679848194122, + -0.6293189525604248, + 0.7810463309288025 + ], + [ + 0.6485847234725952, + -0.18413688242435455, + 0.7385335564613342, + -2.1099467277526855 + ], + [ + -1.2660679615805748e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7523236870765686, + 0.15937654674053192, + -0.6392247080802917, + 0.7949144244194031 + ], + [ + 0.6587936878204346, + -0.18200337886810303, + 0.7299766540527344, + -2.0979671478271484 + ], + [ + 6.872067359608991e-09, + -0.9702959060668945, + -0.24192166328430176, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7433679699897766, + 0.16181731224060059, + -0.6490139961242676, + 0.8086196184158325 + ], + [ + 0.6688826680183411, + -0.1798369139432907, + 0.7212868332862854, + -2.085801362991333 + ], + [ + -5.90034632264036e-10, + -0.970295786857605, + -0.2419217973947525, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7342768907546997, + 0.1642286777496338, + -0.6586854457855225, + 0.822159469127655 + ], + [ + 0.6788501739501953, + -0.17763756215572357, + 0.7124658226966858, + -2.0734519958496094 + ], + [ + -3.245372681703884e-08, + -0.9702958464622498, + -0.24192176759243011, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7250521779060364, + 0.16661010682582855, + -0.6682368516921997, + 0.83553147315979 + ], + [ + 0.6886940002441406, + -0.17540593445301056, + 0.7035150527954102, + -2.0609209537506104 + ], + [ + -2.6918911544271396e-08, + -0.970295786857605, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7156954407691956, + 0.1689613312482834, + -0.6776666641235352, + 0.8487332463264465 + ], + [ + 0.6984125375747681, + -0.17314228415489197, + 0.6944363713264465, + -2.048210859298706 + ], + [ + 7.866299256420461e-08, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7062085270881653, + 0.17128166556358337, + -0.6869732141494751, + 0.861762285232544 + ], + [ + 0.7080039381980896, + -0.17084713280200958, + 0.6852312684059143, + -2.0353236198425293 + ], + [ + 6.076537317767361e-08, + -0.9702958464622498, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.696593165397644, + 0.17357082664966583, + -0.6961545348167419, + 0.8746163249015808 + ], + [ + 0.7174663543701172, + -0.1685212105512619, + 0.6759013533592224, + -2.02226185798645 + ], + [ + -2.544251032077227e-08, + -0.9702956676483154, + -0.24192196130752563, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.686850905418396, + 0.17582841217517853, + -0.7052094340324402, + 0.8872929811477661 + ], + [ + 0.726798415184021, + -0.16616414487361908, + 0.6664486527442932, + -2.0090279579162598 + ], + [ + -1.847166686275159e-08, + -0.9702958464622498, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.676983654499054, + 0.1780540496110916, + -0.7141358256340027, + 0.8997899889945984 + ], + [ + 0.7359981536865234, + -0.16377702355384827, + 0.6568744778633118, + -1.9956241846084595 + ], + [ + 1.403202887217958e-09, + -0.9702959060668945, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6669932007789612, + 0.18024717271327972, + -0.7229322195053101, + 0.9121050238609314 + ], + [ + 0.7450637817382812, + -0.1613602340221405, + 0.6471806764602661, + -1.9820530414581299 + ], + [ + -5.1176606064018415e-08, + -0.970295786857605, + -0.2419218122959137, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6568814516067505, + 0.18240764737129211, + -0.7315970659255981, + 0.9242358207702637 + ], + [ + 0.7539938688278198, + -0.15891391038894653, + 0.6373693346977234, + -1.9683170318603516 + ], + [ + 5.9264980478701546e-08, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6466500163078308, + 0.1845346987247467, + -0.7401288747787476, + 0.9361802339553833 + ], + [ + 0.762786865234375, + -0.15643872320652008, + 0.6274418234825134, + -1.9544185400009155 + ], + [ + -7.469174079233198e-08, + -0.970295786857605, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6363009214401245, + 0.18662844598293304, + -0.748525857925415, + 0.9479361176490784 + ], + [ + 0.7714409828186035, + -0.15393505990505219, + 0.6174001693725586, + -1.940360188484192 + ], + [ + 9.499906639121036e-09, + -0.970295786857605, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6258360147476196, + 0.18868806958198547, + -0.7567867636680603, + 0.9595012068748474 + ], + [ + 0.779954731464386, + -0.1514032483100891, + 0.6072461605072021, + -1.9261445999145508 + ], + [ + 4.667709418981758e-08, + -0.9702958464622498, + -0.24192170798778534, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6152573227882385, + 0.19071346521377563, + -0.7649097442626953, + 0.9708734750747681 + ], + [ + 0.7883264422416687, + -0.14884410798549652, + 0.5969816446304321, + -1.9117742776870728 + ], + [ + 3.8615333153302345e-08, + -0.9702958464622498, + -0.2419218271970749, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6045666337013245, + 0.192703977227211, + -0.772893488407135, + 0.982050895690918 + ], + [ + 0.7965545654296875, + -0.1462578922510147, + 0.5866084694862366, + -1.8972517251968384 + ], + [ + -7.143501790096707e-09, + -0.9702957272529602, + -0.24192185699939728, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5937657952308655, + 0.1946595162153244, + -0.7807368040084839, + 0.99303138256073 + ], + [ + 0.8046379685401917, + -0.1436447948217392, + 0.5761285424232483, + -1.8825798034667969 + ], + [ + 1.851887887482917e-08, + -0.9702958464622498, + -0.24192173779010773, + -0.11616255342960358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000010__traj000__zigzag/caption.txt b/blenderobj_eval/target/scene_000010__traj000__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d09409cc6e3f239a0ff246982ddb299230e233a --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj000__zigzag/caption.txt @@ -0,0 +1 @@ +A chaotic scene in a minimalist, white, industrial-like space with large pipes and black panels, where various colorful objects—including bottles, containers, and a small toy car—are suspended mid-air and gradually fall to the ground, scattering across the floor. 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 plays forward and then rewinds back to where it started. diff --git a/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/blender_meta.json b/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99098641f190d2b7752adc399de43a5e8f8e2da7 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000010", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "zigzag", + "pattern_params": { + "kind": "time_zigzag", + "turn_frame": 40, + "cam_start": 0, + "src_frame_range": [ + 0, + 40 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": null, + "timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "timestamp_range": [ + 0.0, + 1.333333333 + ], + "scene_time_span_seconds": 1.333333333, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..24be7093839419d3e7fe057a6edcb84af544a711 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "zigzag", + "original_pattern": "zigzag", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": null, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 1.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/traj_caption.txt b/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj000__zigzag/extras/traj_caption.txt @@ -0,0 +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. diff --git a/blenderobj_eval/target/scene_000010__traj000__zigzag/transforms.json b/blenderobj_eval/target/scene_000010__traj000__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b1b625c4a0bc68e2e860695bccd2da84af5520 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj000__zigzag/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9288842082023621, + 0.08960070461034775, + -0.3593687117099762, + 2.6711161136627197 + ], + [ + 0.3703702986240387, + -0.22471728920936584, + 0.9012925028800964, + 0.2291906625032425 + ], + [ + 3.3972575863572274e-08, + -0.9702958464622498, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9238032698631287, + 0.09262403100728989, + -0.3714946508407593, + 2.6880924701690674 + ], + [ + 0.3828674554824829, + -0.22348828613758087, + 0.8963623642921448, + 0.23609265685081482 + ], + [ + 5.217032139626099e-09, + -0.9702956676483154, + -0.24192194640636444, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9185541868209839, + 0.09563051164150238, + -0.38355308771133423, + 2.7049741744995117 + ], + [ + 0.39529502391815186, + -0.222218319773674, + 0.8912692666053772, + 0.24322305619716644 + ], + [ + -5.2307580489241445e-09, + -0.970295786857605, + -0.2419218271970749, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9131379723548889, + 0.09861957281827927, + -0.3955416679382324, + 2.7217583656311035 + ], + [ + 0.4076506197452545, + -0.22090815007686615, + 0.8860138058662415, + 0.2505805492401123 + ], + [ + -5.153284021730542e-08, + -0.9702956676483154, + -0.24192194640636444, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9075555205345154, + 0.10159073024988174, + -0.4074583053588867, + 2.7384414672851562 + ], + [ + 0.4199320673942566, + -0.219557523727417, + 0.8805973529815674, + 0.25816377997398376 + ], + [ + -3.8327470974763855e-08, + -0.970295786857605, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.901807963848114, + 0.10454339534044266, + -0.41930079460144043, + 2.7550208568573 + ], + [ + 0.4321371018886566, + -0.21816694736480713, + 0.8750206232070923, + 0.2659713923931122 + ], + [ + -5.421327742283211e-08, + -0.9702959656715393, + -0.24192173779010773, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.8958962559700012, + 0.10747701674699783, + -0.4310668706893921, + 2.771493434906006 + ], + [ + 0.44426339864730835, + -0.2167367786169052, + 0.8692843914031982, + 0.27400195598602295 + ], + [ + -4.1672976180961996e-09, + -0.9702958464622498, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.889821469783783, + 0.11039113253355026, + -0.4427545666694641, + 2.787856340408325 + ], + [ + 0.45630887150764465, + -0.2152673602104187, + 0.8633899688720703, + 0.28225401043891907 + ], + [ + -3.940789383705123e-08, + -0.970295786857605, + -0.24192196130752563, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.88358473777771, + 0.1132851168513298, + -0.45436161756515503, + 2.8041062355041504 + ], + [ + 0.46827128529548645, + -0.21375849843025208, + 0.857338547706604, + 0.29072606563568115 + ], + [ + 2.316607705665774e-08, + -0.9702957272529602, + -0.24192191660404205, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.8771872520446777, + 0.11615841835737228, + -0.46588605642318726, + 2.8202402591705322 + ], + [ + 0.4801484942436218, + -0.21221059560775757, + 0.8511311411857605, + 0.29941654205322266 + ], + [ + 3.661745040517417e-08, + -0.9702958464622498, + -0.24192170798778534, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8706300854682922, + 0.11901064217090607, + -0.4773256480693817, + 2.8362557888031006 + ], + [ + 0.4919383227825165, + -0.2106243222951889, + 0.8447688221931458, + 0.3083238899707794 + ], + [ + 5.2573554398804845e-09, + -0.9702959060668945, + -0.24192173779010773, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.863914430141449, + 0.12184111028909683, + -0.4886784553527832, + 2.852149724960327 + ], + [ + 0.5036386251449585, + -0.2089996337890625, + 0.8382526636123657, + 0.3174464702606201 + ], + [ + -6.187633516674396e-08, + -0.9702959060668945, + -0.24192166328430176, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8570415377616882, + 0.12464968860149384, + -0.49994224309921265, + 2.8679189682006836 + ], + [ + 0.5152473449707031, + -0.20733702182769775, + 0.8315838575363159, + 0.3267826437950134 + ], + [ + 7.541623858742241e-08, + -0.9702958464622498, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8500127196311951, + 0.1274353563785553, + -0.5111150741577148, + 2.8835608959198 + ], + [ + 0.5267621278762817, + -0.2056366205215454, + 0.824763834476471, + 0.33633071184158325 + ], + [ + 5.821736692723789e-08, + -0.970295786857605, + -0.24192185699939728, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8428292274475098, + 0.13019786775112152, + -0.5221948027610779, + 2.8990726470947266 + ], + [ + 0.5381811261177063, + -0.20389878749847412, + 0.817793607711792, + 0.3460889160633087 + ], + [ + 9.380482879350893e-08, + -0.9702957272529602, + -0.24192188680171967, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.8354923725128174, + 0.13293655216693878, + -0.5331795811653137, + 2.9144513607025146 + ], + [ + 0.5495021343231201, + -0.2021237462759018, + 0.810674786567688, + 0.35605549812316895 + ], + [ + -1.5817228415926365e-08, + -0.9702959060668945, + -0.24192172288894653, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.8280033469200134, + 0.13565121591091156, + -0.5440673232078552, + 2.929694175720215 + ], + [ + 0.5607231855392456, + -0.200312077999115, + 0.8034082055091858, + 0.3662286102771759 + ], + [ + -9.316998728081671e-09, + -0.9702958464622498, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.8203636407852173, + 0.13834109902381897, + -0.5548560619354248, + 2.944798231124878 + ], + [ + 0.5718421936035156, + -0.1984637975692749, + 0.7959954738616943, + 0.37660643458366394 + ], + [ + -1.323368636896305e-10, + -0.9702958464622498, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8125747442245483, + 0.14100588858127594, + -0.5655436515808105, + 2.959761142730713 + ], + [ + 0.5828570127487183, + -0.19657963514328003, + 0.7884377837181091, + 0.38718709349632263 + ], + [ + 8.883203506115933e-09, + -0.9702957272529602, + -0.24192193150520325, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8046377897262573, + 0.14364497363567352, + -0.5761285424232483, + 2.9745798110961914 + ], + [ + 0.593765914440155, + -0.19465947151184082, + 0.7807366251945496, + 0.3979686200618744 + ], + [ + 1.062248955463474e-08, + -0.9702957272529602, + -0.24192185699939728, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.7965545654296875, + 0.14625787734985352, + -0.5866084694862366, + 2.9892518520355225 + ], + [ + 0.6045666337013245, + -0.1927040070295334, + 0.7728934288024902, + 0.4089491069316864 + ], + [ + -2.797268550125409e-08, + -0.9702957272529602, + -0.24192190170288086, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.7883262634277344, + 0.14884425699710846, + -0.5969817042350769, + 3.0037741661071777 + ], + [ + 0.6152574419975281, + -0.19071336090564728, + 0.7649096250534058, + 0.4201264977455139 + ], + [ + 7.260510415108001e-09, + -0.9702957272529602, + -0.24192187190055847, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.7799544930458069, + 0.15140347182750702, + -0.6072462797164917, + 3.0181446075439453 + ], + [ + 0.6258363127708435, + -0.18868781626224518, + 0.7567866444587708, + 0.43149879574775696 + ], + [ + 5.681232551069115e-08, + -0.9702959060668945, + -0.24192164838314056, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.771440863609314, + 0.15393511950969696, + -0.6174002885818481, + 3.032360315322876 + ], + [ + 0.6363011002540588, + -0.18662822246551514, + 0.7485259175300598, + 0.4430639147758484 + ], + [ + 9.171404968810748e-09, + -0.9702959060668945, + -0.24192166328430176, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.7627866864204407, + 0.15643887221813202, + -0.6274418830871582, + 3.0464184284210205 + ], + [ + 0.6466501951217651, + -0.18453480303287506, + 0.7401286959648132, + 0.4548197388648987 + ], + [ + 1.0471865152794635e-08, + -0.9702957272529602, + -0.24192191660404205, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.7539937496185303, + 0.15891405940055847, + -0.6373694539070129, + 3.060317039489746 + ], + [ + 0.6568816304206848, + -0.18240739405155182, + 0.7315971255302429, + 0.4667641520500183 + ], + [ + 6.465307933467557e-08, + -0.9702959060668945, + -0.24192170798778534, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.7450636625289917, + 0.16136029362678528, + -0.6471809148788452, + 3.0740530490875244 + ], + [ + 0.6669934391975403, + -0.18024693429470062, + 0.7229322791099548, + 0.478894978761673 + ], + [ + 8.700509113168664e-08, + -0.9702959060668945, + -0.24192164838314056, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7359979152679443, + 0.1637771874666214, + -0.6568745374679565, + 3.0876240730285645 + ], + [ + 0.6769838929176331, + -0.1780538260936737, + 0.7141358256340027, + 0.491210013628006 + ], + [ + 1.0668209426967223e-08, + -0.9702959060668945, + -0.24192169308662415, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7267982959747314, + 0.16616424918174744, + -0.6664485931396484, + 3.1010279655456543 + ], + [ + 0.6868509650230408, + -0.17582832276821136, + 0.7052093148231506, + 0.5037069916725159 + ], + [ + 1.8170169369113864e-08, + -0.970295786857605, + -0.2419217973947525, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7174663543701172, + 0.16852107644081116, + -0.6759014129638672, + 3.1142618656158447 + ], + [ + 0.6965932250022888, + -0.17357073724269867, + 0.6961546540260315, + 0.5163836479187012 + ], + [ + -5.4205667510132116e-08, + -0.9702958464622498, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7080036997795105, + 0.17084729671478271, + -0.6852313280105591, + 3.127323627471924 + ], + [ + 0.7062087655067444, + -0.17128139734268188, + 0.6869731545448303, + 0.529237687587738 + ], + [ + 3.0978547727045225e-08, + -0.9702959060668945, + -0.24192166328430176, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.6984123587608337, + 0.1731424480676651, + -0.6944363713264465, + 3.1402108669281006 + ], + [ + 0.7156956195831299, + -0.16896118223667145, + 0.6776666045188904, + 0.5422667860984802 + ], + [ + 1.0507402947723676e-08, + -0.970295786857605, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.6886938214302063, + 0.1754060685634613, + -0.7035151720046997, + 3.152920961380005 + ], + [ + 0.7250523567199707, + -0.16660989820957184, + 0.6682369112968445, + 0.5554684996604919 + ], + [ + 7.447285810258109e-08, + -0.9702959060668945, + -0.24192170798778534, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.6788499355316162, + 0.1776377409696579, + -0.7124658823013306, + 3.165452003479004 + ], + [ + 0.734277069568634, + -0.16422858834266663, + 0.6586853265762329, + 0.5688405632972717 + ], + [ + 4.70780712191754e-08, + -0.970295786857605, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6688826084136963, + 0.17983701825141907, + -0.7212868928909302, + 3.1778013706207275 + ], + [ + 0.7433680891990662, + -0.16181738674640656, + 0.6490139961242676, + 0.5823803544044495 + ], + [ + -6.265821639317437e-08, + -0.970295786857605, + -0.24192190170288086, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6587934494018555, + 0.18200363218784332, + -0.7299767136573792, + 3.189967155456543 + ], + [ + 0.7523239254951477, + -0.159376323223114, + 0.6392247080802917, + 0.5960856080055237 + ], + [ + 8.23567489760535e-08, + -0.9702959060668945, + -0.24192169308662415, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.6485844850540161, + 0.18413709104061127, + -0.7385334968566895, + 3.20194673538208 + ], + [ + 0.7611427307128906, + -0.1569066047668457, + 0.62931889295578, + 0.6099536418914795 + ], + [ + 7.654215039565315e-08, + -0.9702958464622498, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6382573843002319, + 0.18623703718185425, + -0.7469560503959656, + 3.213738203048706 + ], + [ + 0.7698230743408203, + -0.1544083207845688, + 0.61929851770401, + 0.6239820718765259 + ], + [ + 1.2044427677437852e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.6278142333030701, + 0.18830305337905884, + -0.755242645740509, + 3.225339412689209 + ], + [ + 0.7783633470535278, + -0.15188199281692505, + 0.609165608882904, + 0.6381682753562927 + ], + [ + -1.50562470935256e-07, + -0.9702959060668945, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.617256760597229, + 0.19033493101596832, + -0.7633916139602661, + 3.236748218536377 + ], + [ + 0.7867618203163147, + -0.14932788908481598, + 0.5989216566085815, + 0.6525097489356995 + ], + [ + 7.515602362673235e-09, + -0.970295786857605, + -0.24192187190055847, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.6065868139266968, + 0.19233204424381256, + -0.7714019417762756, + 3.247962474822998 + ], + [ + 0.7950173616409302, + -0.14674638211727142, + 0.5885688066482544, + 0.6670037508010864 + ], + [ + 3.60671137400459e-08, + -0.9702959656715393, + -0.24192163348197937, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5958066582679749, + 0.194294273853302, + -0.7792716026306152, + 3.2589800357818604 + ], + [ + 0.8031279444694519, + -0.14413860440254211, + 0.5781087279319763, + 0.681647777557373 + ], + [ + 2.8994218581601672e-08, + -0.970295786857605, + -0.24192185699939728, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.5849180221557617, + 0.19622105360031128, + -0.786999523639679, + 3.26979923248291 + ], + [ + 0.8110924363136292, + -0.14150448143482208, + 0.5675434470176697, + 0.6964390277862549 + ], + [ + 6.8832051169920305e-09, + -0.9702957272529602, + -0.24192193150520325, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.5739229321479797, + 0.19811202585697174, + -0.7945842146873474, + 3.2804179191589355 + ], + [ + 0.8189093470573425, + -0.13884447515010834, + 0.5568749904632568, + 0.7113749384880066 + ], + [ + -1.0955787388411409e-08, + -0.970295786857605, + -0.2419218122959137, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.5628235340118408, + 0.19996707141399384, + -0.8020241856575012, + 3.2908339500427246 + ], + [ + 0.8265770673751831, + -0.13615937530994415, + 0.5461052656173706, + 0.7264527678489685 + ], + [ + -2.9908648002674454e-08, + -0.9702957272529602, + -0.24192190170288086, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.5516213774681091, + 0.20178572833538055, + -0.8093185424804688, + 3.3010456562042236 + ], + [ + 0.8340947031974792, + -0.13344910740852356, + 0.5352360010147095, + 0.7416697144508362 + ], + [ + 2.5186807306454284e-08, + -0.9702959060668945, + -0.24192170798778534, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.54031902551651, + 0.20356760919094086, + -0.8164653778076172, + 3.311051368713379 + ], + [ + 0.8414602875709534, + -0.13071484863758087, + 0.5242694020271301, + 0.7570229768753052 + ], + [ + 1.2006150740262456e-08, + -0.9702959060668945, + -0.24192169308662415, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.5289182066917419, + 0.2053125500679016, + -0.8234636783599854, + 3.3208489418029785 + ], + [ + 0.8486728668212891, + -0.12795673310756683, + 0.5132072567939758, + 0.7725098729133606 + ], + [ + 4.03802431492295e-08, + -0.9702959060668945, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.5174212455749512, + 0.20701995491981506, + -0.8303120732307434, + 3.3304367065429688 + ], + [ + 0.8557308912277222, + -0.1251753568649292, + 0.502051830291748, + 0.7881275415420532 + ], + [ + 5.065803776460598e-09, + -0.9702959060668945, + -0.24192166328430176, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.5058300495147705, + 0.2086898684501648, + -0.8370093107223511, + 3.339812755584717 + ], + [ + 0.862633228302002, + -0.12237127125263214, + 0.4908048212528229, + 0.8038731217384338 + ], + [ + 1.9003891793545336e-09, + -0.9702958464622498, + -0.2419218122959137, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.4941469430923462, + 0.21032164990901947, + -0.8435542583465576, + 3.348975658416748 + ], + [ + 0.8693785071372986, + -0.1195448711514473, + 0.47946882247924805, + 0.8197437524795532 + ], + [ + -4.797639974185586e-08, + -0.9702959060668945, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.48237383365631104, + 0.21191534399986267, + -0.849945604801178, + 3.357923746109009 + ], + [ + 0.8759655952453613, + -0.11669667810201645, + 0.4680454432964325, + 0.8357365727424622 + ], + [ + 1.5772776862377214e-08, + -0.9702959060668945, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.47051283717155457, + 0.2134702503681183, + -0.8561823964118958, + 3.366655111312866 + ], + [ + 0.8823932409286499, + -0.11382703483104706, + 0.45653682947158813, + 0.8518486022949219 + ], + [ + 1.4940346204639354e-07, + -0.9702959656715393, + -0.24192164838314056, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.45856621861457825, + 0.21498635411262512, + -0.8622633218765259, + 3.3751683235168457 + ], + [ + 0.8886603116989136, + -0.11093710362911224, + 0.44494491815567017, + 0.8680769801139832 + ], + [ + 1.1678778832902026e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.44653618335723877, + 0.2164633870124817, + -0.8681873679161072, + 3.3834619522094727 + ], + [ + 0.8947657346725464, + -0.10802669078111649, + 0.4332723915576935, + 0.8844187259674072 + ], + [ + 2.2305352009865942e-10, + -0.9702959656715393, + -0.24192167818546295, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.43442490696907043, + 0.21790102124214172, + -0.8739532232284546, + 3.3915343284606934 + ], + [ + 0.9007081389427185, + -0.10509691387414932, + 0.4215207099914551, + 0.9008708596229553 + ], + [ + -9.33094526089917e-08, + -0.9702958464622498, + -0.24192185699939728, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.42223459482192993, + 0.21929903328418732, + -0.879560112953186, + 3.399384021759033 + ], + [ + 0.9064866900444031, + -0.10214772075414658, + 0.40969252586364746, + 0.9174304008483887 + ], + [ + 5.779575928954728e-09, + -0.9702958464622498, + -0.24192187190055847, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.40996745228767395, + 0.22065700590610504, + -0.8850069642066956, + 3.4070096015930176 + ], + [ + 0.9121001958847046, + -0.0991799607872963, + 0.39778977632522583, + 0.9340943694114685 + ], + [ + 6.047205403092448e-08, + -0.9702958464622498, + -0.2419217973947525, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.39762571454048157, + 0.22197489440441132, + -0.8902926445007324, + 3.414409637451172 + ], + [ + 0.9175477623939514, + -0.09619435667991638, + 0.3858145773410797, + 0.9508596062660217 + ], + [ + -3.623110700345933e-08, + -0.970295786857605, + -0.24192187190055847, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.38521143794059753, + 0.22325246036052704, + -0.8954164981842041, + 3.4215829372406006 + ], + [ + 0.9228284358978271, + -0.09319097548723221, + 0.3737691640853882, + 0.9677232503890991 + ], + [ + 2.318044778348849e-08, + -0.9702958464622498, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.37272730469703674, + 0.2244892567396164, + -0.900377094745636, + 3.428528070449829 + ], + [ + 0.9279409050941467, + -0.09017077088356018, + 0.36165574193000793, + 0.984682023525238 + ], + [ + 1.2752039424412942e-07, + -0.9702957272529602, + -0.24192187190055847, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.36017516255378723, + 0.2256852239370346, + -0.9051741361618042, + 3.435243606567383 + ], + [ + 0.9328847527503967, + -0.08713424950838089, + 0.34947648644447327, + 1.0017330646514893 + ], + [ + -7.679902580548514e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.3475574553012848, + 0.22684024274349213, + -0.9098062515258789, + 3.4417285919189453 + ], + [ + 0.9376587271690369, + -0.08408161252737045, + 0.33723360300064087, + 1.0188729763031006 + ], + [ + 1.0299379482603399e-07, + -0.970295786857605, + -0.24192185699939728, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.33487647771835327, + 0.22795376181602478, + -0.9142729640007019, + 3.447981834411621 + ], + [ + 0.9422621726989746, + -0.08101373165845871, + 0.324929416179657, + 1.0360989570617676 + ], + [ + 5.817940262886623e-08, + -0.9702959060668945, + -0.24192164838314056, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.3221346139907837, + 0.22902598977088928, + -0.9185731410980225, + 3.4540021419525146 + ], + [ + 0.9466939568519592, + -0.07793131470680237, + 0.31256598234176636, + 1.0534076690673828 + ], + [ + -1.7222141934780666e-08, + -0.9702958464622498, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.3093339800834656, + 0.23005656898021698, + -0.9227061867713928, + 3.4597883224487305 + ], + [ + 0.9509535431861877, + -0.07483457028865814, + 0.30014556646347046, + 1.0707961320877075 + ], + [ + 1.4918541069164348e-08, + -0.9702958464622498, + -0.24192187190055847, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.2964772880077362, + 0.23104512691497803, + -0.9266712069511414, + 3.465339422225952 + ], + [ + 0.9550399780273438, + -0.07172427326440811, + 0.2876707911491394, + 1.0882608890533447 + ], + [ + -9.211618134941091e-09, + -0.9702958464622498, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.2835666537284851, + 0.23199166357517242, + -0.9304675459861755, + 3.4706544876098633 + ], + [ + 0.9589525461196899, + -0.06860096752643585, + 0.2751435339450836, + 1.1057990789413452 + ], + [ + -1.7126602358530363e-09, + -0.9702957272529602, + -0.24192191660404205, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.2706041634082794, + 0.23289598524570465, + -0.9340947866439819, + 3.4757325649261475 + ], + [ + 0.9626908302307129, + -0.06546494364738464, + 0.2625662386417389, + 1.1234073638916016 + ], + [ + -1.3342294380436215e-08, + -0.9702959060668945, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.2575925886631012, + 0.233757883310318, + -0.9375518560409546, + 3.480572462081909 + ], + [ + 0.9662536978721619, + -0.06231730803847313, + 0.24994108080863953, + 1.141082525253296 + ], + [ + -1.3855628822057042e-07, + -0.9702958464622498, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.2445339560508728, + 0.23457737267017365, + -0.9408383965492249, + 3.485173463821411 + ], + [ + 0.9696409106254578, + -0.05915802717208862, + 0.23727042973041534, + 1.1588213443756104 + ], + [ + -6.000234265002291e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.2314309924840927, + 0.23535402119159698, + -0.9439536929130554, + 3.489534854888916 + ], + [ + 0.9728515148162842, + -0.05598798766732216, + 0.22455672919750214, + 1.176620602607727 + ], + [ + 4.841747269779262e-08, + -0.9702959656715393, + -0.24192164838314056, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.21828587353229523, + 0.2360878735780716, + -0.9468970894813538, + 3.4936556816101074 + ], + [ + 0.9758849740028381, + -0.052807968109846115, + 0.21180202066898346, + 1.1944770812988281 + ], + [ + 2.5792765256937855e-08, + -0.9702959060668945, + -0.24192169308662415, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.20510104298591614, + 0.2367788702249527, + -0.9496681690216064, + 3.497535228729248 + ], + [ + 0.978740930557251, + -0.049618352204561234, + 0.19900883734226227, + 1.2123875617980957 + ], + [ + -5.991021367890426e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.19187898933887482, + 0.23742668330669403, + -0.9522663950920105, + 3.5011727809906006 + ], + [ + 0.9814187288284302, + -0.04641959071159363, + 0.1861795336008072, + 1.2303487062454224 + ], + [ + 1.727541487639428e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.17862185835838318, + 0.23803125321865082, + -0.9546913504600525, + 3.5045676231384277 + ], + [ + 0.9839178919792175, + -0.043212469667196274, + 0.1733161211013794, + 1.2483574151992798 + ], + [ + -1.61105795370986e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.1653321385383606, + 0.23859255015850067, + -0.956942617893219, + 3.5077192783355713 + ], + [ + 0.9862380623817444, + -0.039997395128011703, + 0.1604212075471878, + 1.2664101123809814 + ], + [ + -5.4287092154936545e-08, + -0.9702959060668945, + -0.24192175269126892, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.1520126312971115, + 0.23911041021347046, + -0.9590195417404175, + 3.510627269744873 + ], + [ + 0.988378643989563, + -0.03677518293261528, + 0.1474972665309906, + 1.2845038175582886 + ], + [ + -6.454832401914246e-08, + -0.970295786857605, + -0.2419218271970749, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.13866515457630157, + 0.23958472907543182, + -0.9609221816062927, + 3.5132908821105957 + ], + [ + 0.990339457988739, + -0.03354594111442566, + 0.1345463991165161, + 1.3026350736618042 + ], + [ + 4.151171850708124e-08, + -0.9702959060668945, + -0.24192167818546295, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.12529256939888, + 0.24001558125019073, + -0.9626497030258179, + 3.515709400177002 + ], + [ + 0.9921199679374695, + -0.03031083382666111, + 0.12157097458839417, + 1.320800542831421 + ], + [ + 9.98250158090741e-08, + -0.9702958464622498, + -0.24192184209823608, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.11189732700586319, + 0.24040251970291138, + -0.9642021656036377, + 3.517882823944092 + ], + [ + 0.9937198758125305, + -0.027070313692092896, + 0.10857363790273666, + 1.3389970064163208 + ], + [ + -1.8256500311508717e-08, + -0.9702959060668945, + -0.24192170798778534, + 1.0308164358139038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000024__traj001__bullettime_late/extras/traj_caption.txt b/blenderobj_eval/target/scene_000024__traj001__bullettime_late/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..062b8992dd3fa82ad3656a39014e700d07b8ec9d --- /dev/null +++ b/blenderobj_eval/target/scene_000024__traj001__bullettime_late/extras/traj_caption.txt @@ -0,0 +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. diff --git a/blenderobj_eval/target/scene_000026__traj002__forward/caption.txt b/blenderobj_eval/target/scene_000026__traj002__forward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..a9c760803e63273fc73c017f2249d76a6928bbab --- /dev/null +++ b/blenderobj_eval/target/scene_000026__traj002__forward/caption.txt @@ -0,0 +1 @@ +A chaotic scene inside a cozy, warmly lit room with wooden furniture and patterned wallpaper, where various household items—including colorful spools, books, and containers—are suspended mid-air in a state of disarray, suggesting a sudden disruption or explosion, before settling onto a pink rug and wooden floor. 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 at normal speed. diff --git a/blenderobj_eval/target/scene_000026__traj002__forward/transforms.json b/blenderobj_eval/target/scene_000026__traj002__forward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4042a5022e8b9863571e4df4df388793073f8032 --- /dev/null +++ b/blenderobj_eval/target/scene_000026__traj002__forward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + -0.03489940986037254, + -0.5295964479446411, + 0.8475315570831299, + -5.521543979644775 + ], + [ + -0.9993908405303955, + 0.01849384605884552, + -0.029596375301480293, + -0.20856496691703796 + ], + [ + 4.382118135026758e-08, + -0.8480481505393982, + -0.5299192070960999, + 2.990514039993286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + -0.02429858408868313, + -0.5378233194351196, + 0.8427073359489441, + -5.514790058135986 + ], + [ + -0.9997047185897827, + 0.013072222471237183, + -0.020482631400227547, + -0.22132427990436554 + ], + [ + -2.1672349248547107e-08, + -0.8429562449455261, + -0.537982165813446, + 3.0018022060394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + -0.013632630929350853, + -0.5459470152854919, + 0.8377087116241455, + -5.507791996002197 + ], + [ + -0.9999069571495056, + 0.007443377748131752, + -0.01142128650099039, + -0.23401008546352386 + ], + [ + -3.492685607398016e-08, + -0.8377865552902222, + -0.5459977984428406, + 3.013024091720581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + -0.0028684537392109632, + -0.5539417266845703, + 0.8325504660606384, + -5.500570774078369 + ], + [ + -0.9999958276748657, + 0.0015888139605522156, + -0.0023882619570940733, + -0.2466563731431961 + ], + [ + 1.582782402920202e-07, + -0.8325538635253906, + -0.5539440512657166, + 3.02414870262146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.008030390366911888, + -0.5617786049842834, + 0.827248752117157, + -5.493148326873779 + ], + [ + -0.9999678134918213, + -0.004511416889727116, + 0.006643393076956272, + -0.2593007981777191 + ], + [ + -7.119144385114851e-09, + -0.8272753953933716, + -0.5617966651916504, + 3.035142421722412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.019106080755591393, + -0.5694246888160706, + 0.8218215107917786, + -5.4855499267578125 + ], + [ + -0.9998175501823425, + -0.010881279595196247, + 0.015704825520515442, + -0.27198657393455505 + ], + [ + -1.729918182036272e-07, + -0.821971595287323, + -0.5695285797119141, + 3.0459671020507812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.030406413599848747, + -0.5768408179283142, + 0.816290557384491, + -5.477806568145752 + ], + [ + -0.9995377063751221, + -0.017547734081745148, + 0.024832013994455338, + -0.28476497530937195 + ], + [ + -8.844715182476648e-09, + -0.8166681528091431, + -0.5771075487136841, + 3.056577682495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.04198973625898361, + -0.5839778780937195, + 0.810683012008667, + -5.469955921173096 + ], + [ + -0.9991181492805481, + -0.0245426706969738, + 0.03407049924135208, + -0.29769864678382874 + ], + [ + -8.885713498330006e-09, + -0.8113986253738403, + -0.5844932794570923, + 3.066917896270752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.053926728665828705, + -0.5907716751098633, + 0.8050346374511719, + -5.462048530578613 + ], + [ + -0.9985448718070984, + -0.03190474584698677, + 0.04347618296742439, + -0.3108665943145752 + ], + [ + -8.165477538568666e-08, + -0.8062077164649963, + -0.5916325449943542, + 3.0769126415252686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.06630650162696838, + -0.5971341133117676, + 0.7993962168693542, + -5.4541544914245605 + ], + [ + -0.9977993369102478, + -0.03968123719096184, + 0.053122058510780334, + -0.3243708908557892 + ], + [ + 5.28788675069336e-08, + -0.8011593222618103, + -0.5984511375427246, + 3.086458683013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.07924264669418335, + -0.6029381155967712, + 0.7938427329063416, + -5.446379661560059 + ], + [ + -0.9968553781509399, + -0.04792911186814308, + 0.06310466676950455, + -0.33834660053253174 + ], + [ + -1.675276806167858e-08, + -0.7963469624519348, + -0.604840099811554, + 3.0954031944274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.09287922084331512, + -0.6079888939857483, + 0.7884941101074219, + -5.438891887664795 + ], + [ + -0.9956774115562439, + -0.05671464651823044, + 0.0735526978969574, + -0.35297372937202454 + ], + [ + -3.9251059291700585e-08, + -0.7919173240661621, + -0.6106283664703369, + 3.1035068035125732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.10738489031791687, + -0.6119728088378906, + 0.7835544943809509, + -5.431976318359375 + ], + [ + -0.9942174553871155, + -0.06609882414340973, + 0.08463127911090851, + -0.3684837520122528 + ], + [ + -8.217347158279154e-08, + -0.788111686706543, + -0.6155321598052979, + 3.1103720664978027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.12289328873157501, + -0.6143651604652405, + 0.779392659664154, + -5.426149845123291 + ], + [ + -0.9924200177192688, + -0.0760779082775116, + 0.09651385247707367, + -0.38511934876441956 + ], + [ + -9.342426210423582e-08, + -0.7853456735610962, + -0.6190575361251831, + 3.115307569503784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.13924409449100494, + -0.6143412590026855, + 0.7766568064689636, + -5.422319412231445 + ], + [ + -0.9902580380439758, + -0.08638506382703781, + 0.10920866578817368, + -0.40289223194122314 + ], + [ + 9.954811019952103e-08, + -0.7842973470687866, + -0.6203850507736206, + 3.117166042327881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.1553950309753418, + -0.611042320728302, + 0.7761955857276917, + -5.421673774719238 + ], + [ + -0.9878523945808411, + -0.09612051397562027, + 0.12210020422935486, + -0.4209401607513428 + ], + [ + -9.563091651898503e-08, + -0.7857404351234436, + -0.6185563206672668, + 3.1146059036254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.16953560709953308, + -0.6045432686805725, + 0.7783219814300537, + -5.4246506690979 + ], + [ + -0.98552405834198, + -0.10399704426527023, + 0.1338915228843689, + -0.43744805455207825 + ], + [ + -3.111140145506397e-08, + -0.7897544503211975, + -0.6134231686592102, + 3.107419490814209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.18075025081634521, + -0.595962643623352, + 0.7824053168296814, + -5.430367469787598 + ], + [ + -0.9835291504859924, + -0.1095241978764534, + 0.14378845691680908, + -0.45130372047424316 + ], + [ + -1.392250226217584e-07, + -0.7955081462860107, + -0.605942964553833, + 3.096947431564331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.18933820724487305, + -0.5863099694252014, + 0.787649393081665, + -5.437709331512451 + ], + [ + -0.9819118976593018, + -0.11305582523345947, + 0.15187932550907135, + -0.4626311659812927 + ], + [ + -6.60505463656591e-08, + -0.8021588921546936, + -0.5971106290817261, + 3.0845818519592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.19588065147399902, + -0.5761179327964783, + 0.7935481667518616, + -5.445967674255371 + ], + [ + -0.9806276559829712, + -0.1150798425078392, + 0.15851132571697235, + -0.4719159007072449 + ], + [ + 9.506571529982466e-08, + -0.8092246651649475, + -0.58749920129776, + 3.0711259841918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.20083564519882202, + -0.5656359195709229, + 0.7998257279396057, + -5.454755783081055 + ], + [ + -0.9796249866485596, + -0.11596260219812393, + 0.16397452354431152, + -0.47956424951553345 + ], + [ + 5.09908915091728e-08, + -0.8164611458778381, + -0.5774004459381104, + 3.056987762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.20451253652572632, + -0.5549854040145874, + 0.8063285946846008, + -5.463860034942627 + ], + [ + -0.9788639545440674, + -0.11595222353935242, + 0.1684650033712387, + -0.4858509600162506 + ], + [ + -3.494055178521194e-08, + -0.8237391710281372, + -0.5669689178466797, + 3.0423836708068848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.2071114331483841, + -0.544232189655304, + 0.8129674792289734, + -5.473154544830322 + ], + [ + -0.978317379951477, + -0.11521491408348083, + 0.1721065491437912, + -0.49094921350479126 + ], + [ + 4.3445577802003754e-08, + -0.830985426902771, + -0.5562941431999207, + 3.0274388790130615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.20875832438468933, + -0.533416748046875, + 0.8196868896484375, + -5.4825615882873535 + ], + [ + -0.9779672622680664, + -0.11386390775442123, + 0.1749715656042099, + -0.494960218667984 + ], + [ + -8.10413069984861e-09, + -0.8381536602973938, + -0.5454341173171997, + 3.012234926223755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.20952658355236053, + -0.5225690007209778, + 0.8264503479003906, + -5.492030620574951 + ], + [ + -0.9778028726577759, + -0.11197765916585922, + 0.1770942658185959, + -0.49793198704719543 + ], + [ + -5.947821790641683e-08, + -0.8452115058898926, + -0.5344318747520447, + 2.9968316555023193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.20944844186306, + -0.5117167830467224, + 0.8332330584526062, + -5.501526355743408 + ], + [ + -0.9778197407722473, + -0.10960927605628967, + 0.1784781962633133, + -0.49986928701400757 + ], + [ + -1.6369283173389704e-07, + -0.8521336913108826, + -0.523324191570282, + 2.98128080368042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.20852090418338776, + -0.5008903741836548, + 0.8400166034698486, + -5.511023044586182 + ], + [ + -0.9780179262161255, + -0.10679367929697037, + 0.1790979504585266, + -0.5007370710372925 + ], + [ + 3.196580067310606e-08, + -0.8588969707489014, + -0.5121484398841858, + 2.965635061264038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.2067054808139801, + -0.4901299774646759, + 0.846785306930542, + -5.5204997062683105 + ], + [ + -0.9784031510353088, + -0.10354889929294586, + 0.17889878153800964, + -0.500458300113678 + ], + [ + -1.5342926928951783e-08, + -0.8654768466949463, + -0.5009489059448242, + 2.949955463409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.20392398536205292, + -0.4794926345348358, + 0.8535233736038208, + -5.529932498931885 + ], + [ + -0.9789868593215942, + -0.09987874329090118, + 0.17778995633125305, + -0.49890610575675964 + ], + [ + 2.2604943694659596e-08, + -0.8718436360359192, + -0.48978444933891296, + 2.9343254566192627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.2000509649515152, + -0.4690655767917633, + 0.8602075576782227, + -5.539290428161621 + ], + [ + -0.9797854423522949, + -0.09577310085296631, + 0.1756356656551361, + -0.49588993191719055 + ], + [ + 5.338582553804372e-08, + -0.8779549598693848, + -0.47874319553375244, + 2.918867588043213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.19489628076553345, + -0.45899078249931335, + 0.8668003082275391, + -5.548520565032959 + ], + [ + -0.980823814868927, + -0.09120459854602814, + 0.17223897576332092, + -0.4911344647407532 + ], + [ + 2.0828828439789504e-08, + -0.8837471604347229, + -0.4679645895957947, + 2.903777599334717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.18819497525691986, + -0.44950827956199646, + 0.8732268214225769, + -5.5575175285339355 + ], + [ + -0.9821317195892334, + -0.0861341655254364, + 0.16732682287693024, + -0.4842574894428253 + ], + [ + -7.685145675395688e-08, + -0.8891137838363647, + -0.45768627524375916, + 2.889387845993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.17961855232715607, + -0.4410295784473419, + 0.8793349862098694, + -5.56606912612915 + ], + [ + -0.9837362766265869, + -0.0805266872048378, + 0.1605561226606369, + -0.4747784435749054 + ], + [ + -1.1214761741484836e-07, + -0.8938726186752319, + -0.4483209550380707, + 2.8762762546539307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.16888990998268127, + -0.4342206120491028, + 0.884832501411438, + -5.573765754699707 + ], + [ + -0.9856348633766174, + -0.07440443336963654, + 0.151617169380188, + -0.4622640609741211 + ], + [ + 7.33489642357199e-08, + -0.8977283835411072, + -0.44054922461509705, + 2.8653957843780518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.1561119705438614, + -0.42992016673088074, + 0.8892679214477539, + -5.579975128173828 + ], + [ + -0.9877392649650574, + -0.06794888526201248, + 0.1405484527349472, + -0.44676777720451355 + ], + [ + 1.2756288469972787e-08, + -0.900306224822998, + -0.43525683879852295, + 2.8579864501953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.14204664528369904, + -0.42864903807640076, + 0.8922346830368042, + -5.5841288566589355 + ], + [ + -0.989859938621521, + -0.06151200830936432, + 0.12803718447685242, + -0.42925184965133667 + ], + [ + 1.1243530906313026e-07, + -0.9013746380805969, + -0.4330401122570038, + 2.8548831939697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.1277085393667221, + -0.43016427755355835, + 0.8936718702316284, + -5.5861406326293945 + ], + [ + -0.9918118119239807, + -0.05538898706436157, + 0.11507192254066467, + -0.41110068559646606 + ], + [ + -1.537418370389787e-07, + -0.9010499119758606, + -0.4337155222892761, + 2.8558290004730225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.11373354494571686, + -0.43376973271369934, + 0.8938170075416565, + -5.586343765258789 + ], + [ + -0.993511438369751, + -0.04965619370341301, + 0.102321095764637, + -0.3932494819164276 + ], + [ + -6.711903210998571e-08, + -0.8996546268463135, + -0.43660250306129456, + 2.8598709106445312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.10032755881547928, + -0.4388093650341034, + 0.8929617404937744, + -5.585146427154541 + ], + [ + -0.9949544668197632, + -0.044248003512620926, + 0.09004294127225876, + -0.3760600686073303 + ], + [ + 6.652200568169064e-08, + -0.8974900841712952, + -0.4410346448421478, + 2.8660755157470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.08748652040958405, + -0.44481971859931946, + 0.8913369178771973, + -5.582871913909912 + ], + [ + -0.9961656928062439, + -0.03906555473804474, + 0.07828010618686676, + -0.35959216952323914 + ], + [ + 4.791286301042419e-08, + -0.8947677612304688, + -0.44653186202049255, + 2.8737716674804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.07514118403196335, + -0.4514959752559662, + 0.8891035318374634, + -5.579744815826416 + ], + [ + -0.9971728324890137, + -0.03402220457792282, + 0.06699761748313904, + -0.34379667043685913 + ], + [ + 3.985507390780185e-08, + -0.8916242122650146, + -0.45277610421180725, + 2.8825135231018066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.06321106106042862, + -0.4586368799209595, + 0.8863725662231445, + -5.575921535491943 + ], + [ + -0.9980000853538513, + -0.0290490984916687, + 0.0561407208442688, + -0.328596830368042 + ], + [ + 1.8714139571329724e-08, + -0.8881487250328064, + -0.4595560133457184, + 2.892005443572998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.05162176862359047, + -0.4661051332950592, + 0.8832221627235413, + -5.5715107917785645 + ], + [ + -0.9986667633056641, + -0.024093149229884148, + 0.045654479414224625, + -0.3139161765575409 + ], + [ + -1.150490902546153e-07, + -0.8844013214111328, + -0.4667273163795471, + 2.902045488357544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.0403103269636631, + -0.4738028645515442, + 0.8797078728675842, + -5.566590785980225 + ], + [ + -0.9991872310638428, + -0.019114671275019646, + 0.035490162670612335, + -0.29968634247779846 + ], + [ + -1.9588952682170202e-08, + -0.8804234862327576, + -0.47418829798698425, + 2.9124906063079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.029222041368484497, + -0.48165813088417053, + 0.8758720755577087, + -5.561220645904541 + ], + [ + -0.9995731115341187, + -0.01408088393509388, + 0.025605887174606323, + -0.2858481705188751 + ], + [ + -8.456780875576442e-08, + -0.8762462735176086, + -0.48186373710632324, + 2.923236608505249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.018310438841581345, + -0.4896153509616852, + 0.8717461824417114, + -5.555444717407227 + ], + [ + -0.999832272529602, + -0.008966646157205105, + 0.015964655205607414, + -0.27235063910484314 + ], + [ + 4.220171945235052e-08, + -0.8718923330307007, + -0.48969751596450806, + 2.9342033863067627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.007534343749284744, + -0.49763020873069763, + 0.8673565983772278, + -5.549299240112305 + ], + [ + -0.9999716877937317, + -0.0037493386771529913, + 0.006535226479172707, + -0.25914937257766724 + ], + [ + -6.758347126378794e-08, + -0.86738121509552, + -0.4976442754268646, + 2.945329189300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + -0.003142185276374221, + -0.5056659579277039, + 0.8627236485481262, + -5.542813301086426 + ], + [ + -0.9999950528144836, + 0.001588978455401957, + -0.0027108071371912956, + -0.24620486795902252 + ], + [ + -8.626938807765328e-08, + -0.8627278804779053, + -0.5056684613227844, + 2.9565627574920654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + -0.01375269889831543, + -0.5136908888816833, + 0.8578652739524841, + -5.536011219024658 + ], + [ + -0.9999055862426758, + 0.007065292447805405, + -0.011799008585512638, + -0.23348137736320496 + ], + [ + 8.844131116347853e-08, + -0.8579463958740234, + -0.5137393474578857, + 2.967862367630005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + -0.024328578263521194, + -0.5216765999794006, + 0.8527964949607849, + -5.528914928436279 + ], + [ + -0.999704122543335, + 0.012695428915321827, + -0.020753387361764908, + -0.22094546258449554 + ], + [ + 3.7162639188181856e-08, + -0.8530489802360535, + -0.5218309164047241, + 2.9791903495788574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.03489940986037254, + -0.5295964479446411, + 0.8475315570831299, + -5.521543979644775 + ], + [ + -0.9993908405303955, + 0.01849384605884552, + -0.029596375301480293, + -0.20856496691703796 + ], + [ + 4.382118135026758e-08, + -0.8480481505393982, + -0.5299192070960999, + 2.990514039993286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.04549646005034447, + -0.5374251008033752, + 0.8420832753181458, + -5.513916492462158 + ], + [ + -0.9989644289016724, + 0.024476224556565285, + -0.03835158422589302, + -0.19630786776542664 + ], + [ + 4.951603216341027e-08, + -0.8429561257362366, + -0.5379822254180908, + 3.0018022060394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.056150417774915695, + -0.5451364517211914, + 0.8364648818969727, + -5.5060505867004395 + ], + [ + -0.998422384262085, + 0.03065805695950985, + -0.04704200103878975, + -0.1841411143541336 + ], + [ + -2.6159771238098983e-08, + -0.8377866744995117, + -0.5459977984428406, + 3.013024091720581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.06689473241567612, + -0.552703320980072, + 0.8306891322135925, + -5.497964859008789 + ], + [ + -0.9977601766586304, + 0.037056103348731995, + -0.05569327622652054, + -0.17202937602996826 + ], + [ + -1.1541438027506956e-07, + -0.832554042339325, + -0.5539439916610718, + 3.02414870262146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.07776523381471634, + -0.5600954294204712, + 0.8247701525688171, + -5.489678382873535 + ], + [ + -0.9969717860221863, + 0.04368826374411583, + -0.06433320790529251, + -0.15993353724479675 + ], + [ + 2.259219300526638e-08, + -0.8272753953933716, + -0.5617966651916504, + 3.035142421722412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.08880319446325302, + -0.5672784447669983, + 0.8187240362167358, + -5.481213569641113 + ], + [ + -0.9960491061210632, + 0.050575826317071915, + -0.07299381494522095, + -0.14780867099761963 + ], + [ + 1.2891109690826852e-07, + -0.8219714760780334, + -0.5695285797119141, + 3.0459671020507812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.10005663335323334, + -0.5742115378379822, + 0.812569797039032, + -5.472597599029541 + ], + [ + -0.9949817061424255, + 0.057743385434150696, + -0.08171314001083374, + -0.13560155034065247 + ], + [ + 4.7751989029620745e-08, + -0.8166680335998535, + -0.5771076679229736, + 3.056577682495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.11158256977796555, + -0.5808433294296265, + 0.8063315749168396, + -5.463863849639893 + ], + [ + -0.9937552809715271, + 0.06521929800510406, + -0.09053784608840942, + -0.12324699759483337 + ], + [ + 2.6097765726262878e-08, + -0.8113986253738403, + -0.5844932794570923, + 3.066917896270752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.12345042824745178, + -0.5871070623397827, + 0.8000408411026001, + -5.455057144165039 + ], + [ + -0.9923508167266846, + 0.07303722947835922, + -0.09952671825885773, + -0.11066275089979172 + ], + [ + 1.0522773408183639e-07, + -0.8062077760696411, + -0.5916325449943542, + 3.0769126415252686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.13574786484241486, + -0.5929114818572998, + 0.7937432527542114, + -5.446240425109863 + ], + [ + -0.9907433390617371, + 0.08123842626810074, + -0.10875573754310608, + -0.09774199873209 + ], + [ + 2.0958459856501577e-08, + -0.8011592626571655, + -0.5984511971473694, + 3.086458683013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.14858697354793549, + -0.5981259942054749, + 0.7875070571899414, + -5.437510013580322 + ], + [ + -0.9888994097709656, + 0.08987140655517578, + -0.11832673102617264, + -0.08434267342090607 + ], + [ + -3.745907406482729e-08, + -0.7963470220565796, + -0.6048400402069092, + 3.0954031944274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.16210803389549255, + -0.6025516390800476, + 0.7814426422119141, + -5.429019451141357 + ], + [ + -0.9867730736732483, + 0.09898775070905685, + -0.12837614119052887, + -0.07027352601289749 + ], + [ + 4.95007945744419e-08, + -0.7919173240661621, + -0.6106283664703369, + 3.1035068035125732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.17647631466388702, + -0.605871319770813, + 0.77574223279953, + -5.42103910446167 + ], + [ + -0.9843049049377441, + 0.10862678289413452, + -0.1390831023454666, + -0.055283669382333755 + ], + [ + 7.316626948750127e-08, + -0.7881117463111877, + -0.6155321598052979, + 3.1103720664978027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.1918216347694397, + -0.6075615286827087, + 0.7707617282867432, + -5.414066314697266 + ], + [ + -0.9814298748970032, + 0.1187487244606018, + -0.1506461650133133, + -0.03909504786133766 + ], + [ + -1.0418552420787819e-07, + -0.785345733165741, + -0.6190574765205383, + 3.115307569503784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.20798179507255554, + -0.6068190336227417, + 0.7671470046043396, + -5.409005641937256 + ], + [ + -0.9781328439712524, + 0.12902876734733582, + -0.16311953961849213, + -0.021632617339491844 + ], + [ + 8.808331131149316e-08, + -0.7842974662780762, + -0.6203850507736206, + 3.117166042327881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.2239254117012024, + -0.6028488278388977, + 0.7657876014709473, + -5.407102584838867 + ], + [ + -0.9746062159538269, + 0.13851051032543182, + -0.17594726383686066, + -0.003673707600682974 + ], + [ + -5.280100978666269e-08, + -0.7857404351234436, + -0.6185563206672668, + 3.1146059036254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.23786936700344086, + -0.5958162546157837, + 0.7670862674713135, + -5.408920764923096 + ], + [ + -0.9712972640991211, + 0.14591458439826965, + -0.18785834312438965, + 0.013001623563468456 + ], + [ + 4.59194566815313e-08, + -0.7897544503211975, + -0.6134231090545654, + 3.107419490814209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.24891753494739532, + -0.5868708491325378, + 0.7704691886901855, + -5.413656711578369 + ], + [ + -0.9685247540473938, + 0.15082986652851105, + -0.19801586866378784, + 0.027222299948334694 + ], + [ + 6.046846579010889e-09, + -0.795508086681366, + -0.6059430241584778, + 3.096947431564331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.25737178325653076, + -0.576995313167572, + 0.7751361131668091, + -5.420190811157227 + ], + [ + -0.9663123488426208, + 0.15367943048477173, + -0.2064530849456787, + 0.039034321904182434 + ], + [ + -6.935421481557569e-08, + -0.8021588921546936, + -0.5971106290817261, + 3.0845818519592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.2638084590435028, + -0.5666871070861816, + 0.7805579900741577, + -5.427781105041504 + ], + [ + -0.9645750522613525, + 0.15498721599578857, + -0.2134803682565689, + 0.048872511833906174 + ], + [ + 4.299174349853274e-08, + -0.8092247247695923, + -0.58749920129776, + 3.0711259841918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.2686816155910492, + -0.5561689734458923, + 0.7864391207695007, + -5.436014652252197 + ], + [ + -0.9632291793823242, + 0.15513694286346436, + -0.21936798095703125, + 0.057115260511636734 + ], + [ + -1.2759230116898834e-08, + -0.8164611458778381, + -0.5774004459381104, + 3.056987762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.2722964286804199, + -0.5455451011657715, + 0.7926128506660461, + -5.444658279418945 + ], + [ + -0.9622133374214172, + 0.15438352525234222, + -0.2243013083934784, + 0.06402173638343811 + ], + [ + 8.416219543505576e-08, + -0.8237391710281372, + -0.5669689178466797, + 3.0423836708068848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.27485084533691406, + -0.5348694324493408, + 0.798981785774231, + -5.453574180603027 + ], + [ + -0.9614869952201843, + 0.152897909283638, + -0.22839701175689697, + 0.0697559267282486 + ], + [ + 3.247834001740557e-09, + -0.8309856057167053, + -0.5562939643859863, + 3.0274388790130615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.27646923065185547, + -0.5241745114326477, + 0.8054848313331604, + -5.462678909301758 + ], + [ + -0.9610227942466736, + 0.15079571306705475, + -0.23172374069690704, + 0.07441336661577225 + ], + [ + 3.4626221889766384e-08, + -0.8381537795066833, + -0.5454339981079102, + 3.012234926223755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.27722418308258057, + -0.5134848952293396, + 0.8120837807655334, + -5.471917152404785 + ], + [ + -0.9608052372932434, + 0.14815738797187805, + -0.23431310057640076, + 0.07803840190172195 + ], + [ + 2.8612760161195183e-08, + -0.8452116250991821, + -0.5344318151473999, + 2.9968316555023193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.27714744210243225, + -0.5028241276741028, + 0.8187534213066101, + -5.481254577636719 + ], + [ + -0.9608274102210999, + 0.14503790438175201, + -0.23616671562194824, + 0.08063337951898575 + ], + [ + 3.3361839513190716e-08, + -0.8521336913108826, + -0.5233241319656372, + 2.98128080368042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.27623605728149414, + -0.4922207295894623, + 0.825477123260498, + -5.490667819976807 + ], + [ + -0.9610898494720459, + 0.14147382974624634, + -0.23725831508636475, + 0.08216152340173721 + ], + [ + 9.119966648540867e-08, + -0.8588969707489014, + -0.5121484398841858, + 2.965635061264038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.27445197105407715, + -0.4817129671573639, + 0.8322432637214661, + -5.50014066696167 + ], + [ + -0.9616008996963501, + 0.1374863237142563, + -0.2375318557024002, + 0.08254443109035492 + ], + [ + 1.488666470095268e-07, + -0.8654769062995911, + -0.5009489059448242, + 2.949955463409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.27171820402145386, + -0.4713573157787323, + 0.8390420079231262, + -5.5096588134765625 + ], + [ + -0.9623768925666809, + 0.13308346271514893, + -0.23689569532871246, + 0.08165404945611954 + ], + [ + -9.299753855884774e-08, + -0.8718435168266296, + -0.4897845685482025, + 2.9343254566192627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.2679102122783661, + -0.4612421989440918, + 0.8458606600761414, + -5.519204616546631 + ], + [ + -0.9634441137313843, + 0.12826040387153625, + -0.23521289229393005, + 0.07929803431034088 + ], + [ + -1.5607682257723354e-07, + -0.8779551982879639, + -0.4787430167198181, + 2.918867588043213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.2628399729728699, + -0.45151060819625854, + 0.8526740074157715, + -5.528743743896484 + ], + [ + -0.9648392796516418, + 0.12299975752830505, + -0.23228418827056885, + 0.0751979723572731 + ], + [ + -3.997137199007739e-08, + -0.8837471008300781, + -0.46796464920043945, + 2.903777599334717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000032__traj001__bullettime_early/caption.txt b/blenderobj_eval/target/scene_000032__traj001__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b92fa3e38ec144c7ad118b937e63a36e90c24a8 --- /dev/null +++ b/blenderobj_eval/target/scene_000032__traj001__bullettime_early/caption.txt @@ -0,0 +1 @@ +A small robot with a blue and white body and red accents is surrounded by various floating objects including cardboard boxes, a yellow can, a blue cup, and other miscellaneous items, all suspended in mid-air before descending and scattering across a gray tiled floor in a spacious, dimly lit room with large windows and white pillars. 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 frozen at an early moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000038__traj002__bullettime_mid/caption.txt b/blenderobj_eval/target/scene_000038__traj002__bullettime_mid/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..992fe77fd53c42128bb33d013ccc84121739e078 --- /dev/null +++ b/blenderobj_eval/target/scene_000038__traj002__bullettime_mid/caption.txt @@ -0,0 +1 @@ +A collection of colorful, blocky objects resembling toys or building bricks tumble and scatter across a sleek, futuristic corridor with metallic flooring and smooth, curved walls, eventually coming to rest in a disorganized pile. 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 is frozen at a middle moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_early/caption.txt b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0372698771ff7fdc7859a95b278e6ec843f6d7f --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/caption.txt @@ -0,0 +1 @@ +Inside a vintage train car with pink upholstered seats and patterned curtains, various items including boxes, a toy train, and a small bird figurine float and scatter through the air before settling on the seats and floor, while framed landscape paintings hang on the walls and a wooden ceiling with hanging lamps completes the cozy, retro ambiance. 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 is frozen at an early moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/blender_meta.json b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a0a74e269dd3d9939f727b50db7952bbaaf95ca --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000039", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_10", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 10, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 10, + 10 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "timestamp_range": [ + 0.333333333, + 0.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..d4cd2c0c9e83f4be5cf41b82a98606bed8790735 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_early", + "original_pattern": "bullettime_10", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "timestamps_seconds": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.333333333, + 0.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/traj_caption.txt b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/extras/traj_caption.txt @@ -0,0 +1 @@ +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. diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_early/transforms.json b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8be3085078010dba5dcae6c91dddba902a1b1a23 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_early/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -2.1261141300201416 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + 3.1818416118621826 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 4.670909881591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.947725772857666, + 0.17166249454021454, + -0.2689754366874695, + -2.116434335708618 + ], + [ + 0.31908586621284485, + -0.5098596215248108, + 0.7988913059234619, + 3.192552089691162 + ], + [ + -1.4949772975114684e-08, + -0.8429561853408813, + -0.537982165813446, + 4.6821980476379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.944267988204956, + 0.1797303408384323, + -0.2757806181907654, + -2.1069071292877197 + ], + [ + 0.3291776776313782, + -0.5155683755874634, + 0.791094958782196, + 3.2034668922424316 + ], + [ + 7.036483395950199e-09, + -0.8377864360809326, + -0.5459979772567749, + 4.693419933319092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9406698942184448, + 0.1879659742116928, + -0.28250476717948914, + -2.0974934101104736 + ], + [ + 0.3393230736255646, + -0.5210784077644348, + 0.7831584215164185, + 3.214578151702881 + ], + [ + 4.841236744823618e-09, + -0.8325539827346802, + -0.5539439916610718, + 4.704544544219971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9369156956672668, + 0.19637899100780487, + -0.2891785204410553, + -2.0881500244140625 + ], + [ + 0.3495553135871887, + -0.5263561010360718, + 0.775087296962738, + 3.2258777618408203 + ], + [ + -7.87029641458048e-09, + -0.8272753953933716, + -0.5617966055870056, + 4.715538024902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9329863786697388, + 0.20497994124889374, + -0.2958371341228485, + -2.0788280963897705 + ], + [ + 0.35991165041923523, + -0.5313623547554016, + 0.7668883204460144, + 3.237356424331665 + ], + [ + -3.630988842928673e-09, + -0.821971595287323, + -0.5695285201072693, + 4.726362705230713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9288583993911743, + 0.21378079056739807, + -0.3025223910808563, + -2.0694687366485596 + ], + [ + 0.3704349100589752, + -0.5360512137413025, + 0.7585691213607788, + 3.2490034103393555 + ], + [ + 2.8451800915263448e-09, + -0.8166681528091431, + -0.5771075487136841, + 4.736973285675049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9245024919509888, + 0.22279483079910278, + -0.30928564071655273, + -2.06000018119812 + ], + [ + 0.3811759948730469, + -0.5403655767440796, + 0.7501398921012878, + 3.2608041763305664 + ], + [ + -3.4909986013076377e-09, + -0.8113985061645508, + -0.5844933390617371, + 4.747313499450684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9198812246322632, + 0.2320365309715271, + -0.3161923289299011, + -2.050330877304077 + ], + [ + 0.3921970725059509, + -0.544231653213501, + 0.7416154742240906, + 3.272738456726074 + ], + [ + -3.2372618363751826e-08, + -0.8062078356742859, + -0.5916324853897095, + 4.757308483123779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9149464964866638, + 0.2415199875831604, + -0.3233279883861542, + -2.0403409004211426 + ], + [ + 0.4035751223564148, + -0.5475507974624634, + 0.7330178618431091, + 3.2847750186920166 + ], + [ + -7.229772336359019e-10, + -0.8011592626571655, + -0.5984511375427246, + 4.766854286193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9096350073814392, + 0.25125566124916077, + -0.3308092951774597, + -2.029867172241211 + ], + [ + 0.41540849208831787, + -0.5501835942268372, + 0.7243852019309998, + 3.296860933303833 + ], + [ + 2.3795623249611708e-08, + -0.7963470816612244, + -0.6048399209976196, + 4.775798797607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9038641452789307, + 0.26123878359794617, + -0.33879774808883667, + -2.0186831951141357 + ], + [ + 0.4278196096420288, + -0.5519251823425293, + 0.7157855033874512, + 3.3089001178741455 + ], + [ + -3.686740157604618e-08, + -0.7919172048568726, + -0.6106284260749817, + 4.783902645111084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8975310921669006, + 0.2714196741580963, + -0.34751877188682556, + -2.0064737796783447 + ], + [ + 0.4409511685371399, + -0.5524592995643616, + 0.707354724407196, + 3.3207032680511475 + ], + [ + 4.0106645116111395e-08, + -0.788111686706543, + -0.6155322194099426, + 4.790767669677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8905376195907593, + 0.2816151976585388, + -0.3572613000869751, + -1.992834210395813 + ], + [ + 0.45490962266921997, + -0.5512939691543579, + 0.6993798613548279, + 3.3318681716918945 + ], + [ + -2.828596201709388e-08, + -0.7853456735610962, + -0.6190574765205383, + 4.795703411102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8829139471054077, + 0.29129236936569214, + -0.3682548999786377, + -1.9774430990219116 + ], + [ + 0.4695347845554352, + -0.5477466583251953, + 0.6924670934677124, + 3.341546058654785 + ], + [ + -5.178458550858522e-09, + -0.7842973470687866, + -0.6203850507736206, + 4.7975616455078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.8751294016838074, + 0.2993125915527344, + -0.3802110552787781, + -1.9607044458389282 + ], + [ + 0.4838888943195343, + -0.5413168668746948, + 0.6876245737075806, + 3.348325490951538 + ], + [ + 6.256375684188242e-08, + -0.7857404351234436, + -0.6185563802719116, + 4.79500150680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.8681051135063171, + 0.3044913113117218, + -0.39201855659484863, + -1.9441739320755005 + ], + [ + 0.49638041853904724, + -0.5325157642364502, + 0.6855897903442383, + 3.3511743545532227 + ], + [ + 8.955965569157343e-08, + -0.789754331111908, + -0.613423228263855, + 4.787815093994141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.8623946905136108, + 0.3067505657672882, + -0.40271520614624023, + -1.9291987419128418 + ], + [ + 0.5062365531921387, + -0.5225620865821838, + 0.6860418319702148, + 3.350541353225708 + ], + [ + 1.9533818118588897e-08, + -0.7955079674720764, + -0.6059431433677673, + 4.777343273162842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8579378724098206, + 0.30676764249801636, + -0.41211193799972534, + -1.9160432815551758 + ], + [ + 0.5137534737586975, + -0.5122838020324707, + 0.6882025003433228, + 3.3475165367126465 + ], + [ + -1.5631247407554838e-09, + -0.8021588921546936, + -0.5971105694770813, + 4.76497745513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8544936180114746, + 0.30518341064453125, + -0.42036139965057373, + -1.9044939279556274 + ], + [ + 0.5194618701934814, + -0.5020143985748291, + 0.6914772391319275, + 3.3429317474365234 + ], + [ + -2.4280662813680465e-08, + -0.8092246055603027, + -0.5874992609024048, + 4.751521587371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.851856529712677, + 0.30242806673049927, + -0.4276420772075653, + -1.8943010568618774 + ], + [ + 0.5237752199172974, + -0.49186229705810547, + 0.6955077648162842, + 3.337289333343506 + ], + [ + 3.7252064544190944e-08, + -0.8164611458778381, + -0.5774004459381104, + 4.7373833656311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8498837947845459, + 0.2987757921218872, + -0.434085875749588, + -1.8852797746658325 + ], + [ + 0.5269701480865479, + -0.48185768723487854, + 0.7000826597213745, + 3.3308842182159424 + ], + [ + 9.663965272466157e-08, + -0.823739230632782, + -0.5669689178466797, + 4.722779273986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.848481297492981, + 0.2944049537181854, + -0.43977856636047363, + -1.877310037612915 + ], + [ + 0.5292253494262695, + -0.47200512886047363, + 0.7050756812095642, + 3.3238940238952637 + ], + [ + 3.170163864751885e-08, + -0.8309854865074158, + -0.5562940835952759, + 4.707834720611572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8475890755653381, + 0.2894365191459656, + -0.44476884603500366, + -1.8703235387802124 + ], + [ + 0.5306532382965088, + -0.46230408549308777, + 0.7104098796844482, + 3.3164260387420654 + ], + [ + 6.765414184428664e-08, + -0.8381536602973938, + -0.5454342365264893, + 4.692630767822266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8471719026565552, + 0.2839537262916565, + -0.4490768611431122, + -1.8642923831939697 + ], + [ + 0.5313188433647156, + -0.4527556002140045, + 0.7160395383834839, + 3.308544635772705 + ], + [ + 2.6708237399475365e-08, + -0.8452116250991821, + -0.5344318151473999, + 4.67722749710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.84721440076828, + 0.2780165672302246, + -0.4526969790458679, + -1.8592242002487183 + ], + [ + 0.5312511324882507, + -0.44336774945259094, + 0.7219399213790894, + 3.3002841472625732 + ], + [ + 2.4485498073545386e-08, + -0.8521336913108826, + -0.523324191570282, + 4.661676406860352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8477178812026978, + 0.27166783809661865, + -0.4555995464324951, + -1.8551605939865112 + ], + [ + 0.5304473042488098, + -0.43415746092796326, + 0.7281022667884827, + 3.291656732559204 + ], + [ + 3.646053414740891e-08, + -0.8588968515396118, + -0.5121485590934753, + 4.646030902862549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8487008810043335, + 0.2649384140968323, + -0.45772749185562134, + -1.8521815538406372 + ], + [ + 0.5288731455802917, + -0.42515575885772705, + 0.7345309257507324, + 3.282656669616699 + ], + [ + 8.871932521969939e-09, + -0.8654768466949463, + -0.5009489059448242, + 4.6303510665893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8502002954483032, + 0.2578516900539398, + -0.4589901566505432, + -1.8504137992858887 + ], + [ + 0.5264593958854675, + -0.41641485691070557, + 0.7412416934967041, + 3.273261785507202 + ], + [ + 8.621207570058687e-08, + -0.8718435764312744, + -0.48978444933891296, + 4.614721298217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8522757887840271, + 0.25042712688446045, + -0.4592518210411072, + -1.8500473499298096 + ], + [ + 0.5230926871299744, + -0.40802133083343506, + 0.7482597231864929, + 3.2634363174438477 + ], + [ + 1.0579508824548611e-08, + -0.87795490026474, + -0.478743314743042, + 4.5992631912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8550145626068115, + 0.24268831312656403, + -0.45831483602523804, + -1.851359248161316 + ], + [ + 0.5186039805412292, + -0.40011662244796753, + 0.7556167244911194, + 3.25313663482666 + ], + [ + -3.8110488986831115e-08, + -0.8837472200393677, + -0.46796467900276184, + 4.584173202514648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8585354685783386, + 0.23468059301376343, + -0.4558967649936676, + -1.8547443151474 + ], + [ + 0.5127541422843933, + -0.392939954996109, + 0.7633355855941772, + 3.2423300743103027 + ], + [ + 2.8563675869008875e-08, + -0.8891136646270752, + -0.4576863646507263, + 4.569783687591553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8629766702651978, + 0.22651131451129913, + -0.4516236186027527, + -1.8607269525527954 + ], + [ + 0.5052437782287598, + -0.38689056038856506, + 0.7713911533355713, + 3.2310521602630615 + ], + [ + -4.5315054819639045e-08, + -0.8938725590705872, + -0.44832098484039307, + 4.556672096252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8684301972389221, + 0.2184293121099472, + -0.44510412216186523, + -1.869854211807251 + ], + [ + 0.49581149220466614, + -0.3825862407684326, + 0.7796144485473633, + 3.2195396423339844 + ], + [ + -4.713741574846608e-08, + -0.897728443145752, + -0.44054919481277466, + 4.5457916259765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8747780323028564, + 0.2108922302722931, + -0.4362199306488037, + -1.8822921514511108 + ], + [ + 0.48452383279800415, + -0.3807530701160431, + 0.787568211555481, + 3.208404541015625 + ], + [ + -3.3708289493006305e-08, + -0.9003063440322876, + -0.4352567493915558, + 4.538382053375244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8815814256668091, + 0.2044087052345276, + -0.42547768354415894, + -1.8973312377929688 + ], + [ + 0.47203195095062256, + -0.38176003098487854, + 0.7946352362632751, + 3.1985106468200684 + ], + [ + -2.578942925879346e-08, + -0.9013746976852417, + -0.43303999304771423, + 4.535278797149658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.888319194316864, + 0.1991737186908722, + -0.41378605365753174, + -1.9136996269226074 + ], + [ + 0.4592266082763672, + -0.38527774810791016, + 0.8004199266433716, + 3.1904122829437256 + ], + [ + 2.206634874823976e-08, + -0.9010499119758606, + -0.43371546268463135, + 4.536224842071533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8946959376335144, + 0.19501978158950806, + -0.4018537402153015, + -1.930404782295227 + ], + [ + 0.4466756582260132, + -0.39062654972076416, + 0.8049173355102539, + 3.1841158866882324 + ], + [ + -1.3537544418795733e-09, + -0.8996545672416687, + -0.4366025924682617, + 4.540266513824463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9006373882293701, + 0.19166108965873718, + -0.39002346992492676, + -1.9469670057296753 + ], + [ + 0.43457138538360596, + -0.39721232652664185, + 0.8083130121231079, + 3.179361581802368 + ], + [ + 6.14769390949732e-08, + -0.8974899649620056, + -0.4410347044467926, + 4.546471118927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9061673879623413, + 0.1888468861579895, + -0.37841445207595825, + -1.9632197618484497 + ], + [ + 0.4229191839694977, + -0.4046326279640198, + 0.8108093738555908, + 3.1758668422698975 + ], + [ + -2.2758882778362022e-08, + -0.8947677612304688, + -0.44653186202049255, + 4.5541672706604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9113362431526184, + 0.18639104068279266, + -0.36704856157302856, + -1.979132056236267 + ], + [ + 0.4116628170013428, + -0.41263115406036377, + 0.8125696182250977, + 3.173402786254883 + ], + [ + -2.3705524654360488e-08, + -0.891624391078949, + -0.4527759850025177, + 4.562909126281738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9161940813064575, + 0.18416009843349457, + -0.3559121787548065, + -1.994722843170166 + ], + [ + 0.4007348418235779, + -0.42104265093803406, + 0.8137165307998657, + 3.1717967987060547 + ], + [ + -5.753129528329737e-08, + -0.8881486654281616, + -0.45955613255500793, + 4.57240104675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.920784056186676, + 0.18205764889717102, + -0.34498080611228943, + -2.010026693344116 + ], + [ + 0.3900727331638336, + -0.4297552704811096, + 0.8143423795700073, + 3.1709203720092773 + ], + [ + -1.3024280320905746e-08, + -0.8844010829925537, + -0.46672752499580383, + 4.582441329956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9251418709754944, + 0.180012047290802, + -0.3342277407646179, + -2.025081157684326 + ], + [ + 0.3796215355396271, + -0.4386913776397705, + 0.8145166039466858, + 3.1706767082214355 + ], + [ + -6.083723746996839e-09, + -0.8804234862327576, + -0.4741882085800171, + 4.592886447906494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9292967319488525, + 0.17796865105628967, + -0.3236274719238281, + -2.039921522140503 + ], + [ + 0.369333952665329, + -0.4477945864200592, + 0.8142926096916199, + 3.170990228652954 + ], + [ + -6.988106804328709e-08, + -0.8762460350990295, + -0.48186391592025757, + 4.60363245010376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9332725405693054, + 0.17588414251804352, + -0.31315678358078003, + -2.0545804500579834 + ], + [ + 0.35916903614997864, + -0.4570211172103882, + 0.8137133121490479, + 3.1718013286590576 + ], + [ + -1.033925123294921e-08, + -0.8718924522399902, + -0.4896973967552185, + 4.614599227905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9370890259742737, + 0.17372286319732666, + -0.30279454588890076, + -2.069087505340576 + ], + [ + 0.34909048676490784, + -0.4663369953632355, + 0.812813401222229, + 3.1730613708496094 + ], + [ + -6.05187899793691e-09, + -0.8673811554908752, + -0.4976442754268646, + 4.625724792480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9407626390457153, + 0.17145483195781708, + -0.29252153635025024, + -2.083469867706299 + ], + [ + 0.3390657901763916, + -0.4757139980792999, + 0.811622142791748, + 3.1747288703918457 + ], + [ + -2.686093303339021e-08, + -0.8627278208732605, + -0.5056684613227844, + 4.636958599090576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9443074464797974, + 0.16905343532562256, + -0.28231972455978394, + -2.097752332687378 + ], + [ + 0.32906457781791687, + -0.48512789607048035, + 0.8101650476455688, + 3.1767690181732178 + ], + [ + 1.8763300246860126e-08, + -0.8579462766647339, + -0.5137393474578857, + 4.648258209228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9477352499961853, + 0.1664942055940628, + -0.2721719443798065, + -2.111959457397461 + ], + [ + 0.31905779242515564, + -0.49455755949020386, + 0.8084645867347717, + 3.179149627685547 + ], + [ + -3.3957881839796755e-08, + -0.8530489802360535, + -0.5218309164047241, + 4.659585952758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -2.1261141300201416 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + 3.1818416118621826 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 4.670909881591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9542802572250366, + 0.16080999374389648, + -0.2519708275794983, + -2.1402409076690674 + ], + [ + 0.29891327023506165, + -0.5133858323097229, + 0.8044164180755615, + 3.184816837310791 + ], + [ + -2.464853210426554e-08, + -0.8429561853408813, + -0.5379822254180908, + 4.6821980476379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9574146866798401, + 0.15763849020004272, + -0.24188272655010223, + -2.1543641090393066 + ], + [ + 0.2887163758277893, + -0.5227463245391846, + 0.8021091222763062, + 3.188047170639038 + ], + [ + -1.7238527050267294e-08, + -0.8377865552902222, + -0.5459977984428406, + 4.693419933319092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9604670405387878, + 0.154214546084404, + -0.23177778720855713, + -2.168511152267456 + ], + [ + 0.2783937454223633, + -0.5320450067520142, + 0.7996405363082886, + 3.1915032863616943 + ], + [ + -6.718281042594754e-09, + -0.8325538635253906, + -0.5539440512657166, + 4.704544544219971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.963444173336029, + 0.15051043033599854, + -0.22163458168506622, + -2.182711601257324 + ], + [ + 0.26790907979011536, + -0.5412597060203552, + 0.7970336675643921, + 3.195152759552002 + ], + [ + 2.9905864451507114e-09, + -0.8272753357887268, + -0.5617966651916504, + 4.715538024902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9663525819778442, + 0.14649471640586853, + -0.21142838895320892, + -2.19700026512146 + ], + [ + 0.2572210431098938, + -0.5503653883934021, + 0.7943143248558044, + 3.198960065841675 + ], + [ + 5.822423432277901e-09, + -0.8219715356826782, + -0.5695285201072693, + 4.726362705230713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9691984057426453, + 0.14213071763515472, + -0.20113001763820648, + -2.2114179134368896 + ], + [ + 0.2462811917066574, + -0.5593317747116089, + 0.7915135025978088, + 3.202881097793579 + ], + [ + -3.763903677622693e-08, + -0.8166681528091431, + -0.5771075487136841, + 4.736973285675049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9719878435134888, + 0.13737408816814423, + -0.1907038539648056, + -2.2260146141052246 + ], + [ + 0.23503106832504272, + -0.5681204199790955, + 0.7886695265769958, + 3.206862688064575 + ], + [ + 7.902385412705826e-10, + -0.8113985061645508, + -0.5844933390617371, + 4.747313499450684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9747271537780762, + 0.13216988742351532, + -0.18010568618774414, + -2.240852117538452 + ], + [ + 0.2233986109495163, + -0.5766803026199341, + 0.7858327031135559, + 3.210834264755249 + ], + [ + -1.227705492823361e-09, + -0.8062078356742859, + -0.5916324853897095, + 4.757308483123779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9774227738380432, + 0.12644843757152557, + -0.16927926242351532, + -2.256009101867676 + ], + [ + 0.21129286289215088, + -0.5849397778511047, + 0.7830713987350464, + 3.214700222015381 + ], + [ + -2.407281307625908e-08, + -0.8011593222618103, + -0.5984511375427246, + 4.766854286193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9800811409950256, + 0.12011975049972534, + -0.15815259516239166, + -2.2715864181518555 + ], + [ + 0.19859756529331207, + -0.5927922129631042, + 0.7804847359657288, + 3.2183215618133545 + ], + [ + -4.821076871053265e-09, + -0.7963470816612244, + -0.6048399806022644, + 4.775798797607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9827075004577637, + 0.11306677758693695, + -0.14663507044315338, + -2.2877109050750732 + ], + [ + 0.18516463041305542, + -0.6000691056251526, + 0.7782230377197266, + 3.2214877605438232 + ], + [ + -7.954930048015285e-10, + -0.7919172644615173, + -0.6106283664703369, + 4.783902645111084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9853025078773499, + 0.10514430701732635, + -0.13462409377098083, + -2.3045263290405273 + ], + [ + 0.1708185374736786, + -0.6064854264259338, + 0.7765284776687622, + 3.223860025405884 + ], + [ + -7.122274325865874e-09, + -0.7881117463111877, + -0.6155322194099426, + 4.790767669677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.987849235534668, + 0.0962110087275505, + -0.12205467373132706, + -2.3221235275268555 + ], + [ + 0.15541525185108185, + -0.6115355491638184, + 0.7758030891418457, + 3.2248756885528564 + ], + [ + 1.6053848028718676e-08, + -0.7853456139564514, + -0.6190575957298279, + 4.795703411102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9902780652046204, + 0.08629689365625381, + -0.10909745842218399, + -2.340263605117798 + ], + [ + 0.13910214602947235, + -0.6143537163734436, + 0.7766724228858948, + 3.223658561706543 + ], + [ + -1.441265773394207e-09, + -0.7842973470687866, + -0.6203850507736206, + 4.7975616455078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9924173355102539, + 0.07602911442518234, + -0.09657835215330124, + -2.357790231704712 + ], + [ + 0.12291380763053894, + -0.6138660311698914, + 0.7797824740409851, + 3.2193045616149902 + ], + [ + 2.334163085038199e-09, + -0.7857404947280884, + -0.6185563206672668, + 4.79500150680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9940768480300903, + 0.06666634976863861, + -0.08582986146211624, + -2.372838258743286 + ], + [ + 0.10867919772863388, + -0.6097899079322815, + 0.7850764989852905, + 3.21189284324646 + ], + [ + 6.226858140223612e-09, + -0.789754331111908, + -0.6134232878684998, + 4.787815093994141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9952502846717834, + 0.058987922966480255, + -0.07744185626506805, + -2.3845813274383545 + ], + [ + 0.09734894335269928, + -0.6030651330947876, + 0.7917295098304749, + 3.202578544616699 + ], + [ + -6.014003517407218e-09, + -0.7955079674720764, + -0.6059431433677673, + 4.777343273162842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960629940032959, + 0.052932627499103546, + -0.07110973447561264, + -2.393446445465088 + ], + [ + 0.08864793926477432, + -0.5947598814964294, + 0.7990007400512695, + 3.1923987865448 + ], + [ + -3.863376285551112e-09, + -0.8021588325500488, + -0.5971106886863708, + 4.76497745513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.996631920337677, + 0.04817799851298332, + -0.06636063009500504, + -2.400094985961914 + ], + [ + 0.08200520277023315, + -0.5855205059051514, + 0.8064991235733032, + 3.181901216506958 + ], + [ + 4.0457739380883595e-09, + -0.8092246651649475, + -0.5874992609024048, + 4.751521587371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9970337152481079, + 0.04444000497460365, + -0.06283945590257645, + -2.405024766921997 + ], + [ + 0.07696565240621567, + -0.5756877660751343, + 0.8140392303466797, + 3.1713449954986572 + ], + [ + -1.0694765073537837e-09, + -0.8164610862731934, + -0.5774005055427551, + 4.7373833656311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973157048225403, + 0.04151427373290062, + -0.06031535565853119, + -2.4085586071014404 + ], + [ + 0.07322142273187637, + -0.5654470324516296, + 0.8215280175209045, + 3.160860776901245 + ], + [ + 3.3627514106626677e-09, + -0.8237391710281372, + -0.5669689178466797, + 4.722779273986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9975066781044006, + 0.03925909474492073, + -0.058644749224185944, + -2.4108972549438477 + ], + [ + 0.07057254016399384, + -0.5549070239067078, + 0.8289135694503784, + 3.1505210399627686 + ], + [ + 9.860521288374002e-09, + -0.8309855461120605, + -0.5562940835952759, + 4.707834720611572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9976240396499634, + 0.03757654130458832, + -0.05774284154176712, + -2.4121599197387695 + ], + [ + 0.06889290362596512, + -0.5441382527351379, + 0.8361623287200928, + 3.1403727531433105 + ], + [ + -5.52147527699276e-09, + -0.8381537199020386, + -0.5454341769218445, + 4.692630767822266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9976778626441956, + 0.0363997258245945, + -0.05756665766239166, + -2.4124066829681396 + ], + [ + 0.0681091770529747, + -0.5331908464431763, + 0.8432488441467285, + 3.1304514408111572 + ], + [ + 1.5800107888708226e-08, + -0.8452115058898926, + -0.5344318747520447, + 4.67722749710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997672438621521, + 0.03568490967154503, + -0.058106034994125366, + -2.411651611328125 + ], + [ + 0.06818888336420059, + -0.5221061706542969, + 0.8501502871513367, + 3.1207895278930664 + ], + [ + 1.05448876297487e-08, + -0.8521336913108826, + -0.5233242511749268, + 4.661676406860352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9976072907447815, + 0.03540747985243797, + -0.05937999114394188, + -2.409868001937866 + ], + [ + 0.06913518160581589, + -0.5109230875968933, + 0.8568418622016907, + 3.1114213466644287 + ], + [ + 1.3306964419257383e-09, + -0.8588969111442566, + -0.5121484994888306, + 4.646030902862549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9974772930145264, + 0.035560596734285355, + -0.06143713369965553, + -2.4069879055023193 + ], + [ + 0.07098645716905594, + -0.4996851682662964, + 0.8632935285568237, + 3.102389097213745 + ], + [ + 9.05822883368046e-09, + -0.8654768466949463, + -0.5009489059448242, + 4.6303510665893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9972715377807617, + 0.03615622967481613, + -0.06436006724834442, + -2.402895927429199 + ], + [ + 0.07382066547870636, + -0.4884481728076935, + 0.8694647550582886, + 3.093749523162842 + ], + [ + 3.6272753689559067e-09, + -0.8718435764312744, + -0.4897845387458801, + 4.614721298217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969717860221863, + 0.03722911328077316, + -0.06827349215745926, + -2.3974170684814453 + ], + [ + 0.07776423543691635, + -0.4772934913635254, + 0.8752963542938232, + 3.085585117340088 + ], + [ + 8.85149198381896e-09, + -0.8779550194740295, + -0.47874322533607483, + 4.5992631912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965490698814392, + 0.03884365037083626, + -0.07335590571165085, + -2.3903017044067383 + ], + [ + 0.08300553262233734, + -0.46634969115257263, + 0.88069748878479, + 3.0780234336853027 + ], + [ + -3.3546276867468805e-09, + -0.8837472796440125, + -0.4679645895957947, + 4.584173202514648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_001__backward/caption.txt b/camxtime_eval/target/eval_scene_001__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..14e61cee62664d61600f0a013ccc83663618c700 --- /dev/null +++ b/camxtime_eval/target/eval_scene_001__backward/caption.txt @@ -0,0 +1 @@ +Under a starry night sky, a person in a red sweater and black pants walks across a light-colored paved patio. To the left stands a single palm tree, and to the right, a modern building with a light-colored facade. A dark metal railing separates the patio from a grassy area beyond. The person turns, walks away from the viewer, then turns again and walks toward the left side of the frame. The camera sweeps along an arc around the scene. Scene time is reversed, playing backward. diff --git a/camxtime_eval/target/eval_scene_001__backward/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_001__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2e6cba4fb1bcf573a1fe8e971f9f5f7750cd5d --- /dev/null +++ b/camxtime_eval/target/eval_scene_001__backward/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "backward", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 119, + 118, + 116, + 115, + 113, + 112, + 110, + 109, + 107, + 106, + 104, + 103, + 101, + 100, + 98, + 97, + 95, + 94, + 92, + 91, + 89, + 88, + 86, + 85, + 83, + 82, + 80, + 79, + 77, + 76, + 74, + 73, + 71, + 70, + 68, + 67, + 65, + 64, + 62, + 61, + 59, + 58, + 57, + 55, + 54, + 52, + 51, + 49, + 48, + 46, + 45, + 43, + 42, + 40, + 39, + 37, + 36, + 34, + 33, + 31, + 30, + 28, + 27, + 25, + 24, + 22, + 21, + 19, + 18, + 16, + 15, + 13, + 12, + 10, + 9, + 7, + 6, + 4, + 3, + 1, + 0 + ], + "timestamps_seconds": [ + 3.9666666984558105, + 3.933333396911621, + 3.866666555404663, + 3.8333332538604736, + 3.7666666507720947, + 3.7333333492279053, + 3.6666667461395264, + 3.633333444595337, + 3.566666603088379, + 3.5333333015441895, + 3.4666666984558105, + 3.433333396911621, + 3.366666555404663, + 3.3333332538604736, + 3.2666666507720947, + 3.2333333492279053, + 3.1666667461395264, + 3.133333444595337, + 3.066666603088379, + 3.0333333015441895, + 2.9666666984558105, + 2.933333396911621, + 2.866666555404663, + 2.8333332538604736, + 2.7666666507720947, + 2.7333333492279053, + 2.6666667461395264, + 2.633333444595337, + 2.566666603088379, + 2.5333333015441895, + 2.4666666984558105, + 2.433333396911621, + 2.366666555404663, + 2.3333332538604736, + 2.2666666507720947, + 2.2333333492279053, + 2.1666667461395264, + 2.133333444595337, + 2.066666603088379, + 2.0333333015441895, + 1.9666666984558105, + 1.9333332777023315, + 1.899999976158142, + 1.8333333730697632, + 1.7999999523162842, + 1.7333333492279053, + 1.7000000476837158, + 1.6333333253860474, + 1.600000023841858, + 1.5333333015441895, + 1.5, + 1.4333332777023315, + 1.399999976158142, + 1.3333333730697632, + 1.2999999523162842, + 1.2333333492279053, + 1.2000000476837158, + 1.1333333253860474, + 1.100000023841858, + 1.0333333015441895, + 1.0, + 0.9333333373069763, + 0.8999999761581421, + 0.8333333134651184, + 0.800000011920929, + 0.7333333492279053, + 0.699999988079071, + 0.6333333253860474, + 0.6000000238418579, + 0.5333333611488342, + 0.5, + 0.4333333373069763, + 0.4000000059604645, + 0.3333333432674408, + 0.30000001192092896, + 0.23333333432674408, + 0.20000000298023224, + 0.13333334028720856, + 0.10000000149011612, + 0.03333333507180214, + 0.0 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene001_traj01_backward.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.002584321678599899, + "max_input_determinant_error": 0.001838504023903842, + "max_rotation_element_change": 0.0013306975774339258, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_001__backward/transforms.json b/camxtime_eval/target/eval_scene_001__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6767c60387c3a905c511bb1ab34b29292d114b3d --- /dev/null +++ b/camxtime_eval/target/eval_scene_001__backward/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.99999996274709, + 0.00024413319624679583, + 0.00012208522366733115, + 0.00012197624891996384 + ], + [ + -0.00024414809740944403, + 0.9999999627470911, + 0.00012205541042680284, + -0.00024420488625764847 + ], + [ + -0.00012205542134144502, + -0.0001220852127549954, + 0.9999999850988375, + -0.00028227269649505615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 950.857177734375, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999845030096493, + -0.0014520202880383064, + 0.0053745118501865394, + -0.003451127791777253 + ], + [ + 0.0014775903781527903, + 0.9999875949554994, + -0.0047567490777891755, + 0.00146023731213063 + ], + [ + -0.005367538282961916, + 0.004764616689491932, + 0.9999742436485964, + -7.94184161350131e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999478790312166, + -0.0030998659149486883, + 0.009727797915312593, + -0.00544340955093503 + ], + [ + 0.0032467491380316293, + 0.9998804143466581, + -0.015120040541945795, + 0.007288438268005848 + ], + [ + -0.009679764511934143, + 0.01515083619028174, + 0.9998383640977818, + 0.0013077566400170326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999027379580323, + -0.00230661524732097, + 0.01375478644440535, + -0.007747294846922159 + ], + [ + 0.0025747979328106423, + 0.999806313588556, + -0.019511681733452385, + 0.009785451926290989 + ], + [ + -0.01370711638659177, + 0.01954519978314726, + 0.9997150094530949, + 0.004418609198182821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997532502074135, + -0.00369269159279051, + 0.02190439975242445, + -0.012179583311080933 + ], + [ + 0.0043619475597861225, + 0.9995226568715668, + -0.030584829799929224, + 0.015231565572321415 + ], + [ + -0.02178100349385061, + 0.030672828842568563, + 0.9992921321903794, + 0.0016507431864738464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996627981393281, + -0.004425794481870723, + 0.02558715223416782, + -0.014416144229471684 + ], + [ + 0.0053347391799279656, + 0.999353124100626, + -0.035565065839963425, + 0.017853843048214912 + ], + [ + -0.025413196849912327, + 0.03568957401711387, + 0.9990397508269354, + 0.0010751537047326565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999439378479741, + -0.006470257092457401, + 0.03284911744912679, + -0.018564479425549507 + ], + [ + 0.007922765711731374, + 0.9989876649700066, + -0.0442817684973272, + 0.022287752479314804 + ], + [ + -0.032529348710142326, + 0.04451719904633881, + 0.9984788733175893, + 0.00170272053219378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993200881340798, + -0.006543631331437194, + 0.03628418857702772, + -0.020249761641025543 + ], + [ + 0.008341543319750776, + 0.9987331862007851, + -0.049622993020106795, + 0.02500860020518303 + ], + [ + -0.03591350869435901, + 0.04989191988916696, + 0.9981087196408186, + 0.003193275537341833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990475665956415, + -0.006536341861349645, + 0.043142043465734185, + -0.024258576333522797 + ], + [ + 0.009071656790843093, + 0.9982264945782426, + -0.05883511336866877, + 0.02952016331255436 + ], + [ + -0.04268096440331316, + 0.059170446652924084, + 0.9973350457697238, + 0.004747215658426285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9988487042379449, + -0.009980130249700087, + 0.04692188234052151, + -0.025619732216000557 + ], + [ + 0.01293544223491272, + 0.997922865535735, + -0.06310807218681157, + 0.03126506507396698 + ], + [ + -0.04619459250135206, + 0.06364237142932073, + 0.9969030585681273, + 0.004414922092109919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9985135029399536, + -0.010147286404715534, + 0.05355200299899265, + -0.029275625944137573 + ], + [ + 0.013985808693713157, + 0.9973211490952526, + -0.07179779051271705, + 0.0354931578040123 + ], + [ + -0.05267999242374941, + 0.07244003137731087, + 0.9959805521456171, + 0.006043237168341875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9983461167411323, + -0.00940540794647556, + 0.056714808377195926, + -0.031092381104826927 + ], + [ + 0.013746483766991247, + 0.9969636903238831, + -0.076644858665325, + 0.03805847093462944 + ], + [ + -0.05582172849299398, + 0.07729772620940542, + 0.9954441200544157, + 0.004382639192044735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 944.914306640625, + "fy": 944.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9978407726170475, + -0.010471627830929565, + 0.06483932073660721, + -0.03549700602889061 + ], + [ + 0.01605698053265302, + 0.9961459253218407, + -0.08622916467685669, + 0.042674433439970016 + ], + [ + -0.06368646543173859, + 0.0870841000140948, + 0.9941631624866955, + 0.006609329953789711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.997540943181044, + -0.01077832533644444, + 0.06925239620702531, + -0.037440937012434006 + ], + [ + 0.01701044148410482, + 0.9957926775986509, + -0.09004214636171562, + 0.04474139213562012 + ], + [ + -0.06799052550163831, + 0.09099874144102506, + 0.993527310896968, + 0.007664687931537628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9969667863904212, + -0.01077272283593568, + 0.07707901969444124, + -0.04186404496431351 + ], + [ + 0.018378138071377628, + 0.9949522101418511, + -0.09865264099290724, + 0.04872945323586464 + ], + [ + -0.07562718344210176, + 0.0997699753259778, + 0.9921322901448515, + 0.008722185157239437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9966317672549694, + -0.012356499875160153, + 0.08107057054857456, + -0.04429909959435463 + ], + [ + 0.020698814148897255, + 0.9944780208804319, + -0.10288355105928186, + 0.050702545791864395 + ], + [ + -0.07935161996497392, + 0.10421507998640937, + 0.9913841523407364, + 0.007559736259281635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9959136482141956, + -0.011664832829498041, + 0.08955410083157518, + -0.04946216940879822 + ], + [ + 0.021651784542037072, + 0.9935429214278535, + -0.11137173567270618, + 0.055431947112083435 + ], + [ + -0.08767671028749471, + 0.11285563767781283, + 0.9897355199837465, + 0.008782053366303444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9955640497563836, + -0.010934266157580707, + 0.09344872741918246, + -0.051054589450359344 + ], + [ + 0.021812125739892725, + 0.992987506165906, + -0.11618968873838012, + 0.05816155672073364 + ], + [ + -0.09152296981291973, + 0.11771259245301544, + 0.9888211625843241, + 0.010659685358405113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.994730244790573, + -0.011763333008451277, + 0.10184971328098136, + -0.05584092065691948 + ], + [ + 0.024378473419483238, + 0.9920428365658485, + -0.12351801671059952, + 0.06236222758889198 + ], + [ + -0.09958629490357299, + 0.12535004752658335, + 0.9871017857609524, + 0.011558462865650654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.994258744659567, + -0.012245331097107577, + 0.10629957918215702, + -0.05804659053683281 + ], + [ + 0.025895597362852286, + 0.991435895973758, + -0.1280011023856123, + 0.06488092988729477 + ], + [ + -0.10382180264858823, + 0.13001890647530123, + 0.9860609095049676, + 0.010578719899058342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9931778316390473, + -0.01141118009218276, + 0.11604990180807376, + -0.0630839616060257 + ], + [ + 0.027331258979350917, + 0.9902582507842536, + -0.13653424125952635, + 0.06893772631883621 + ], + [ + -0.11336135595238532, + 0.13877457159946358, + 0.9838144241949404, + 0.013133691623806953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9927145281497376, + -0.011349948107483743, + 0.11995434247412959, + -0.065201535820961 + ], + [ + 0.02815312778733255, + 0.9898456230230309, + -0.1393307000554347, + 0.07017935067415237 + ], + [ + -0.1171548846452141, + 0.1416927000946229, + 0.982953667139841, + 0.014570235274732113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9915682086720508, + -0.010320412380397976, + 0.12917421042607194, + -0.06996491551399231 + ], + [ + 0.02942551300168102, + 0.9887161569557948, + -0.14688260672779832, + 0.07375597208738327 + ], + [ + -0.12620073983732671, + 0.14944514064653872, + 0.9806831920664532, + 0.01700439117848873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9910450861610703, + -0.010695186664872087, + 0.1330986482959196, + -0.0721515640616417 + ], + [ + 0.03088780967543046, + 0.9881138560024995, + -0.15058868081408458, + 0.0751875564455986 + ], + [ + -0.12990604454547813, + 0.15335129786889767, + 0.979595732449092, + 0.020078293979167938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9901164383851297, + -0.009901220548390394, + 0.13989783511976434, + -0.0760943815112114 + ], + [ + 0.03234452665579057, + 0.9867357081729399, + -0.15908008615744038, + 0.07944584637880325 + ], + [ + -0.13646710239085988, + 0.16203273758132353, + 0.977303495295573, + 0.017838841304183006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9891043552848798, + -0.010105046462627786, + 0.14686886120778167, + -0.07902663201093674 + ], + [ + 0.03441538683625448, + 0.9858692616769922, + -0.16394322196837888, + 0.0811181589961052 + ], + [ + -0.14313684188703318, + 0.16721150354102507, + 0.9754753495492116, + 0.01913115754723549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9877631851760853, + -0.009754907951113377, + 0.15565581191095793, + -0.08404839783906937 + ], + [ + 0.03672838034675907, + 0.9845215663204221, + -0.1713718516183092, + 0.08480209857225418 + ], + [ + -0.15157478711150457, + 0.17499179186707353, + 0.9728324401926847, + 0.020399833098053932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9868450060101687, + -0.008879074837160453, + 0.16142520293568127, + -0.08632935583591461 + ], + [ + 0.037487741862494865, + 0.9838439643580613, + -0.1750591985765519, + 0.08649349212646484 + ], + [ + -0.15726284787845082, + 0.1788077622091657, + 0.9712343593854726, + 0.022129543125629425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9855403987379906, + -0.008681381001309975, + 0.16921807255512644, + -0.09116014093160629 + ], + [ + 0.03981810249986811, + 0.9825855001325761, + -0.18149450030930847, + 0.08999829739332199 + ], + [ + -0.1646956015462216, + 0.18560810476141776, + 0.9687233817133775, + 0.021679837256669998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9848757510590089, + -0.008203248279832298, + 0.17306779507930847, + -0.09281345456838608 + ], + [ + 0.040725690629473815, + 0.9818531046255218, + -0.185218517054795, + 0.09246180951595306 + ], + [ + -0.16840775842788955, + 0.1894655315747023, + 0.9673373967992809, + 0.024573350325226784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9829518954906431, + -0.0076255703645263856, + 0.1837047136792272, + -0.09895781427621841 + ], + [ + 0.04340018207940432, + 0.9805286116917972, + -0.19152040582985125, + 0.09669550508260727 + ], + [ + -0.17866727553423395, + 0.19622816395811346, + 0.964143408587541, + 0.025674941018223763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.982235916001313, + -0.007067093291680695, + 0.1875170965791353, + -0.10096832364797592 + ], + [ + 0.04449033542618846, + 0.9795685388245939, + -0.19612773337474537, + 0.09901536256074905 + ], + [ + -0.18229979531180868, + 0.20098640236955492, + 0.9624818183694775, + 0.02661135606467724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9803529337457935, + -0.006355871937357451, + 0.1971489999668583, + -0.10586617141962051 + ], + [ + 0.047042786460385864, + 0.9781740364198818, + -0.20239202236273646, + 0.10202698409557343 + ], + [ + -0.19155965529844493, + 0.2076900511963728, + 0.9592547842445139, + 0.0288223996758461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9792618074183588, + -0.005914854243279948, + 0.20251253549104206, + -0.1089659184217453 + ], + [ + 0.048435261618396216, + 0.9774233741317779, + -0.20566373801136761, + 0.10299047827720642 + ], + [ + -0.19672401471017045, + 0.21120739144294057, + 0.9574398674779433, + 0.02896522358059883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 938.971435546875, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9774408960918561, + -0.004993450805696003, + 0.21115008902721324, + -0.11330816149711609 + ], + [ + 0.050771797470495164, + 0.9759610191534857, + -0.21194884683457138, + 0.10644575208425522 + ], + [ + -0.20501589994135572, + 0.21788794033158593, + 0.9541977395850901, + 0.03156339004635811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9764020540947521, + -0.004174779643993846, + 0.21592035562788442, + -0.11515714973211288 + ], + [ + 0.05163725117937029, + 0.9753254213206274, + -0.21464835619304914, + 0.10819406062364578 + ], + [ + -0.209696502236415, + 0.2207326295332514, + 0.9525253189333862, + 0.03304668515920639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9742708181019936, + -0.0026381786199525235, + 0.2253650660782202, + -0.12121917307376862 + ], + [ + 0.053726492592312325, + 0.9738236756979929, + -0.2208640139175624, + 0.11056846380233765 + ], + [ + -0.21888315830277957, + 0.22728943808197197, + 0.9489097292934564, + 0.031877871602773666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 938.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9731748741713463, + -0.0014812485637733898, + 0.23006188337983477, + -0.12370426207780838 + ], + [ + 0.05433143610449028, + 0.9731748725058388, + -0.22355930437820998, + 0.11154337227344513 + ], + [ + -0.22355929712809505, + 0.23006189042502784, + 0.9471498124592831, + 0.0347171388566494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9706410563958319, + -0.0008422259214031731, + 0.24053114204668122, + -0.12878172099590302 + ], + [ + 0.05750126825634256, + 0.9718118022317518, + -0.22863819714121772, + 0.11414483934640884 + ], + [ + -0.23355843762899192, + 0.23575646692842053, + 0.9433288633948042, + 0.03644919767975807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9692409073327152, + 0.0004187299365188702, + 0.24611356772452703, + -0.13203193247318268 + ], + [ + 0.05899272410539092, + 0.9704511191466089, + -0.2339753915473137, + 0.11668558418750763 + ], + [ + -0.23893915973628158, + 0.24129743059621242, + 0.9405762212240886, + 0.0368509367108345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9667602225212627, + 0.0005094760846781229, + 0.25568420480107173, + -0.13707874715328217 + ], + [ + 0.06268898846733723, + 0.9690031346337776, + -0.23896237317798302, + 0.11908776313066483 + ], + [ + -0.24788054154285563, + 0.24704790123381073, + 0.9367617475219558, + 0.039024367928504944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9652584917425068, + 0.0016386774468949803, + 0.2612917121823924, + -0.13901224732398987 + ], + [ + 0.06348700157263014, + 0.9685442095855366, + -0.24060655583264065, + 0.11909466981887817 + ], + [ + -0.25346685138356484, + 0.24883614852861285, + 0.9347914882128254, + 0.043559182435274124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9637296407791566, + 0.0025449368494510653, + 0.26686832479728717, + -0.14105644822120667 + ], + [ + 0.06475480197466482, + 0.9678434725906658, + -0.24307576634634337, + 0.12001769989728928 + ], + [ + -0.2589053786712435, + 0.25154032650863917, + 0.9325746452885295, + 0.044322069734334946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9611133547278417, + 0.004927494643965798, + 0.27611019387253183, + -0.14626997709274292 + ], + [ + 0.06691183565068967, + 0.9658919204175603, + -0.25015116294339396, + 0.12400731444358826 + ], + [ + -0.26792522392199, + 0.2588986633194752, + 0.9280019162252524, + 0.04935815930366516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9593821693852543, + 0.005687366056916032, + 0.28205231240494744, + -0.14896844327449799 + ], + [ + 0.06764117440440624, + 0.9659951995412072, + -0.24955549681090167, + 0.12382704019546509 + ], + [ + -0.27388049326455527, + 0.2584974435670071, + 0.9263738700322273, + 0.05087693780660629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9566062516340347, + 0.007593315266908696, + 0.2912847762893546, + -0.1556958258152008 + ], + [ + 0.07001294761598242, + 0.9643847881020645, + -0.25506894684272763, + 0.12715759873390198 + ], + [ + -0.28284742618734154, + 0.26439425493114177, + 0.9220048868951852, + 0.050520386546850204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9549311694750461, + 0.009812490263002988, + 0.2966650916435206, + -0.15735843777656555 + ], + [ + 0.07045879715779212, + 0.9633942391647969, + -0.25866406369489964, + 0.12901800870895386 + ], + [ + -0.2883435788570593, + 0.2679090423612474, + 0.9192838112101084, + 0.052346810698509216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9517954392106267, + 0.010234759640544986, + 0.30656270417803644, + -0.1625988632440567 + ], + [ + 0.07454901603480074, + 0.9617570793796114, + -0.26356358715012623, + 0.13039080798625946 + ], + [ + -0.2975363609814656, + 0.273712568140923, + 0.9146330105214916, + 0.05074597895145416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9501600004485593, + 0.011205678216360152, + 0.311561240085003, + -0.16628649830818176 + ], + [ + 0.07492397032748227, + 0.9618581432524727, + -0.26308802885968063, + 0.13118618726730347 + ], + [ + -0.3026257956915767, + 0.27331912672664693, + 0.913079559922038, + 0.05235569179058075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9469082637260355, + 0.012791384676362687, + 0.32124931216332037, + -0.17065635323524475 + ], + [ + 0.07862201225477986, + 0.9596574054609229, + -0.2699560025874946, + 0.13393078744411469 + ], + [ + -0.3117423924915473, + 0.28088083705028866, + 0.907701843174054, + 0.05402808263897896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9443421358951056, + 0.013800705288337507, + 0.32867532749906025, + -0.17366844415664673 + ], + [ + 0.08040156993475582, + 0.9591361989986847, + -0.2712809232555459, + 0.13389043509960175 + ], + [ + -0.3189882723942943, + 0.28260801882448344, + 0.9046431284053418, + 0.05825207009911537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9404118285637673, + 0.014755291421233439, + 0.3397173443797442, + -0.17948921024799347 + ], + [ + 0.08462502270237933, + 0.9574689979302254, + -0.2758472829938891, + 0.13601616024971008 + ], + [ + -0.3293390323511219, + 0.2881586357851578, + 0.8991665042651797, + 0.06219896301627159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9391105544290488, + 0.016495151889849, + 0.34321899207954043, + -0.18273676931858063 + ], + [ + 0.0839729938221762, + 0.9575442489389374, + -0.2757853288927951, + 0.13747715950012207 + ], + [ + -0.3331964928814617, + 0.28781403942145956, + 0.8978547632236501, + 0.06173071637749672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9340023730621915, + 0.018262084228309754, + 0.35679975251369356, + -0.18939660489559174 + ], + [ + 0.08847496787603548, + 0.95576138846745, + -0.2805215649002882, + 0.13957767188549042 + ], + [ + -0.34613833531339666, + 0.29357565395381563, + 0.8910676675943643, + 0.06631007045507431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9326409556612691, + 0.01958177602996968, + 0.36027406494326736, + -0.19033381342887878 + ], + [ + 0.08965475008740133, + 0.9546307469766373, + -0.28397563753532046, + 0.13981127738952637 + ], + [ + -0.34948944706528573, + 0.2971475912309202, + 0.8885721329276888, + 0.07288826256990433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9283016612609407, + 0.02040776438851925, + 0.3712674896255268, + -0.19698138535022736 + ], + [ + 0.0936260529190855, + 0.9534915715140817, + -0.2865100090160884, + 0.14241908490657806 + ], + [ + -0.3598474508940845, + 0.30072802696833717, + 0.8832171114062276, + 0.07144363224506378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9257179308642712, + 0.022434760015313845, + 0.3775486644386754, + -0.2003292441368103 + ], + [ + 0.09381056525185637, + 0.953425254844169, + -0.2866703006459829, + 0.14319536089897156 + ], + [ + -0.3663958110070301, + 0.3007938911753135, + 0.8804982366297583, + 0.07397279888391495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9219785916218006, + 0.023811709396199417, + 0.38650805824291956, + -0.2044561803340912 + ], + [ + 0.096748608880431, + 0.9522903093609973, + -0.2894527135420168, + 0.14393079280853271 + ], + [ + -0.37496024225347213, + 0.30426332212865675, + 0.8756875284805937, + 0.07588621973991394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9196810264133697, + 0.024555913691589933, + 0.39189771211123803, + -0.20722173154354095 + ], + [ + 0.09846933649943244, + 0.9517289368269445, + -0.2907160480187083, + 0.1444687396287918 + ], + [ + -0.3801191910764482, + 0.30595594112392355, + 0.8728690409599608, + 0.07791467010974884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9149792864814139, + 0.027263577413473974, + 0.4025786912599598, + -0.21610628068447113 + ], + [ + 0.10083448910028174, + 0.9506095927584565, + -0.29355375651400917, + 0.14667239785194397 + ], + [ + -0.3906984913175987, + 0.3091894233349846, + 0.8670389780049863, + 0.07675308734178543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9119103008557007, + 0.028171429430386075, + 0.4094215111069692, + -0.21930032968521118 + ], + [ + 0.1024160665066362, + 0.9504535642678714, + -0.29351145035894016, + 0.14754971861839294 + ], + [ + -0.39740477163035387, + 0.30958745571219287, + 0.8638431887507574, + 0.07828173786401749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9078872715786928, + 0.02919705712545144, + 0.4181964059632875, + -0.22264090180397034 + ], + [ + 0.10584715322603928, + 0.9492847270097011, + -0.2960656805846657, + 0.14734214544296265 + ], + [ + -0.40563170766021345, + 0.31305916201467565, + 0.8587530953768542, + 0.07959744334220886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 933.028564453125, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9045518472321028, + 0.02864422891435771, + 0.4254003570977493, + -0.22554579377174377 + ], + [ + 0.10862177036276141, + 0.9493367090674548, + -0.2948917154147169, + 0.14781132340431213 + ], + [ + -0.4122951208445837, + 0.31295258581273355, + 0.8556128869768579, + 0.08400509506464005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8979574950043424, + 0.03224765535196948, + 0.43889910673163435, + -0.23238366842269897 + ], + [ + 0.11235392618448939, + 0.9474634207182084, + -0.29948232280367026, + 0.14850491285324097 + ], + [ + -0.4254984517439, + 0.3182344342230301, + 0.84715872918733, + 0.09020641446113586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8961835650594122, + 0.032934743675477364, + 0.4424593996927105, + -0.23471294343471527 + ], + [ + 0.11292861200877209, + 0.9474661166076499, + -0.29925755875197585, + 0.14786408841609955 + ], + [ + -0.42907126017384933, + 0.3181560317508542, + 0.8453842872643034, + 0.09003102779388428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8900946343452931, + 0.03547217108564328, + 0.4543932954921204, + -0.24241547286510468 + ], + [ + 0.1152639592392966, + 0.9470395756615093, + -0.29971696954185045, + 0.14724385738372803 + ], + [ + -0.4409600453671513, + 0.31915163670164576, + 0.838866181926808, + 0.09119855612516403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8874504728020237, + 0.03666137179587429, + 0.45944270822542005, + -0.24286778271198273 + ], + [ + 0.11668816766479481, + 0.9464842787021103, + -0.3009175662814943, + 0.14775142073631287 + ], + [ + -0.4458873510770372, + 0.32066096424072166, + 0.8356799723349323, + 0.0936364009976387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.881812726537185, + 0.038523725734368776, + 0.4700236567159136, + -0.2496534287929535 + ], + [ + 0.11885359315694724, + 0.9463334429746758, + -0.3005442365133278, + 0.14806446433067322 + ], + [ + -0.45637718907800184, + 0.32088773311430774, + 0.8299101903374979, + 0.0953616201877594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8781978608922714, + 0.03948065725251949, + 0.476665285947223, + -0.2526778280735016 + ], + [ + 0.12102744771155026, + 0.9458120615894015, + -0.30131694451596047, + 0.14866258203983307 + ], + [ + -0.46273196780065606, + 0.3223054790954014, + 0.8258318861126742, + 0.09761713445186615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8742004462393638, + 0.040120245741078, + 0.4839048932141237, + -0.25605741143226624 + ], + [ + 0.12460532499400889, + 0.9446717481048418, + -0.30342841217605093, + 0.14979703724384308 + ], + [ + -0.46930490385040136, + 0.32555437981114277, + 0.8208332674835658, + 0.10401447862386703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8704931193311929, + 0.04118966627795108, + 0.49045401475465655, + -0.25927579402923584 + ], + [ + 0.126707084411241, + 0.9441499573816386, + -0.3041811511850346, + 0.15031366050243378 + ], + [ + -0.4755912572336173, + 0.326931597384164, + 0.8166570189956038, + 0.103517547249794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8647053143448988, + 0.044374253367511364, + 0.5003155454128577, + -0.26649555563926697 + ], + [ + 0.12708235103716609, + 0.9443521477433586, + -0.3033959411517775, + 0.15122464299201965 + ], + [ + -0.4859370282233652, + 0.3259293584361225, + 0.8109471363232391, + 0.10789141803979874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8608369977475733, + 0.04525467544859383, + 0.5068645555362764, + -0.270609050989151 + ], + [ + 0.12836316441687903, + 0.9445186860829693, + -0.3023364841711726, + 0.15009622275829315 + ], + [ + -0.4924251834845869, + 0.32532516962285996, + 0.8072675966989061, + 0.10902094095945358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8541689112760804, + 0.045538629671802944, + 0.5179977839885511, + -0.27544236183166504 + ], + [ + 0.13240122271152766, + 0.9442792287350937, + -0.30134142497165767, + 0.15053850412368774 + ], + [ + -0.5028572235077542, + 0.32598001685236916, + 0.8005445905001177, + 0.11186732351779938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.852117791709711, + 0.046452977991525854, + 0.5212843656656937, + -0.2782551944255829 + ], + [ + 0.13273066192045896, + 0.9443043729993638, + -0.30111762240100665, + 0.1511959582567215 + ], + [ + -0.5062389163605686, + 0.3257781023488179, + 0.7984928225050493, + 0.11164349317550659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8455179226273999, + 0.04872589808428335, + 0.5317191263926162, + -0.28155750036239624 + ], + [ + 0.13663425956246125, + 0.9429265390295007, + -0.30367848311605283, + 0.1506631225347519 + ], + [ + -0.5161690824038815, + 0.329416649320779, + 0.7906036614642045, + 0.12035132199525833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8392991950344802, + 0.049402392553796075, + 0.5414205988179932, + -0.2876512110233307 + ], + [ + 0.13926508259005646, + 0.9430999682844954, + -0.3019398724795528, + 0.1492990106344223 + ], + [ + -0.5255303016816996, + 0.3288188763312478, + 0.7846630159390701, + 0.12268456071615219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8349303673427105, + 0.04918131527451072, + 0.5481537009971157, + -0.2954890727996826 + ], + [ + 0.1417463489706276, + 0.9431814371569595, + -0.30052745158475835, + 0.150632843375206 + ], + [ + -0.531788730834401, + 0.32861828133930954, + 0.7805195519185508, + 0.11972372233867645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 933.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8300819419634767, + 0.0518593463424415, + 0.5552247993588526, + -0.2931745946407318 + ], + [ + 0.14224347343514648, + 0.9430383843899628, + -0.300741416888784, + 0.1487724334001541 + ], + [ + -0.5391945510585655, + 0.3286171233580247, + 0.7754224799066948, + 0.12775945663452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8234703442709324, + 0.051832087909746305, + 0.5649867491979157, + -0.3020569980144501 + ], + [ + 0.14436155756013033, + 0.943901436308826, + -0.29700137917684555, + 0.14871595799922943 + ], + [ + -0.5486860056581773, + 0.32613419507474406, + 0.7697922797728117, + 0.1265266388654709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 927.0857543945312, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8188057430827035, + 0.05303494870591753, + 0.5716156482379944, + -0.30414485931396484 + ], + [ + 0.14564489040753534, + 0.9439534466778123, + -0.29620846781153237, + 0.14760607481002808 + ], + [ + -0.5552879622258698, + 0.32579009303666606, + 0.7651902340504625, + 0.1315550059080124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 921.1428833007812, + "fy": 927.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_002__zigzag/caption.txt b/camxtime_eval/target/eval_scene_002__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..192f785f78fcc11796295b2178dbf4b82b0ee536 --- /dev/null +++ b/camxtime_eval/target/eval_scene_002__zigzag/caption.txt @@ -0,0 +1 @@ +A person in a pink cropped sweater and light blue jeans stands before a modern, multi-level house with large glass windows and concrete pillars. They lower themselves, bending at the knees, and sit down on a gray outdoor lounge chair. Inside the house, an exercise bike is visible through the glass, and red cushions rest on a balcony. A staircase ascends to the right, and a palm tree stands in the background. The person remains seated, looking forward, as the scene holds still. The camera sweeps along an arc around the scene. Scene time plays forward and then rewinds backward. diff --git a/camxtime_eval/target/eval_scene_002__zigzag/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_002__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5267d5c25aec43a8a0aa195c2e391096f7bd6a --- /dev/null +++ b/camxtime_eval/target/eval_scene_002__zigzag/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "zigzag", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 59, + 58, + 57, + 55, + 54, + 52, + 51, + 49, + 48, + 46, + 45, + 43, + 42, + 40, + 39, + 37, + 36, + 34, + 33, + 31, + 30, + 28, + 27, + 25, + 24, + 22, + 21, + 19, + 18, + 16, + 15, + 13, + 12, + 10, + 9, + 7, + 6, + 4, + 3, + 1, + 0 + ], + "timestamps_seconds": [ + 0.0, + 0.03333333507180214, + 0.10000000149011612, + 0.13333334028720856, + 0.20000000298023224, + 0.23333333432674408, + 0.30000001192092896, + 0.3333333432674408, + 0.4000000059604645, + 0.4333333373069763, + 0.5, + 0.5333333611488342, + 0.6000000238418579, + 0.6333333253860474, + 0.699999988079071, + 0.7333333492279053, + 0.800000011920929, + 0.8333333134651184, + 0.8999999761581421, + 0.9333333373069763, + 1.0, + 1.0333333015441895, + 1.100000023841858, + 1.1333333253860474, + 1.2000000476837158, + 1.2333333492279053, + 1.2999999523162842, + 1.3333333730697632, + 1.399999976158142, + 1.4333332777023315, + 1.5, + 1.5333333015441895, + 1.600000023841858, + 1.6333333253860474, + 1.7000000476837158, + 1.7333333492279053, + 1.7999999523162842, + 1.8333333730697632, + 1.899999976158142, + 1.9333332777023315, + 1.9666666984558105, + 1.9333332777023315, + 1.899999976158142, + 1.8333333730697632, + 1.7999999523162842, + 1.7333333492279053, + 1.7000000476837158, + 1.6333333253860474, + 1.600000023841858, + 1.5333333015441895, + 1.5, + 1.4333332777023315, + 1.399999976158142, + 1.3333333730697632, + 1.2999999523162842, + 1.2333333492279053, + 1.2000000476837158, + 1.1333333253860474, + 1.100000023841858, + 1.0333333015441895, + 1.0, + 0.9333333373069763, + 0.8999999761581421, + 0.8333333134651184, + 0.800000011920929, + 0.7333333492279053, + 0.699999988079071, + 0.6333333253860474, + 0.6000000238418579, + 0.5333333611488342, + 0.5, + 0.4333333373069763, + 0.4000000059604645, + 0.3333333432674408, + 0.30000001192092896, + 0.23333333432674408, + 0.20000000298023224, + 0.13333334028720856, + 0.10000000149011612, + 0.03333333507180214, + 0.0 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene002_traj01_zigzag.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0003569393862445924, + "max_input_determinant_error": 0.00035647685496753567, + "max_rotation_element_change": 0.00017007252709899667, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_002__zigzag/transforms.json b/camxtime_eval/target/eval_scene_002__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..de57541274e3ff013e8b0167e98197de29895d1b --- /dev/null +++ b/camxtime_eval/target/eval_scene_002__zigzag/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999925494206, + -4.4703479695747493e-08, + 0.00012207029521960399, + 0.0001525320258224383 + ], + [ + -4.4703472590334456e-08, + 0.9999997317791488, + 0.0007324217558562974, + -0.0004886164097115397 + ], + [ + -0.00012207029521960653, + -0.0007324217558561162, + 0.9999997243285698, + -0.00045742455404251814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999996274746065, + -0.0006092672293304817, + 0.0006114279120665063, + 0.0005792450392618775 + ], + [ + 0.0006114278830658971, + 0.9999935478230655, + -0.0035398401351784676, + 0.001098521752282977 + ], + [ + -0.0006092672584340752, + 0.0035402126605720945, + 0.9999935478230477, + 0.00013323582243174314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999992531030634, + -0.0007269736990853646, + 0.0009824981204436239, + 8.740343037061393e-05 + ], + [ + 0.0007378424918707525, + 0.9999380354434784, + -0.011107693815290023, + 0.0040420363657176495 + ], + [ + -0.0009743622391219875, + 0.011108410447848665, + 0.9999378249849082, + -0.0012064824113622308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999958502104868, + -0.0023074279674240505, + 0.0017249168039198523, + -0.00023037160281091928 + ], + [ + 0.0023310007425904437, + 0.9999021786749107, + -0.01379128408469414, + 0.0046859062276780605 + ], + [ + -0.0016929256756688918, + 0.013795247636118833, + 0.9999034079076414, + -0.0034295632503926754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999972212131018, + -0.0021878790957231943, + 0.0008779243349361305, + 0.0006240070215426385 + ], + [ + 0.002206132283795059, + 0.9997694386043292, + -0.021358900091805313, + 0.007343169767409563 + ], + [ + -0.0008309912284576401, + 0.02136077755719164, + 0.9997714872088176, + -0.0007441366906277835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999977204794952, + -0.0019461472046500815, + 0.000878377408143593, + 0.0011120823910459876 + ], + [ + 0.001967110219257824, + 0.9996971203500826, + -0.024531572333166333, + 0.00821027159690857 + ], + [ + -0.0008303693145800575, + 0.024533244278119936, + 0.9996986698060527, + -0.0010968855349346995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999998175060474, + -0.0016949874074103635, + 0.0008814155713923505, + 0.0006227517733350396 + ], + [ + 0.0017221014728954584, + 0.9994950090666478, + -0.03172950074265883, + 0.010504785925149918 + ], + [ + -0.0008271893603182052, + 0.03173096072529234, + 0.9994961039890107, + -1.2465395229810383e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999974823862641, + -0.001558172080307588, + 0.0016147200692319637, + 0.00013178576773498207 + ], + [ + 0.0016147201932323449, + 0.9993636776636355, + -0.03563190207258, + 0.012120475061237812 + ], + [ + -0.0015581719518071317, + 0.035634419686316324, + 0.9993636776638359, + -0.0007742598536424339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999972442089428, + -0.00205141483180351, + 0.0011416092624003437, + 0.0007940771174617112 + ], + [ + 0.0020972670941129677, + 0.9991267790820336, + -0.04172865672289595, + 0.014176572673022747 + ], + [ + -0.001055009599999689, + 0.0417309359869773, + 0.9991283280622136, + -5.7871133321896195e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999975798766674, + -0.0020575766979463936, + 0.0007788574581030854, + 0.0005185624468140304 + ], + [ + 0.0020906390266724343, + 0.9989783847103035, + -0.04514217662067517, + 0.014886005781590939 + ], + [ + -0.0006851782747058644, + 0.04514369568083846, + 0.9989802687095515, + 0.0005061717820353806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999972451648774, + -0.002327368213157099, + -0.00030499156653262025, + 0.001363548799417913 + ], + [ + 0.0023080620406515893, + 0.9986078292530195, + -0.05269797153770069, + 0.017311209812760353 + ], + [ + 0.0004272145500502909, + 0.05269712242402041, + 0.9986104499633253, + 0.0009483253234066069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999990693902322, + -0.001334877282669586, + 0.0002816403907154345, + 0.0011348928092047572 + ], + [ + 0.0013485767695683793, + 0.998423796366383, + -0.05610796904216172, + 0.018704015761613846 + ], + [ + -0.00020629921485717712, + 0.056108296641226275, + 0.9984246674079394, + 0.002242849674075842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999992779995971, + -0.0010823162915720402, + 0.0005221031800733986, + 0.0004045426321681589 + ], + [ + 0.001112804054604929, + 0.9980481801427147, + -0.06243870419019911, + 0.020740969106554985 + ], + [ + -0.00045350570194940023, + 0.06243924010796536, + 0.998048663957484, + 0.0008310626144520938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999961226237314, + -0.002394786748246871, + 0.0014211734353812818, + -5.3183171985438094e-05 + ], + [ + 0.0024825533188465145, + 0.997858811269759, + -0.06535770574556092, + 0.02151600271463394 + ], + [ + -0.0012616126672223664, + 0.06536098046797213, + 0.9978608873814743, + 0.0002166326594306156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999965919093086, + -0.0020148205689420147, + 0.0016603216080388842, + 0.00010449918772792444 + ], + [ + 0.002130129965655186, + 0.9973548123432042, + -0.0726556318682858, + 0.024075888097286224 + ], + [ + -0.0015095416842773196, + 0.07265892095211259, + 0.997355705097222, + 0.0021706540137529373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999959454131976, + -0.0027849702738567046, + 0.0005942202776386358, + 0.000631654926110059 + ], + [ + 0.002822099793018285, + 0.9970992113370581, + -0.0760604923976583, + 0.025270065292716026 + ], + [ + -0.0003806703598516799, + 0.07606186095271229, + 0.9971030279757892, + 0.0025700123514980078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999963334842811, + -0.0021277527402786644, + 0.0016750182897937488, + 0.00021912432566750795 + ], + [ + 0.002259235407083089, + 0.9965583736613519, + -0.0828631627492957, + 0.027125747874379158 + ], + [ + -0.0014929411811219681, + 0.08286664319083491, + 0.9965595268587384, + 0.0037633483298122883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99999773927184, + -0.0007692083281766024, + 0.001982364688048348, + -0.00017267142538912594 + ], + [ + 0.0009364184704349449, + 0.9963138271100692, + -0.08577809178184011, + 0.027907080948352814 + ], + [ + -0.001909076126503841, + 0.085779754183802, + 0.9963122950162306, + 0.0031688029412180185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999974723233046, + -0.0016377807885215644, + 0.0015404613239508222, + 0.00016688444884493947 + ], + [ + 0.0017726818959558428, + 0.9957492715240243, + -0.09208825038120375, + 0.02964525669813156 + ], + [ + -0.0013830928738122546, + 0.09209074835977976, + 0.9957496578561491, + 0.004220190457999706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999975616319389, + -0.002180474830590363, + 0.00034965653008875246, + 0.001305767917074263 + ], + [ + 0.0022039667752252333, + 0.9953818346839658, + -0.09596950407100997, + 0.03090839274227619 + ], + [ + -0.00013878267029795744, + 0.09597004069341174, + 0.9953842132707725, + 0.005079743918031454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999997666523209, + -0.002038787416771841, + 0.0007143486593333428, + 0.00030018165125511587 + ], + [ + 0.0021009094123074687, + 0.994804152702332, + -0.10178548003442002, + 0.032968584448099136 + ], + [ + -0.0005031180568779719, + 0.10178674330218643, + 0.9948061146576034, + 0.006394761614501476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999980979350052, + -0.0019374993038400292, + 0.00022410448403389172, + 0.001001867582090199 + ], + [ + 0.0019503236116767276, + 0.9944517588292302, + -0.10517554658407591, + 0.03408580273389816 + ], + [ + -1.908355002137764e-05, + 0.10517578360961718, + 0.9944536460679912, + 0.0073486496694386005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999955365115817, + -0.0029545923433735226, + -0.0004442307939168853, + 0.0013540779473260045 + ], + [ + 0.0028862860818233385, + 0.9937093469420939, + -0.11195268265017623, + 0.035783618688583374 + ], + [ + 0.0007722108310930081, + 0.11195090077351627, + 0.9937134393306912, + 0.009529261849820614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999975867187102, + -0.0021969359780165095, + 5.391127358639292e-06, + 0.0014136055251583457 + ], + [ + 0.0021830167586927417, + 0.993380017118388, + -0.11485371577664566, + 0.036239951848983765 + ], + [ + 0.0002469708222107774, + 0.11485345037124371, + 0.993382415761037, + 0.009689124301075935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999931549734367, + -0.003594294732085542, + -0.000878095467561423, + 0.0012824449222534895 + ], + [ + 0.00345891009159218, + 0.9923923779603967, + -0.12306666529603429, + 0.03939366713166237 + ], + [ + 0.001313753115898262, + 0.12306278564816708, + 0.9923980173505302, + 0.011682293377816677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999956955052342, + -0.002933474838815226, + -6.079779704882062e-05, + 0.0005826389533467591 + ], + [ + 0.0029030761979366906, + 0.9922136731921289, + -0.12451344858758333, + 0.0394422821700573 + ], + [ + 0.0004255814740575755, + 0.12451273611945818, + 0.9922179183145482, + 0.01119330246001482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999949773889015, + -0.003168282457773168, + 8.475398651568709e-05, + 0.00044763009645976126 + ], + [ + 0.0031523150308413973, + 0.9914696042657155, + -0.1302999874410314, + 0.040799856185913086 + ], + [ + 0.0003287961629868329, + 0.13029960016613396, + 0.99147461192389, + 0.01182558760046959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999952981927819, + -0.0030624408854792134, + -0.00015826607943007618, + 0.0006274728220887482 + ], + [ + 0.003012971267422522, + 0.9908246753856457, + -0.13511988991658952, + 0.04257531091570854 + ], + [ + 0.000570610612097863, + 0.1351187777577659, + 0.990829243765431, + 0.013044138438999653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999934447578575, + -0.003486833145726825, + -0.0009759282390798177, + 0.0008462199475616217 + ], + [ + 0.0033159618882831836, + 0.9901552269965085, + -0.13993438050832077, + 0.04311951994895935 + ], + [ + 0.0014542482832811936, + 0.13993022706372568, + 0.990160298495059, + 0.01244371011853218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999931597258238, + -0.0036917775624037297, + -0.00022645086155307788, + 0.00016816759307403117 + ], + [ + 0.0036222120634546353, + 0.989860079459159, + -0.14199965729844197, + 0.04354376345872879 + ], + [ + 0.0007483858164939309, + 0.1419978657288106, + 0.9898666809460417, + 0.012844715267419815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999992758850163, + -0.003749677950723527, + 0.0006497403363885585, + 0.00028628602740354836 + ], + [ + 0.0038046943196077994, + 0.988717645707401, + -0.1497429175886077, + 0.04532578960061073 + ], + [ + -8.092201935621937e-05, + 0.1497443053410715, + 0.9887247526331818, + 0.01377866230905056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999960820105825, + -0.002790985663471948, + 0.00021531955669239943, + -0.00022620621894020587 + ], + [ + 0.0027909856637335167, + 0.9881628415857522, + -0.15338320934247193, + 0.04709342494606972 + ], + [ + 0.0002153195533019974, + 0.1533832093424768, + 0.9881667595751706, + 0.014937995932996273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999995528069218, + -0.0029674560735186216, + -0.0003715454453528217, + 0.00018049104255624115 + ], + [ + 0.0028694564376735847, + 0.9870513767030147, + -0.16037875784665484, + 0.049366891384124756 + ], + [ + 0.0008426513623786782, + 0.1603769745104808, + 0.987055477663513, + 0.015874970704317093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999996058428685, + -0.00278551890624093, + 0.0003521526912663094, + -0.0008149472996592522 + ], + [ + 0.00280563729185166, + 0.9865776865233686, + -0.16326848089445994, + 0.050497643649578094 + ], + [ + 0.0001073614528722226, + 0.16326882537282214, + 0.9865816130127799, + 0.014853139407932758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999953210779066, + -0.003059000652802417, + 1.8365747798734256e-05, + 0.00019945793610531837 + ], + [ + 0.003017095529305079, + 0.9852698904527978, + -0.17097994064128821, + 0.05247095972299576 + ], + [ + 0.0005049325317160818, + 0.17097919605068188, + 0.9852745097489334, + 0.016075002029538155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999922496132541, + -0.003934355892876816, + -0.000146823473687716, + 5.868998050573282e-05 + ], + [ + 0.003849710523319056, + 0.9849306019261924, + -0.1729071690769202, + 0.052702080458402634 + ], + [ + 0.0008248892718945619, + 0.17290526375161686, + 0.9849381144643925, + 0.016099978238344193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999940483789237, + -0.003357623924460934, + 0.0007934534091487485, + -0.0008883775444701314 + ], + [ + 0.0034455388605709627, + 0.9837272535176766, + -0.17963523860459382, + 0.054967787116765976 + ], + [ + -0.0001773941681611032, + 0.17963690335827692, + 0.983732967569532, + 0.017018819227814674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999918839568757, + -0.003961580628949529, + 0.0007334161843647763, + -0.0006257102359086275 + ], + [ + 0.004028893846171234, + 0.9830159242580936, + -0.18347604930721242, + 0.056850533932447433 + ], + [ + 5.895374472449604e-06, + 0.18347751506363588, + 0.9830239068462773, + 0.01744190976023674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999943149826352, + -0.0033463367129997644, + -0.00041476862618316764, + -0.00011743169307010248 + ], + [ + 0.0032063822214047828, + 0.9817437642019046, + -0.1901812308397582, + 0.05881204828619957 + ], + [ + 0.0010436069472244706, + 0.19017881974940962, + 0.981748912606101, + 0.019910356029868126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999941084068937, + -0.0034325239729912876, + -3.0506999743261567e-05, + -0.00018624599033501 + ], + [ + 0.0033613886866578594, + 0.980994583079324, + -0.19400600257497322, + 0.06033509597182274 + ], + [ + 0.0006958574562369034, + 0.194004757024662, + 0.9810003415056505, + 0.01958487555384636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999945804818928, + -0.003285779540557575, + 0.00020654213556746067, + -0.00020835823670495301 + ], + [ + 0.003261263019547228, + 0.9800377202283763, + -0.1987848864805449, + 0.06111150607466698 + ], + [ + 0.0004507442292971932, + 0.198784482750482, + 0.9800431246875123, + 0.02049178071320057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999994977228337, + -0.003138350718973375, + 0.00044302693225230444, + -0.0006260047666728497 + ], + [ + 0.003163217838903966, + 0.9794525339084094, + -0.20165001332333415, + 0.06144319102168083 + ], + [ + 0.00019892461291009213, + 0.20165040187205663, + 0.9794575416289552, + 0.021187711507081985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999951827683212, + -0.00296435430194066, + 0.0009203497840351141, + -0.001257286872714758 + ], + [ + 0.0030904895003332966, + 0.978459995352313, + -0.20641338708959625, + 0.0632844865322113 + ], + [ + -0.0002886430334124461, + 0.20641523707983317, + 0.9784644431896723, + 0.021710321307182312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999956835134302, + -0.002937269206039759, + 7.351271158778185e-05, + -0.0006910495576448739 + ], + [ + 0.0028845346761687653, + 0.976667847005168, + -0.21473610801631016, + 0.06592631340026855 + ], + [ + 0.0005589402557471874, + 0.2147353931607497, + 0.9766721038864015, + 0.023057198151946068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999918446460583, + -0.004025729491443953, + 0.000322712621270247, + -0.0007083081873133779 + ], + [ + 0.003999484956863074, + 0.9760290507559366, + -0.21760352984394699, + 0.06666258722543716 + ], + [ + 0.0005610360541296984, + 0.21760304589441623, + 0.9760371917381115, + 0.02411789260804653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999960278045893, + -0.002800720843745684, + 0.00031676142119238873, + -0.0006239750073291361 + ], + [ + 0.0028007208434373512, + 0.974735991866878, + -0.22334256674904196, + 0.06743396818637848 + ], + [ + 0.00031676142391856766, + 0.22334256674903766, + 0.9747399640622884, + 0.024907371029257774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999951150502439, + -0.002782669390548103, + 0.0014235964010712082, + -0.001224246108904481 + ], + [ + 0.0030318175051342847, + 0.9742983077872588, + -0.2252412385099595, + 0.06762559711933136 + ], + [ + -0.0007602356646449703, + 0.22524445430231524, + 0.9743019849347465, + 0.023967621847987175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999918371107643, + -0.004033846459703787, + 0.00023193658371286122, + -0.0009401150746271014 + ], + [ + 0.003976258771264351, + 0.9722717254023306, + -0.23382019020897235, + 0.07062295079231262 + ], + [ + 0.0007176893640513168, + 0.23381920380053342, + 0.9722798284732956, + 0.0258357971906662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999937274580462, + -0.003529045260313537, + 0.0003014699216537918, + -0.0007819340680725873 + ], + [ + 0.003500130486797982, + 0.9715822526138178, + -0.23667630952935426, + 0.07134954631328583 + ], + [ + 0.000542338582797367, + 0.23667588015133695, + 0.9715885104422812, + 0.02482554502785206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999932888934558, + -0.0036491955718184837, + 0.00032486878542805416, + -0.0004894593148492277 + ], + [ + 0.003619133695163591, + 0.9701791984220345, + -0.2423617643533631, + 0.0723305270075798 + ], + [ + 0.0005692445394174756, + 0.24236131358130794, + 0.9701858943727211, + 0.024737566709518433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999960096989131, + -0.0027621120141306027, + 0.000592725461781168, + -0.000670145615004003 + ], + [ + 0.0028229213524806683, + 0.9689861160061785, + -0.24709904512623584, + 0.07419784367084503 + ], + [ + 0.00010817249815436903, + 0.2470997323440095, + 0.9689900466848091, + 0.027172908186912537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999924872262173, + -0.0036417821518623895, + 0.0013277476729600447, + -0.001168475253507495 + ], + [ + 0.0038594877539335913, + 0.9672728428176225, + -0.2537091876574295, + 0.0761968269944191 + ], + [ + -0.00036034067479419547, + 0.2537124060235803, + 0.9672796313291849, + 0.02894747257232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999971085222716, + -0.002053926996163657, + 0.0012507321814239024, + -0.0019560710061341524 + ], + [ + 0.002305386125543745, + 0.9667809833500817, + -0.2555958047923717, + 0.07618573307991028 + ], + [ + -0.0006842089646953479, + 0.2555979491634125, + 0.9667829230192005, + 0.028919396921992302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999993634936903, + -0.0034391752504078733, + 0.0009498206553787778, + -0.0015598979080095887 + ], + [ + 0.0035678771776718183, + 0.9652678365396545, + -0.26123796430553436, + 0.07817291468381882 + ], + [ + -1.838818781162131e-05, + 0.26123969035284783, + 0.9652739631038555, + 0.028839711099863052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999969516836666, + -0.0024689046633508487, + -3.3662105864240657e-05, + -0.0011867848224937916 + ], + [ + 0.0023717005322831672, + 0.9642391514588261, + -0.2650230816939316, + 0.07992634922266006 + ], + [ + 0.0006867750426846317, + 0.2650221939833086, + 0.9642420676553759, + 0.02978556603193283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999983009563238, + -0.0017768795951230469, + 0.000490696821541675, + -0.0014325892552733421 + ], + [ + 0.0018433697857356897, + 0.9626800866638074, + -0.2706356457098686, + 0.08182773739099503 + ], + [ + 8.502897887414377e-06, + 0.2706360904237809, + 0.962681726474452, + 0.03004169464111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999986556483429, + -0.0013610009155660767, + -0.000914537049503503, + -0.0007069755811244249 + ], + [ + 0.001055381699870312, + 0.9610815471619663, + -0.2762628202893569, + 0.082880899310112 + ], + [ + 0.0012549386338244412, + 0.27626148370931036, + 0.9610816915058553, + 0.03157113492488861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999985420775422, + -0.0016690545760674378, + 0.00036069323898847423, + -0.0017005521804094315 + ], + [ + 0.0017032888782616254, + 0.9600040795118931, + -0.2799808317144587, + 0.0825328603386879 + ], + [ + 0.00012103630750289149, + 0.2799810378888989, + 0.9600055227824826, + 0.030872877687215805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999978256720385, + -0.002014701034493871, + 0.0005381737057913139, + -0.0012135978322476149 + ], + [ + 0.0020846016736083503, + 0.9589038523052296, + -0.2837235564242991, + 0.08372130244970322 + ], + [ + 5.5561302945648004e-05, + 0.28372406139404466, + 0.9589059671829199, + 0.03368314728140831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999973202762755, + -0.0020625933962248235, + 0.0010512605530733593, + -0.0016162582905963063 + ], + [ + 0.002279476379740774, + 0.9565560366373255, + -0.29153962468269173, + 0.08614964783191681 + ], + [ + -0.0004042619235126054, + 0.29154123976064267, + 0.9565581749643479, + 0.0355752594769001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9999984752274192, + -0.0016334500252041281, + 0.0006175628320865281, + -0.001431478071026504 + ], + [ + 0.0017429705652919755, + 0.9554069211576276, + -0.29528727886197764, + 0.08816955238580704 + ], + [ + -0.00010768679092561718, + 0.2952879050098699, + 0.9554083114346646, + 0.03555753827095032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999980917760575, + -0.0019308093452568016, + 0.0002973541930099691, + -0.0015256248880177736 + ], + [ + 0.0019308093462726361, + 0.953662065816805, + -0.30087362163754644, + 0.08881723135709763 + ], + [ + 0.0002973541864138531, + 0.30087362163755305, + 0.9536639740407473, + 0.038198426365852356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9999968406305529, + -0.0023163851939409187, + 0.0009762625395866323, + -0.001955671003088355 + ], + [ + 0.002503680531767188, + 0.95247806771379, + -0.3045968845999566, + 0.08983810991048813 + ], + [ + -0.00022430494367896243, + 0.3045983665153799, + 0.9524808579721978, + 0.038088131695985794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999954311928183, + -0.0027817820766741766, + 0.0011829124934156778, + -0.0020325374789536 + ], + [ + 0.0030109748241807293, + 0.9512807296734144, + -0.3083113805596935, + 0.09055370837450027 + ], + [ + -0.000267626787400635, + 0.3083135336641806, + 0.9512847593309843, + 0.04051588103175163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999969974739735, + -0.0023707920235506823, + 0.0006199904989109774, + -0.0019970936700701714 + ], + [ + 0.002446449893479042, + 0.951281947465827, + -0.30831261944419686, + 0.0908183678984642 + ], + [ + 0.00014115932972398102, + 0.3083132105032227, + 0.9512848912409152, + 0.039702147245407104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999955143111344, + -0.002800001139772588, + 0.0010636499550470068, + -0.0019762362353503704 + ], + [ + 0.0029918227818476824, + 0.9506719504005873, + -0.3101836419252082, + 0.0914124846458435 + ], + [ + -0.000142667626378635, + 0.3101854327900668, + 0.9506760630892035, + 0.041001271456480026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999986573198627, + -0.001332429011016464, + 0.000953934694867033, + -0.00222790171392262 + ], + [ + 0.0015626051649658636, + 0.9506749460500762, + -0.3101849532420666, + 0.0913202241063118 + ], + [ + -0.0004935823840975003, + 0.3101860273861725, + 0.9506757516581636, + 0.04129229485988617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999984791002221, + -0.0016256575134727558, + 0.0006316920858194969, + -0.0023847988341003656 + ], + [ + 0.001741597946301876, + 0.9500742789421723, + -0.3120189598872232, + 0.09219367802143097 + ], + [ + -9.291843646181734e-05, + 0.31201958549129577, + 0.9500756652161995, + 0.04165085777640343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999988961196213, + -0.0014087564180155312, + 0.00047240331693747896, + -0.001692369463853538 + ], + [ + 0.0014858242842881028, + 0.9500746306649094, + -0.3120192117372464, + 0.09181441366672516 + ], + [ + -9.2593397852571e-06, + 0.3120195692136811, + 0.9500756750606629, + 0.04281047359108925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999989811886586, + -0.0012474890175486618, + 0.0006938247587030275, + -0.0020409037824720144 + ], + [ + 0.001402223971591476, + 0.9494594215067031, + -0.3138866685287703, + 0.09270478039979935 + ], + [ + -0.00026718828228062646, + 0.3138873216351815, + 0.9494602034456812, + 0.04318653419613838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999972922421942, + -0.0022465148043061237, + 0.0006071898500078965, + -0.001866965088993311 + ], + [ + 0.0023238142240021146, + 0.950073163525106, + -0.31201856328887023, + 0.09164120256900787 + ], + [ + 0.00012407953998941747, + 0.31201912941458004, + 0.9500758114401375, + 0.043332118541002274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999966013597111, + -0.0024507389054284285, + 0.0008894649205424715, + -0.0022175111807882786 + ], + [ + 0.0026060708719942323, + 0.9494572206389789, + -0.31388563931966595, + 0.09108473360538483 + ], + [ + -7.52571431781429e-05, + 0.3138868905439068, + 0.9494603805746924, + 0.04496607556939125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999965379014787, + -0.0024315300691931897, + 0.0010059058503069872, + -0.0026119702961295843 + ], + [ + 0.0026243821003756975, + 0.9494572441059935, + -0.31388541577021817, + 0.09171978384256363 + ], + [ + -0.00019184276973609096, + 0.31388696894929236, + 0.9494603382554624, + 0.0445980578660965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999959419276521, + -0.0028487089826843754, + -3.139043618403837e-05, + -0.0019073250005021691 + ], + [ + 0.0026930981591947235, + 0.9488500566722526, + -0.3157155637205229, + 0.09202820062637329 + ], + [ + 0.0009291665794961252, + 0.3157141979863978, + 0.9488538780229928, + 0.045094121247529984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999953075655176, + -0.0030534585146930896, + 0.0002474632184544872, + -0.002504616044461727 + ], + [ + 0.002975414032163946, + 0.9488493739864264, + -0.315715081041282, + 0.09229648858308792 + ], + [ + 0.0007292175825071658, + 0.3157143358744817, + 0.9488540068762172, + 0.045827362686395645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999960311955287, + -0.0027306335661538635, + 0.000693709967437243, + -0.0024976220447570086 + ], + [ + 0.0028095814658680896, + 0.9482281632313911, + -0.3175774814227374, + 0.09244813024997711 + ], + [ + 0.00020939240238920228, + 0.3175781700544763, + 0.9482320718366747, + 0.045319657772779465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999978302709286, + -0.0020428638191683423, + -0.0004076283254020151, + -0.0020779448095709085 + ], + [ + 0.001807654503252898, + 0.9482300405611288, + -0.3175791595219009, + 0.09335809201002121 + ], + [ + 0.0010352963982389947, + 0.31757773360998814, + 0.9482316759508259, + 0.045686110854148865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999987315085179, + -0.00158691508773462, + 0.0001366815968336765, + -0.0020235481206327677 + ], + [ + 0.0015474474518674423, + 0.947617823816187, + -0.31940266966989916, + 0.0934857577085495 + ], + [ + 0.0003773429982146143, + 0.3194024760179222, + 0.9476190774387578, + 0.046710338443517685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999983230251436, + -0.0017834927299510389, + 0.0004160535812232899, + -0.0019795510452240705 + ], + [ + 0.0018229603579232078, + 0.9476174259823513, + -0.31940239634372597, + 0.093524269759655 + ], + [ + 0.00017539222809842596, + 0.3194026191631237, + 0.9476190880883006, + 0.04659508913755417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9999973262253357, + -0.0022816238830148075, + 0.0003764766070384105, + -0.00248935935087502 + ], + [ + 0.0022816238783399645, + 0.9469881298204245, + -0.32126044912452706, + 0.09365446865558624 + ], + [ + 0.0003764766353701412, + 0.32126044912449386, + 0.9469908035950888, + 0.04614611342549324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999970022699625, + -0.0023646792285424373, + 0.0006354079285738536, + -0.002342594787478447 + ], + [ + 0.002443766185929484, + 0.9476162498872289, + -0.31940173912565556, + 0.09379509091377258 + ], + [ + 0.0001531597796469923, + 0.3194023344338783, + 0.9476191879126721, + 0.04578535258769989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_010__zigzag/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_010__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..837e092f0cca6cde334cfebed338e713ef3237f7 --- /dev/null +++ b/camxtime_eval/target/eval_scene_010__zigzag/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "zigzag", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 59, + 58, + 57, + 55, + 54, + 52, + 51, + 49, + 48, + 46, + 45, + 43, + 42, + 40, + 39, + 37, + 36, + 34, + 33, + 31, + 30, + 28, + 27, + 25, + 24, + 22, + 21, + 19, + 18, + 16, + 15, + 13, + 12, + 10, + 9, + 7, + 6, + 4, + 3, + 1, + 0 + ], + "timestamps_seconds": [ + 0.0, + 0.03333333507180214, + 0.10000000149011612, + 0.13333334028720856, + 0.20000000298023224, + 0.23333333432674408, + 0.30000001192092896, + 0.3333333432674408, + 0.4000000059604645, + 0.4333333373069763, + 0.5, + 0.5333333611488342, + 0.6000000238418579, + 0.6333333253860474, + 0.699999988079071, + 0.7333333492279053, + 0.800000011920929, + 0.8333333134651184, + 0.8999999761581421, + 0.9333333373069763, + 1.0, + 1.0333333015441895, + 1.100000023841858, + 1.1333333253860474, + 1.2000000476837158, + 1.2333333492279053, + 1.2999999523162842, + 1.3333333730697632, + 1.399999976158142, + 1.4333332777023315, + 1.5, + 1.5333333015441895, + 1.600000023841858, + 1.6333333253860474, + 1.7000000476837158, + 1.7333333492279053, + 1.7999999523162842, + 1.8333333730697632, + 1.899999976158142, + 1.9333332777023315, + 1.9666666984558105, + 1.9333332777023315, + 1.899999976158142, + 1.8333333730697632, + 1.7999999523162842, + 1.7333333492279053, + 1.7000000476837158, + 1.6333333253860474, + 1.600000023841858, + 1.5333333015441895, + 1.5, + 1.4333332777023315, + 1.399999976158142, + 1.3333333730697632, + 1.2999999523162842, + 1.2333333492279053, + 1.2000000476837158, + 1.1333333253860474, + 1.100000023841858, + 1.0333333015441895, + 1.0, + 0.9333333373069763, + 0.8999999761581421, + 0.8333333134651184, + 0.800000011920929, + 0.7333333492279053, + 0.699999988079071, + 0.6333333253860474, + 0.6000000238418579, + 0.5333333611488342, + 0.5, + 0.4333333373069763, + 0.4000000059604645, + 0.3333333432674408, + 0.30000001192092896, + 0.23333333432674408, + 0.20000000298023224, + 0.13333334028720856, + 0.10000000149011612, + 0.03333333507180214, + 0.0 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene010_traj01_zigzag.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.004582320375003057, + "max_input_determinant_error": 0.0033895741907308263, + "max_rotation_element_change": 0.002212054910562422, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_027__bullettime_late/transforms.json b/camxtime_eval/target/eval_scene_027__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a60c7422f39c36aa1031efd74316e75af260e3e9 --- /dev/null +++ b/camxtime_eval/target/eval_scene_027__bullettime_late/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998509884032, + 0.0004882737557640641, + 0.0002441555043318027, + 6.0988568293396384e-05 + ], + [ + -0.000488288656924197, + 0.9999998789280771, + 6.097554785797064e-05, + 6.0986290918663144e-05 + ], + [ + -0.00024412570201169274, + -6.109475713455059e-05, + 0.9999999683350352, + -0.0003128238022327423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999799580920341, + -0.003545617605086535, + 0.005245189229466893, + -0.01132377702742815 + ], + [ + 0.003534404705452613, + 0.999991452420792, + 0.0021454763417953814, + -0.0011286293156445026 + ], + [ + -0.005252751434485643, + -0.002126894720862792, + 0.9999839423316829, + 0.00476165022701025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999923930272243, + -0.001335881117760967, + -0.0036646022055360347, + -0.003627027152106166 + ], + [ + 0.0013496273343186066, + 0.9999920535631898, + 0.003751175353562498, + -0.0011363733792677522 + ], + [ + 0.003659561960681689, + -0.0037560926657792637, + 0.9999862495925345, + 0.007498409599065781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999997958561017, + -0.000850262589486474, + -0.0018330104547620441, + -0.008989878930151463 + ], + [ + 0.0008587003082367365, + 0.9999890174620792, + 0.004607340773700397, + -0.00045043558930046856 + ], + [ + 0.0018290728741591098, + -0.004608905374737594, + 0.9999877061662645, + 0.009873432107269764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999695278607071, + 0.001364069119307344, + -0.007686524928254352, + -0.0036312208976596594 + ], + [ + -0.0013213558923991738, + 0.9999836743120247, + 0.005559238079767001, + -0.0005842664395458996 + ], + [ + 0.007693982625438054, + -0.005548912042884002, + 0.9999550050909788, + 0.003805446671321988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999474902632567, + -0.0021696280922548408, + -0.010015459557879762, + -0.005465240217745304 + ], + [ + 0.002224611604170474, + 0.9999824992808575, + 0.005481991902694782, + -0.00017672055400907993 + ], + [ + 0.010003390396501279, + -0.005503984552296514, + 0.999934817042903, + 0.003318676259368658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998808227839138, + 0.0014148346929838578, + -0.015373303865938756, + -0.00642761867493391 + ], + [ + -0.0012702749425725394, + 0.9999549275738182, + 0.009408996886516537, + -0.0009808827890083194 + ], + [ + 0.015385923129056067, + -0.009388347225776389, + 0.9998375529583967, + 0.005068657454103231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997995690899085, + -0.00025065965329839935, + -0.02001896144588075, + -0.0075379726476967335 + ], + [ + 0.0004815667060229318, + 0.9999334064268413, + 0.0115304295288959, + -0.0011703945929184556 + ], + [ + 0.02001473809823924, + -0.011537758939732797, + 0.9997331095735039, + 0.004533012863248587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996793605517411, + -0.0015131795196150013, + -0.02527620174400024, + -0.014630110934376717 + ], + [ + 0.001903289263004663, + 0.9998793402216845, + 0.015416954557601347, + -0.0016925128875300288 + ], + [ + 0.025249823303209448, + -0.015460119197186853, + 0.9995616194800426, + 0.006464784499257803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995471108203541, + -0.0017990694867594454, + -0.030038918084112826, + -0.0153670534491539 + ], + [ + 0.0023487500768346378, + 0.9998302631904215, + 0.018273701914210957, + -0.0010364089393988252 + ], + [ + 0.030000943714469843, + -0.018335979863500183, + 0.9993816764473357, + 0.01158873736858368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990560924496591, + -0.000179257989766801, + -0.04343837020183711, + -0.01129134651273489 + ], + [ + 0.001038149290037701, + 0.9998043931751325, + 0.019750889442160947, + -0.0009109346428886056 + ], + [ + 0.043426332855427185, + -0.01977734194167538, + 0.9988608563561049, + 0.009609387256205082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998780174688449, + -0.0025058881413695757, + -0.049314127528874735, + -0.009003732353448868 + ], + [ + 0.0035947281530268656, + 0.9997514334994785, + 0.022003389403546365, + -0.0018384488066658378 + ], + [ + 0.04924673165619201, + -0.022153819994781717, + 0.9985409193822867, + 0.011698654852807522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9983850080755943, + -0.004224823278996486, + -0.05665268323880693, + -0.01713552139699459 + ], + [ + 0.005772030197296626, + 0.9996140370654165, + 0.02717463098517882, + -0.0017132422653958201 + ], + [ + 0.0565160093893477, + -0.02745774517400119, + 0.9980240542755786, + 0.006964324042201042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9979367060925153, + -0.005388208782063346, + -0.06397888588699432, + -0.016119936481118202 + ], + [ + 0.00729098514411938, + 0.9995368728686396, + 0.029544564840398083, + -0.0020042138639837503 + ], + [ + 0.06379006324537052, + -0.02995007482630259, + 0.997513819878727, + 0.009367525577545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9971498851388736, + -0.006276195197902449, + -0.07518454589454637, + -0.019013065844774246 + ], + [ + 0.008585460583596407, + 0.999499999878226, + 0.03043090715035458, + -0.001960848458111286 + ], + [ + 0.07495596329911865, + -0.03098966952492135, + 0.9967051941013636, + 0.0056088827550411224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9967577359610271, + -0.008034399033607096, + -0.08005912961065653, + -0.020653467625379562 + ], + [ + 0.010239520583336086, + 0.999578347640357, + 0.02717129269647476, + 0.00033017864916473627 + ], + [ + 0.07980706748196237, + -0.027902963296805056, + 0.9964197191039462, + 0.0024688418488949537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9954950453461489, + -0.006403843140736991, + -0.09459706911050901, + -0.01964375749230385 + ], + [ + 0.008906825930131906, + 0.999620676391108, + 0.02606092445085208, + -0.0005718295578844845 + ], + [ + 0.09439429613657838, + -0.026786080796031574, + 0.9951744684890523, + 0.0015995546709746122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9945768042169347, + -0.0064281863987141735, + -0.10380587138139974, + -0.0184008851647377 + ], + [ + 0.009175186329734727, + 0.9996196519298455, + 0.02600706502988231, + -0.0023112089838832617 + ], + [ + 0.10359921075685365, + -0.026818461836527134, + 0.9942574986568012, + 0.002469058847054839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.992893788606873, + -0.012142629522866478, + -0.11838277363772735, + -0.019054068252444267 + ], + [ + 0.015100537193782997, + 0.9995949921177638, + 0.02412105946152316, + -0.0008789990679360926 + ], + [ + 0.11804193459254292, + -0.025737293590382647, + 0.9926750190250041, + 0.010418335907161236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9910313342556426, + -0.009430381495973774, + -0.13329652069098152, + -0.007862584665417671 + ], + [ + 0.012437858812146315, + 0.9996861203937889, + 0.021747651831527076, + -0.00019883182540070266 + ], + [ + 0.1330495929781438, + -0.023210527716029914, + 0.990837563484295, + 0.010405253618955612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9892737322628997, + -0.017233293157404104, + -0.14505342554239398, + -0.022869233042001724 + ], + [ + 0.019960045630167206, + 0.9996499851914353, + 0.01736386147156929, + -0.0012310546590015292 + ], + [ + 0.14470341818033688, + -0.020072885037113453, + 0.9892714491246641, + 0.013084500096738338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9877874510117832, + -0.020127158992997756, + -0.15450193880503196, + -0.022844912484288216 + ], + [ + 0.022820379705136767, + 0.9996166458575705, + 0.015677742011330355, + -0.002093137940391898 + ], + [ + 0.15412716144066446, + -0.019012069727702963, + 0.9878680880112042, + 0.013640787452459335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984646050285228, + -0.02321211480906458, + -0.17301258157657626, + -0.016465498134493828 + ], + [ + 0.025136929749887838, + 0.9996440218434494, + 0.008942279094391907, + -0.002221686067059636 + ], + [ + 0.17274342366773288, + -0.013153984899778193, + 0.9848790190986942, + 0.008657651953399181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9826929463851809, + -0.02497857715009419, + -0.1835501125261661, + -0.015392832458019257 + ], + [ + 0.02649003794609213, + 0.9996323274340754, + 0.005786867749311049, + -0.0029154366347938776 + ], + [ + 0.18333807846278444, + -0.010548963564739201, + 0.9829933206046135, + 0.009004917927086353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.980338518976458, + -0.030181591228343636, + -0.19500117887328294, + -0.0254538431763649 + ], + [ + 0.03121644284707984, + 0.9995101487199013, + 0.002235240903121176, + -0.004353953991085291 + ], + [ + 0.1948381941689559, + -0.008278535911932812, + 0.9808004608156208, + 0.0022015636786818504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9775818730455498, + -0.030358809439212587, + -0.2083555235221449, + -0.014772726222872734 + ], + [ + 0.03143997418377411, + 0.9995038765136817, + 0.0018785253379811771, + -0.004538144450634718 + ], + [ + 0.20819512366065887, + -0.008387104599050501, + 0.9780513519035522, + 0.007597330491989851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9741889882453029, + -0.03138418429565709, + -0.22354160274474402, + -0.0188163910061121 + ], + [ + 0.03273565338088901, + 0.9994613019570562, + 0.002341556753876841, + -0.005353383254259825 + ], + [ + 0.22334769347212732, + -0.009598899228638765, + 0.9746915763226224, + 0.006344084162265062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9723360239609624, + -0.034455330608735374, + -0.2310313543665219, + -0.017602477222681046 + ], + [ + 0.03647226462779098, + 0.9993246970305997, + 0.004463610379648944, + -0.0019459803588688374 + ], + [ + 0.23072154303555403, + -0.012766365862831431, + 0.9729360664925261, + 0.005178755149245262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9691340283133529, + -0.03221439566137588, + -0.24442067808863058, + -0.02671085298061371 + ], + [ + 0.03565743834886832, + 0.9993172508994712, + 0.00967363143392721, + -0.00491769565269351 + ], + [ + 0.2439421699000202, + -0.018090460660113775, + 0.9696210357544719, + 0.008745028637349606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.967128906298467, + -0.033371385391797695, + -0.25208734446410047, + -0.02886716090142727 + ], + [ + 0.03832437014623442, + 0.9991563034186292, + 0.014762248870482938, + -0.00645257206633687 + ], + [ + 0.2513820225370634, + -0.023938086303039497, + 0.9675918802725267, + 0.008106694556772709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.963085587191464, + -0.032021451569324275, + -0.26728407805828414, + -0.025871384888887405 + ], + [ + 0.03954164389179643, + 0.9989577804051912, + 0.02279937205864229, + -0.004880145192146301 + ], + [ + 0.26627544036656425, + -0.03252659845922131, + 0.9633480213558677, + 0.014494380913674831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9621404662504376, + -0.028894458292481905, + -0.2710181423509774, + -0.03035575896501541 + ], + [ + 0.03774473172202654, + 0.9989089675932595, + 0.027499267062966848, + -0.004636370111256838 + ], + [ + 0.2699278763496336, + -0.03668766470834806, + 0.9621813533984251, + 0.017477232962846756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.958429328022071, + -0.02585658005456365, + -0.2841560494781757, + -0.034985654056072235 + ], + [ + 0.03689467760042169, + 0.9987554489702716, + 0.03356092842803844, + -0.004161190707236528 + ], + [ + 0.282934631941589, + -0.04264962391478875, + 0.9581904839999217, + 0.012468017637729645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.955528566347793, + -0.025091605827151964, + -0.29382915139643, + -0.030306272208690643 + ], + [ + 0.037179300651787116, + 0.9986734116056105, + 0.035624662174611715, + -0.0021358211524784565 + ], + [ + 0.2925454810732431, + -0.04496474473435838, + 0.9551938615980524, + 0.011606721207499504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9512445745117003, + -0.029379460076298894, + -0.30703518819131986, + -0.028865324333310127 + ], + [ + 0.04285114018579176, + 0.998387686631439, + 0.037226428347344284, + -0.000706900900695473 + ], + [ + 0.30544645888736716, + -0.048568245885018096, + 0.950969813529756, + 0.009220870211720467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9481765667459479, + -0.030373192761035846, + -0.31628889869131993, + -0.02597659081220627 + ], + [ + 0.044561081115089295, + 0.9982943046691312, + 0.037719906084585086, + -0.0005724809598177671 + ], + [ + 0.3146037322151812, + -0.049859306319646766, + 0.9479127287095587, + 0.009278512559831142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9443252680079696, + -0.03263250870143405, + -0.32739106215278213, + -0.034160587936639786 + ], + [ + 0.04797372723985302, + 0.9980911818923272, + 0.038891054543351074, + -0.0031545383390039206 + ], + [ + 0.32549701948926096, + -0.052431975021245844, + 0.9440882259084575, + 0.017021149396896362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9429405009474193, + -0.029025178052604787, + -0.3316937604358036, + -0.03987068310379982 + ], + [ + 0.04394938429092077, + 0.9983266984631938, + 0.03757997812702495, + -0.0025317624676972628 + ], + [ + 0.3300479712003679, + -0.050013419944983366, + 0.9426383158624141, + 0.016543464735150337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9340446098576874, + -0.03312881935161202, + -0.3556165745914678, + -0.022881245240569115 + ], + [ + 0.0482320509024583, + 0.9982679472412077, + 0.033686418280492084, + -0.0022035641595721245 + ], + [ + 0.35388463665655684, + -0.048616734147758925, + 0.9340246662156539, + 0.023025980219244957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9318680175321912, + -0.03570453621164401, + -0.36103626409896095, + -0.026922520250082016 + ], + [ + 0.05039928525322499, + 0.998236518810604, + 0.03136502126334803, + -0.0017765299417078495 + ], + [ + 0.3592797099010568, + -0.047424029845613044, + 0.9320241689176378, + 0.022797206416726112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9233841565365053, + -0.039374530793690576, + -0.38185251836558975, + -0.023289788514375687 + ], + [ + 0.05294710010018537, + 0.9982818782061822, + 0.02509773368490838, + -0.002267348812893033 + ], + [ + 0.38020823774393325, + -0.043392833163027375, + 0.9238824373164255, + 0.02375529520213604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9194603714219483, + -0.04207002771734883, + -0.390925489259112, + -0.01915433444082737 + ], + [ + 0.05545167653953337, + 0.998196418632112, + 0.023000465190537476, + -0.002667934400960803 + ], + [ + 0.3892527931223739, + -0.042825490048423794, + 0.9201349033965314, + 0.017819533124566078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9178658317357049, + -0.04400934932011973, + -0.39444326855017087, + -0.030404210090637207 + ], + [ + 0.056346180058456284, + 0.9982160747804876, + 0.019742746583393655, + -0.0002996241382788867 + ], + [ + 0.39287074582481035, + -0.040346563946087925, + 0.9187081864513895, + 0.018206341192126274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9101293976620574, + -0.04603364131240556, + -0.4117588898600999, + -0.03034551814198494 + ], + [ + 0.05913315367746764, + 0.9980669173711566, + 0.019123247250265155, + -0.001893956563435495 + ], + [ + 0.4100826131981915, + -0.04175323121338669, + 0.9110921567194966, + 0.021729150786995888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9069053077156098, + -0.04633594531383921, + -0.4187788712544235, + -0.029175594449043274 + ], + [ + 0.05962214139110774, + 0.9980460665573438, + 0.01868821247077153, + -0.0035101084504276514 + ], + [ + 0.41709466922174215, + -0.04191693215499946, + 0.9078959233885341, + 0.022932762280106544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8968568507139307, + -0.04678131945981244, + -0.43984008170821426, + -0.019942976534366608 + ], + [ + 0.06146324819334711, + 0.9979248988361382, + 0.019187636759258043, + -0.006109920796006918 + ], + [ + 0.4380297460778352, + -0.04424256358396506, + 0.8978711138679679, + 0.017147546634078026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8916823738118796, + -0.0475159561776188, + -0.45016083585951583, + -0.016528405249118805 + ], + [ + 0.06260365343130685, + 0.9978636745249301, + 0.018678052378558917, + -0.007248034700751305 + ], + [ + 0.448311640279688, + -0.04483660303959212, + 0.8927521224940357, + 0.015481972135603428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8817898438035094, + -0.04736607369905351, + -0.46925805952302924, + -0.014463401399552822 + ], + [ + 0.06382609763171077, + 0.9977758822423108, + 0.019222852979861697, + -0.008697716519236565 + ], + [ + 0.4673038632689553, + -0.04690142724815404, + 0.8828518309977024, + 0.020860319957137108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8790656663772984, + -0.046155469891803934, + -0.47446098553590543, + -0.01581883244216442 + ], + [ + 0.06342090369575121, + 0.9977775164981011, + 0.02044056127640273, + -0.007698381319642067 + ], + [ + 0.47246306011269285, + -0.048059340090630655, + 0.8800391790477301, + 0.021729182451963425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8695814453759889, + -0.04506730911447436, + -0.4917286319780315, + -0.0006800953415222466 + ], + [ + 0.06425275767912501, + 0.9976869871019897, + 0.022186908256503414, + -0.010540413670241833 + ], + [ + 0.48959135305725465, + -0.05088824438448707, + 0.8704657911687464, + 0.0038447317201644182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.863805528122088, + -0.04846408985006758, + -0.5014890243870992, + 0.0040292260237038136 + ], + [ + 0.06893130617904879, + 0.9973710972972208, + 0.022346572546750213, + -0.010667380876839161 + ], + [ + 0.499087652235727, + -0.053871386385924286, + 0.8648753604506769, + 0.0028235577046871185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.859546533015541, + -0.04644755381407887, + -0.5089424155301377, + -0.004576749633997679 + ], + [ + 0.06873712095340724, + 0.9973197348352862, + 0.025070993420886166, + -0.01182782556861639 + ], + [ + 0.5064138285868582, + -0.05653292184879281, + 0.860435391510157, + 0.0034605576656758785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8556538521145342, + -0.042369737518187706, + -0.5158112936958622, + 0.001792132155969739 + ], + [ + 0.0666734656998407, + 0.9973626898661294, + 0.028676014970225084, + -0.01289265789091587 + ], + [ + 0.5132359441164772, + -0.05892766927038875, + 0.8562221647803967, + -0.0009508770890533924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.847545951283661, + -0.04089342177915307, + -0.5291442038970721, + 0.0031124548986554146 + ], + [ + 0.07003719027214321, + 0.9969253977926403, + 0.035136067149987675, + -0.011880608275532722 + ], + [ + 0.5260804619461338, + -0.06683920474674367, + 0.8478041449930313, + 0.003506814129650593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8471854216507717, + -0.03959697741198276, + -0.5298197247387452, + -0.0048043918795883656 + ], + [ + 0.07230061727601557, + 0.9965344051600522, + 0.041131497344595126, + -0.013942714780569077 + ], + [ + 0.5263549012633126, + -0.07315229806462861, + 0.8471123061341705, + -0.0004443703219294548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1259.8857421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8387020054910433, + -0.034926422171705315, + -0.5434694941020937, + 0.00797957181930542 + ], + [ + 0.07484553539035646, + 0.995864163214817, + 0.05150450714823595, + -0.012577973306179047 + ], + [ + 0.5394229248163569, + -0.08387319869145134, + 0.8378473576516373, + -0.007869330234825611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1271.771484375, + "fy": 1271.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8366829121099081, + -0.0339226476976193, + -0.5466360384720973, + 0.0009231232106685638 + ], + [ + 0.07660952291375424, + 0.995516428330682, + 0.05547992359988655, + -0.012958061881363392 + ], + [ + 0.5423031307140055, + -0.08829663015600034, + 0.8355303821650553, + -0.011668854393064976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1277.71435546875, + "fy": 1283.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.828687315629195, + -0.03244383503074772, + -0.5587707315919267, + 0.0125046968460083 + ], + [ + 0.08320604803250273, + 0.9943666753598628, + 0.06566329647973744, + -0.011985251680016518 + ], + [ + 0.5534926255028989, + -0.1009074452271516, + 0.8267185742510187, + -0.010216649621725082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.828399713504524, + -0.02717359306407403, + -0.5594778909891003, + 0.003424435155466199 + ], + [ + 0.08158004670983343, + 0.994025403313232, + 0.07251340253214068, + -0.013163026422262192 + ], + [ + 0.554164786543177, + -0.1057123143628734, + 0.8256671823123412, + -0.020715221762657166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8204838007512039, + -0.020805295613461977, + -0.5712910574998479, + 0.013293365016579628 + ], + [ + 0.080640332762375, + 0.9935572157987267, + 0.07963162478724164, + -0.012914678081870079 + ], + [ + 0.5659535930063803, + -0.11140555914638682, + 0.8168753466438124, + -0.02184520848095417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8183658305836311, + -0.019947430532161053, + -0.5743513448650821, + 0.015671206638216972 + ], + [ + 0.08038010076610194, + 0.9935468152587453, + 0.08002352960245922, + -0.012494616210460663 + ], + [ + 0.5690486857325966, + -0.11165494124475199, + 0.8146881411691443, + -0.02753828465938568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8085428980265698, + -0.016856148147556774, + -0.5881957602026925, + 0.011172224767506123 + ], + [ + 0.08090741432002764, + 0.9932804926929015, + 0.08275175613722269, + -0.014385450631380081 + ], + [ + 0.5828484986330872, + -0.11449774279598084, + 0.8044736754771915, + -0.028440209105610847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.808556061824908, + -0.019318126224648843, + -0.5881019510980766, + 0.008044881746172905 + ], + [ + 0.08145695548823201, + 0.9935126119709137, + 0.0793565010400624, + -0.01240838784724474 + ], + [ + 0.582753686636802, + -0.1120691744142951, + 0.8048842406565768, + -0.04051457345485687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7980759411734136, + -0.022794060762514636, + -0.6021255873271991, + 0.004549873061478138 + ], + [ + 0.0852911192423573, + 0.9934961378960181, + 0.07543771579311669, + -0.012149800546467304 + ], + [ + 0.5964899136603703, + -0.11156099129916275, + 0.7948294962580287, + -0.039645612239837646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7933137880038265, + -0.023991707622929723, + -0.6083400625705623, + 0.0016406737267971039 + ], + [ + 0.08550794986940705, + 0.9937094738162469, + 0.0723178550357313, + -0.0134896170347929 + ], + [ + 0.6027782546444014, + -0.10938866309254358, + 0.790374908581159, + -0.039216987788677216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.783728246465812, + -0.03091749825408289, + -0.6203338971822611, + 0.008753383532166481 + ], + [ + 0.09224972468542766, + 0.9934770025231107, + 0.0670330795440426, + -0.012758982367813587 + ], + [ + 0.6142149656163435, + -0.10976134911435802, + 0.7814681197934498, + -0.048430997878313065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7775975292453857, + -0.03171113551741811, + -0.6279621695577429, + 0.009661652147769928 + ], + [ + 0.0933015028683847, + 0.993489977146688, + 0.0653643241498928, + -0.014093730598688126 + ], + [ + 0.6218013445417856, + -0.10941695112397967, + 0.7754940481607576, + -0.05048136040568352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7641035528866483, + -0.032820282842247514, + -0.6442581699133949, + 0.01394562516361475 + ], + [ + 0.09623339624074899, + 0.9933291665271083, + 0.0635318847078545, + -0.013891012407839298 + ], + [ + 0.6378752965227394, + -0.11054409057347178, + 0.7621647526127876, + -0.049481429159641266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7586995752575971, + -0.034871956620174366, + -0.6505066495781748, + 0.005387429613620043 + ], + [ + 0.09859391919352756, + 0.9932101130490681, + 0.06174876869313008, + -0.011258660815656185 + ], + [ + 0.6439364825834935, + -0.11098476462352012, + 0.7569862537850075, + -0.04409823566675186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7406813728460913, + -0.03575485402204003, + -0.6709043853878817, + 0.02321273647248745 + ], + [ + 0.10662376400194622, + 0.9921832716668747, + 0.06483616563673404, + -0.008875998668372631 + ], + [ + 0.6633419004321123, + -0.11955729102936113, + 0.7387039848903173, + -0.046856097877025604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7305166275697752, + -0.028326908176255848, + -0.6823071471978408, + 0.03625169396400452 + ], + [ + 0.09970826353017737, + 0.9928562930916517, + 0.0655335292205477, + -0.00555723300203681 + ], + [ + 0.6755765826520916, + -0.11590499360026545, + 0.7281224577161755, + -0.047934774309396744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7182182490599992, + -0.02134100878038478, + -0.6954905521007639, + 0.0543803907930851 + ], + [ + 0.10185486439655238, + 0.9919873304855943, + 0.07474438276435592, + -0.008832115679979324 + ], + [ + 0.6883226956275299, + -0.12452187558939233, + 0.7146370891464778, + -0.06842624396085739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7132189460971192, + -0.017177037885700325, + -0.700730821569587, + 0.052581336349248886 + ], + [ + 0.10190104419320879, + 0.9916200451392576, + 0.07940946587372782, + -0.013316459022462368 + ], + [ + 0.6934947095115064, + -0.12804153797690143, + 0.708992561619698, + -0.0719619020819664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7075440517212006, + -0.016072308711964738, + -0.7064864441492239, + 0.042559511959552765 + ], + [ + 0.10519290876199607, + 0.9909983329171772, + 0.08280553182950647, + -0.010292710736393929 + ], + [ + 0.6987960123098425, + -0.13290592555655487, + 0.702865668625107, + -0.07287868857383728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6975418147750945, + -0.019765483738200782, + -0.7162714166381778, + 0.061036791652441025 + ], + [ + 0.11130768458345289, + 0.9904741593646279, + 0.08106502935053893, + -0.009304291568696499 + ], + [ + 0.7078460397522458, + -0.1362727606072764, + 0.6930971928406097, + -0.06901344656944275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6922674187806211, + -0.02492931415627861, + -0.7212103369964364, + 0.045756444334983826 + ], + [ + 0.11431901585025564, + 0.9905716714845983, + 0.07549123304886374, + -0.004613864701241255 + ], + [ + 0.7125285843458107, + -0.13470817698976725, + 0.6885903887960159, + -0.0754833072423935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.686608095599836, + -0.026074069994266206, + -0.7265600222491605, + 0.05218799412250519 + ], + [ + 0.11804852936023354, + 0.9900932383626939, + 0.07602581182966599, + -0.012816067785024643 + ], + [ + 0.7173798629545247, + -0.1379692799952503, + 0.6828840384757424, + -0.08308408409357071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6738634677001533, + -0.03611023908712837, + -0.7379729517619159, + 0.06517776846885681 + ], + [ + 0.12471781701370757, + 0.9900318952948539, + 0.06543937972058661, + -0.0061232829466462135 + ], + [ + 0.7282537284617635, + -0.13613558290157005, + 0.6716499162879349, + -0.0836443305015564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.662793697939876, + -0.03757143672097687, + -0.7478588778064386, + 0.07356235384941101 + ], + [ + 0.12532677145885895, + 0.9902184304125284, + 0.061324223819355, + -0.006822085939347744 + ], + [ + 0.738239604956875, + -0.13437204774084954, + 0.6610192421246502, + -0.07155691087245941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1349.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6624080194014732, + -0.04294151135259238, + -0.747911520459053, + 0.06120489910244942 + ], + [ + 0.1278349142652641, + 0.990192328283923, + 0.05636832179918887, + -0.007396720815449953 + ], + [ + 0.7381557088632524, + -0.13294803349587173, + 0.6614007634272658, + -0.08552152663469315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1360.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6488979237508296, + -0.0397636917055665, + -0.7598357278871584, + 0.08273538202047348 + ], + [ + 0.12407950761382695, + 0.9907956515995266, + 0.054113330721564545, + -0.00650596572086215 + ], + [ + 0.7506901893205828, + -0.12939407093609748, + 0.6478591004720178, + -0.08488079160451889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00004.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00004.png new file mode 100644 index 0000000000000000000000000000000000000000..d1753fb9bc00520703ee9fb8120543de3c96af8e --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00004.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61806b3d743be0c0ceb19f9fed206d82a6cfc889a0d17a4f2a2f1037221be2b6 +size 600822 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00016.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00016.png new file mode 100644 index 0000000000000000000000000000000000000000..f5e85e92d6cfa4c0e7d6a2df06739ed1e153decd --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00016.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8620d0be4d6243e98e6bad34eded5f6aa2fdce5d4cc82a33877b1434371c217e +size 606163 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00030.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00030.png new file mode 100644 index 0000000000000000000000000000000000000000..3bfdc713a220304ea3689eb263be78576e5ec040 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00030.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24fbf389459d7fd6da5376b5a95d78626645a81f23f2bfa45bef9a8d71148ef3 +size 609051 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00050.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00050.png new file mode 100644 index 0000000000000000000000000000000000000000..e82280a291d1be473fe72e6bab0020b5440dde31 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d64d9461c1940268aa7f860453e8db0604bf34adba8435a7c9dd6647a7f95ba8 +size 598779 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00075.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00075.png new file mode 100644 index 0000000000000000000000000000000000000000..f360ac7f494df508eab5d5c780302a5fd7bb94c7 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00075.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b136f975b394e93d359b87740dea8a7d25149fbc74a09d2d096ad0958034a82 +size 612571 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00076.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00076.png new file mode 100644 index 0000000000000000000000000000000000000000..67f6099d9ea699aa88f1873f758487a121843544 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00076.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b538e9e9a0ce4f5df91d411571f0fab1ac29e0bc5f42b1d7a1ec8f3f3c520891 +size 614569 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00080.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00080.png new file mode 100644 index 0000000000000000000000000000000000000000..e96adc95e6ceefc2da879d6b87e77355b3352433 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00080.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:766faf6331590a833e27dd636d3367c36116bbebd9dd82f9f8513dc32db07df0 +size 602557 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00099.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00099.png new file mode 100644 index 0000000000000000000000000000000000000000..ccd86a6595acdb1140ff7af6c6fba7deed394250 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00099.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22711422048191747593756b1685451ac3deddeb9f69142d06c2c19453db018c +size 613338 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00129.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00129.png new file mode 100644 index 0000000000000000000000000000000000000000..88486c1459a75a648817b3c51c3e3fab6b087d37 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00129.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28d01dd4b596ab5014f8dd7a294a9e0f37aaba6074ed91eb43761366d91c4e3e +size 613730 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00188.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00188.png new file mode 100644 index 0000000000000000000000000000000000000000..cdac74e94704147ca78497704ac253ceed2d53ba --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00188.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97bd326d40eb89394c2e8a2b058b9b9cb31323b520683d37fbb667c6cb330908 +size 614573 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00193.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00193.png new file mode 100644 index 0000000000000000000000000000000000000000..07893cc677a5ba36f54b1a607f00385ed574ecdb --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00193.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1acf34c397709cf34fdbefbc6139598e96146eb37490b9b5abfbfb90dc1fb2a +size 632676 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00015.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00015.png new file mode 100644 index 0000000000000000000000000000000000000000..084e8595f595c519cdf2c2e984cf94de2517c89b --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00015.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8060f08ebdf5e9a736bbe6d121a3e82341b3bdb2ed36aebe3629520db707bccf +size 590537 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00021.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00021.png new file mode 100644 index 0000000000000000000000000000000000000000..bf1328f19aa803957faee855005efb9e0fa9eff5 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00021.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d700364cf8a58e3b96ef45420eac34e3de3b87d327ee00966822081d04d471e6 +size 615815 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00030.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00030.png new file mode 100644 index 0000000000000000000000000000000000000000..3caea2c294aa64bcd5a6dcb8a1d4e79fed4d96d2 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00030.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3835a916ce16046907be9d795e296b01564aea3437a84fcb518ff1fe2d98ae42 +size 673276 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00034.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00034.png new file mode 100644 index 0000000000000000000000000000000000000000..e6254a487d98d1ef5f8a3e05f3e038cbe522cd20 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00034.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8ad20632874370f491ab5b2429eb46449baba5046ea577678a16f107aff6d8c +size 692017 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00046.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00046.png new file mode 100644 index 0000000000000000000000000000000000000000..15cbb5609ccf9cc29d9da3f8f0a62afde27a51f8 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00046.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3900827b75fcda8d692338e5f387965a158b82fad009368abe9520f197b4bd4 +size 708482 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00073.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00073.png new file mode 100644 index 0000000000000000000000000000000000000000..cc8c1067da0dc70d57c7066ba0e73375183df680 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00073.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adad553fc73edea224efbbfb6ea47f6e4af906ea2fc4a41915db2220aaa1a49e +size 638200 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00110.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00110.png new file mode 100644 index 0000000000000000000000000000000000000000..251c41f27153034509d1e350efb511614a0c57df --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00110.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c5420209bb168bbea5b9429f73b8cae4a18cbb931f7ac91999f8d392f66ccc +size 529001 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00113.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00113.png new file mode 100644 index 0000000000000000000000000000000000000000..657682fc45f6828e74df28fcf7cab63e4cd520fd --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00113.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb08dbe27009f35896cb2ec76e68a4d0690d0f9ce139c197f64fa5d0e2e80061 +size 546726 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00128.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00128.png new file mode 100644 index 0000000000000000000000000000000000000000..1e4c5c04047c47d21129cfac40e6c48799052e69 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00128.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:388d19362a4f43a6da6b0afac227ea8abfd500aae6863de2bab7a8e0f0f4a841 +size 597917 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00135.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00135.png new file mode 100644 index 0000000000000000000000000000000000000000..4077cee86b36da8c11c6973eb011496222b07d80 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00135.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69d7630222b80738e4d1160e45a4900d7d8fec70cdf5711f91d9464f1522ad97 +size 598232 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00148.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00148.png new file mode 100644 index 0000000000000000000000000000000000000000..b24d8c7b9c74e9dc505da3683c59df549adc5e1a --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00148.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:873b003494abd7806859aa26252201a4d344a21eb1263f1f02caef2fd0681773 +size 611685 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00163.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00163.png new file mode 100644 index 0000000000000000000000000000000000000000..0ab8033b7537925bf0c50af6b37cc771fdb383b7 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00163.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:206e05cfda577c433c56d24499d0e5e3f061bc3e529778dcd55c17ed8413aab8 +size 574252 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00164.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00164.png new file mode 100644 index 0000000000000000000000000000000000000000..d59571175947d31e661fb78b4a979d95f3913ac2 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00164.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa405600d2a4ed5f6036e80f7c59cb170ea833e7b9282fd770bc5078977ec76d +size 572914 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00167.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00167.png new file mode 100644 index 0000000000000000000000000000000000000000..8e70ca5cc35a9f572e7737d553728af06562433b --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00167.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e52898ff9dda4be6b8f8e28a15cf7e01e5a9f625f2625c910232783892c4245 +size 570093 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00177.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00177.png new file mode 100644 index 0000000000000000000000000000000000000000..1d7377e3275bbad2b4ced70c60cdbe25a27194ae --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00177.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ca05b10bca0bc5c1028513aeb2f81e9b4856962a8631979c93eaf5883523c27 +size 558085 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00189.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00189.png new file mode 100644 index 0000000000000000000000000000000000000000..c68c2d2e6f10fd55dc00126a23d8ade6a1ba8145 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00189.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f07654464cd078e292a85a9dae3f33336f7e385778c2359267c194400f48e0ad +size 622890 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00210.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00210.png new file mode 100644 index 0000000000000000000000000000000000000000..14d3cc06e8a83c8b993f4cebf4939e77b45b8a5d --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00210.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6296a472401ab0f7dcf4dabec2dc3528eff9e3a7fff862074a7531ccac07dc23 +size 592098 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00220.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00220.png new file mode 100644 index 0000000000000000000000000000000000000000..3d06223f5656f46c4cc002ef28cc368c1e92f715 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00220.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d48d5445473743842dac77b770a10b76c4b4b8f56b919b6f06b7edc867a9599 +size 516681 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00248.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00248.png new file mode 100644 index 0000000000000000000000000000000000000000..14ebd96b6edd74fdb1605cba0e4d3cd5feea8042 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00248.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38846fc20d00b6e5b4d6c999983823a22362b9918be246f4c044b0452c3b7edd +size 636460 diff --git a/dycheck_eval/source/teddy__camera_2/rgb_video/00251.png b/dycheck_eval/source/teddy__camera_2/rgb_video/00251.png new file mode 100644 index 0000000000000000000000000000000000000000..fc1420be436fa9383cf3eaaa78339c12fc536fde --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/rgb_video/00251.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd59a31af0510c35851a112bd858cca8f73bbc02504a898954cc32cabb24b23 +size 665345 diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/boom_up/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..04d33201d148c95bb9a0c4fac02764e6dcbbc8c0 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/boom_up/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.0022364004980772734, + -0.0026113721542060375, + 0.001193092734179491 + ], + [ + -0.002242674818262458, + 0.9999945759773254, + -0.0024023065343499184, + -0.007723515893778075 + ], + [ + 0.0026059853844344616, + 0.0024081487208604813, + 0.9999936819076538, + 0.02368655507925196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999806880950928, + 0.0040634265169501305, + -0.004699923098087311, + 0.0029113485687074885 + ], + [ + -0.0040840646252036095, + 0.9999819993972778, + -0.004389888606965542, + -0.016692881509301743 + ], + [ + 0.0046820007264614105, + 0.004408998414874077, + 0.9999793171882629, + 0.05117156539598237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.005368742626160383, + -0.007625406142324209, + 0.0038519624566686326 + ], + [ + -0.005417895969003439, + 0.9999645948410034, + -0.0064400238916277885, + -0.023221349786373153 + ], + [ + 0.007590561639517546, + 0.0064810579642653465, + 0.9999501705169678, + 0.06949141110981936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.00689054187387228, + -0.010770018212497234, + 0.008214253063003222 + ], + [ + -0.006981814280152321, + 0.9999398589134216, + -0.008460155688226223, + -0.029366369027158487 + ], + [ + 0.01071107480674982, + 0.008534657768905163, + 0.9999061822891235, + 0.09129615477353767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.007960905320942402, + -0.013277232646942139, + 0.01004732377908152 + ], + [ + -0.008098271675407887, + 0.9999139308929443, + -0.010324593633413315, + -0.03435263043080551 + ], + [ + 0.013193896040320396, + 0.010430879890918732, + 0.999858558177948, + 0.10994211089423889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.009428995661437511, + -0.014257972128689289, + 0.011191635562673859 + ], + [ + -0.009610596112906933, + 0.9998728632926941, + -0.012722363695502281, + -0.04073727452668591 + ], + [ + 0.014136199839413166, + 0.012857532128691673, + 0.999817430973053, + 0.14138674695530665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.00977416057139635, + -0.014622199349105358, + 0.012709238487723226 + ], + [ + -0.009989832527935505, + 0.9998413324356079, + -0.014749979600310326, + -0.0472933863060198 + ], + [ + 0.01447570975869894, + 0.014893772080540657, + 0.9997842907905579, + 0.1732891207092986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.01059537474066019, + -0.015374253503978252, + 0.014119100839727455 + ], + [ + -0.01085029449313879, + 0.9998034238815308, + -0.016593357548117638, + -0.05353588528823162 + ], + [ + 0.015195419080555439, + 0.016757281497120857, + 0.9997441172599792, + 0.20307813385402523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.01089369785040617, + -0.016871005296707153, + 0.018274800289098336 + ], + [ + -0.011200395412743092, + 0.999771773815155, + -0.018192479386925697, + -0.059612435523582544 + ], + [ + 0.01666897162795067, + 0.018377771601080894, + 0.9996921420097351, + 0.22724173630223327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.011148378252983093, + -0.01857118122279644, + 0.021878499159778374 + ], + [ + -0.011516496539115906, + 0.9997369647026062, + -0.019834421575069427, + -0.06543125413754136 + ], + [ + 0.018345175310969353, + 0.020043641328811646, + 0.9996308088302612, + 0.25256594871553245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.011119464412331581, + -0.020447613671422005, + 0.02458117504824619 + ], + [ + -0.011560274288058281, + 0.9997005462646484, + -0.021567659452557564, + -0.06858140023578192 + ], + [ + 0.02020167000591755, + 0.02179819531738758, + 0.9995582699775696, + 0.2704886852156209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.011200539767742157, + -0.022018814459443092, + 0.02817239540534607 + ], + [ + -0.01170697994530201, + 0.9996667504310608, + -0.023007607087492943, + -0.07449082652295845 + ], + [ + 0.02175377868115902, + 0.023258360102772713, + 0.9994927644729614, + 0.29542686998628187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.01118478924036026, + -0.023529307916760445, + 0.031214439814937288 + ], + [ + -0.01175733096897602, + 0.9996346831321716, + -0.024337200447916985, + -0.08043647808729162 + ], + [ + 0.02324850670993328, + 0.024605581536889076, + 0.9994269013404846, + 0.319849369144922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.011243744753301144, + -0.025035269558429718, + 0.03673132851557887 + ], + [ + -0.01187987346202135, + 0.9996066093444824, + -0.0254072155803442, + -0.08828311896554514 + ], + [ + 0.02473974972963333, + 0.025695061311125755, + 0.9993636608123779, + 0.3481230380940408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.01170582789927721, + -0.0260941069573164, + 0.04008643331168139 + ], + [ + -0.01241482887417078, + 0.9995535612106323, + -0.027176616713404655, + -0.09454380742449692 + ], + [ + 0.025764333084225655, + 0.02748945541679859, + 0.9992899894714355, + 0.3753550348371483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.012052183039486408, + -0.027570083737373352, + 0.04293095084348163 + ], + [ + -0.012837381102144718, + 0.9995118379592896, + -0.028482673689723015, + -0.10289224445243965 + ], + [ + 0.02721334621310234, + 0.02882370539009571, + 0.9992139935493469, + 0.4015455348336178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.012399017810821533, + -0.028493991121649742, + 0.04440524741863283 + ], + [ + -0.013229986652731895, + 0.9994871616363525, + -0.029161887243390083, + -0.10637229613347905 + ], + [ + 0.028117800131440163, + 0.029524778947234154, + 0.9991685152053833, + 0.4133699512972996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.013489429838955402, + -0.03085138462483883, + 0.050497623848850315 + ], + [ + -0.01442603301256895, + 0.999435544013977, + -0.03034021146595478, + -0.11304823231437933 + ], + [ + 0.0304246973246336, + 0.03076806850731373, + 0.9990633726119995, + 0.43487541570287686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205933, + 0.013895992189645767, + -0.033847637474536896, + 0.05665918685639826 + ], + [ + -0.014967259019613266, + 0.9993883967399597, + -0.03160466253757477, + -0.1233849577281786 + ], + [ + 0.03338775783777237, + 0.03209010511636734, + 0.9989271759986877, + 0.4560855820019176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272461, + 0.016092753037810326, + -0.0376913920044899, + 0.06009585473344522 + ], + [ + -0.017323853448033333, + 0.9993193745613098, + -0.032567087560892105, + -0.13242767762014832 + ], + [ + 0.03714164346456528, + 0.03319268301129341, + 0.9987586140632629, + 0.48213499838459317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.018223222345113754, + -0.04194314777851105, + 0.06457388944707919 + ], + [ + -0.019634105265140533, + 0.9992466568946838, + -0.03347551450133324, + -0.1397135656380999 + ], + [ + 0.04130151867866516, + 0.034264009445905685, + 0.9985590577125549, + 0.5099705541641384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793945, + 0.020553000271320343, + -0.04581957310438156, + 0.06688225858165446 + ], + [ + -0.022124383598566055, + 0.9991750121116638, + -0.03405586630105972, + -0.14766523083626937 + ], + [ + 0.04508182406425476, + 0.03502662479877472, + 0.998369038105011, + 0.5341248185882246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.02236338146030903, + -0.04987017437815666, + 0.06916520974288384 + ], + [ + -0.024098118767142296, + 0.999115526676178, + -0.034459467977285385, + -0.15597372551759084 + ], + [ + 0.04905543848872185, + 0.035609740763902664, + 0.9981610774993896, + 0.5564444579597977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.025196420028805733, + -0.05386357381939888, + 0.07200668493042821 + ], + [ + -0.027118520811200142, + 0.9990102648735046, + -0.03525662422180176, + -0.1615192845247794 + ], + [ + 0.052921924740076065, + 0.03665493428707123, + 0.9979256987571716, + 0.5863946043926737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.027898434549570084, + -0.05810781940817833, + 0.07244097440535031 + ], + [ + -0.03001503273844719, + 0.9989053606987, + -0.03587669879198074, + -0.16618446005139373 + ], + [ + 0.05704331025481224, + 0.03754619508981705, + 0.9976654648780823, + 0.6176616110195572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.03114611655473709, + -0.062324296683073044, + 0.07314959205867012 + ], + [ + -0.0334443524479866, + 0.9987855553627014, + -0.03617827594280243, + -0.16962406927548745 + ], + [ + 0.06112179532647133, + 0.03817475587129593, + 0.9974000453948975, + 0.6491934357849872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.033693261444568634, + -0.06629057973623276, + 0.07327822858224745 + ], + [ + -0.036126427352428436, + 0.9987038373947144, + -0.0358545184135437, + -0.17549950532291247 + ], + [ + 0.06499660760164261, + 0.038150086998939514, + 0.9971559643745422, + 0.6755993659729543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.036565959453582764, + -0.06995093077421188, + 0.07292469814059815 + ], + [ + -0.03916091471910477, + 0.9985808730125427, + -0.036091990768909454, + -0.1784924199183782 + ], + [ + 0.06853192299604416, + 0.038718730211257935, + 0.996897280216217, + 0.6967080975500282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.03873646631836891, + -0.07333295047283173, + 0.0698654359575487 + ], + [ + -0.0414595790207386, + 0.9984920620918274, + -0.03598237782716751, + -0.1803431923550684 + ], + [ + 0.07182854413986206, + 0.038898766040802, + 0.996658205986023, + 0.7147759862280122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.040912825614213943, + -0.07706233114004135, + 0.07341265683804733 + ], + [ + -0.04378388449549675, + 0.998394250869751, + -0.03594208508729935, + -0.18234889943530594 + ], + [ + 0.07546810060739517, + 0.039179109036922455, + 0.9963782429695129, + 0.7414926693275354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.042488738894462585, + -0.08002281188964844, + 0.07224059564911801 + ], + [ + -0.04545895755290985, + 0.998329222202301, + -0.03566781431436539, + -0.18325939508163985 + ], + [ + 0.07837364077568054, + 0.03915886580944061, + 0.9961546659469604, + 0.7685543428512587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9956108331680298, + 0.04434388503432274, + -0.08241777867078781, + 0.07023442905162268 + ], + [ + -0.04740210250020027, + 0.9982439279556274, + -0.03552674502134323, + -0.18382608755199228 + ], + [ + 0.08069764822721481, + 0.039277590811252594, + 0.9959644675254822, + 0.7903405454999582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.04596315324306488, + -0.08554010838270187, + 0.0731201507691024 + ], + [ + -0.0491487979888916, + 0.9981598258018494, + -0.03551483526825905, + -0.1839193067256955 + ], + [ + 0.08375032991170883, + 0.03955118730664253, + 0.9957015514373779, + 0.8167747572766266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.0472993478178978, + -0.08763521164655685, + 0.07070424096739811 + ], + [ + -0.050564780831336975, + 0.9980924129486084, + -0.03542303293943405, + -0.1859085935037493 + ], + [ + 0.08579254895448685, + 0.03967820107936859, + 0.9955226182937622, + 0.8370254615222774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.048210158944129944, + -0.08975494652986526, + 0.0700145642394605 + ], + [ + -0.05155248939990997, + 0.9980462789535522, + -0.03529903292655945, + -0.1866782317702897 + ], + [ + 0.08787781745195389, + 0.03974243998527527, + 0.9953381419181824, + 0.856009909712174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.04945862293243408, + -0.09141582995653152, + 0.06994341035252032 + ], + [ + -0.052854835987091064, + 0.997984766960144, + -0.03511005640029907, + -0.1882088136413823 + ], + [ + 0.08949511498212814, + 0.03975166380405426, + 0.9951936602592468, + 0.8815498561962791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.04863566905260086, + -0.09502732008695602, + 0.08101646655063699 + ], + [ + -0.05211786925792694, + 0.9980444312095642, + -0.03451117128133774, + -0.19191447876501774 + ], + [ + 0.09316302090883255, + 0.039266593754291534, + 0.9948762655258179, + 0.9150376696337537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765137, + 0.050517480820417404, + -0.09576677531003952, + 0.0736125183314229 + ], + [ + -0.054039012640714645, + 0.997941255569458, + -0.03454064205288887, + -0.19296777084253836 + ], + [ + 0.09382470697164536, + 0.039512719959020615, + 0.994804322719574, + 0.9282693609343347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.050298336893320084, + -0.09736401587724686, + 0.07392017985491649 + ], + [ + -0.05387471988797188, + 0.9979529976844788, + -0.03445683419704437, + -0.19770100315411887 + ], + [ + 0.09543158859014511, + 0.03949476033449173, + 0.9946522116661072, + 0.9523087741996067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.051648907363414764, + -0.09834951162338257, + 0.0681668703538784 + ], + [ + -0.055279895663261414, + 0.9978727102279663, + -0.03455757349729538, + -0.2019462584729356 + ], + [ + 0.09635543823242188, + 0.03978043794631958, + 0.9945517182350159, + 0.9663037827625367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.051056209951639175, + -0.0992148220539093, + 0.07259357879523205 + ], + [ + -0.05466962233185768, + 0.9979238510131836, + -0.034047503024339676, + -0.2104456685015545 + ], + [ + 0.09727050364017487, + 0.039258923381567, + 0.9944833517074585, + 0.9930723409451868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.05107952281832695, + -0.0993233472108841, + 0.07073358646121577 + ], + [ + -0.0546448640525341, + 0.9979433417320251, + -0.03351172059774399, + -0.2188603836125222 + ], + [ + 0.09740731120109558, + 0.038729555904865265, + 0.9944907426834106, + 1.0072718964322753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.05086435005068779, + -0.10076417773962021, + 0.07549870178859303 + ], + [ + -0.05446717515587807, + 0.9979591369628906, + -0.03333079069852829, + -0.22498470251111016 + ], + [ + 0.09886317700147629, + 0.03860612213611603, + 0.994351863861084, + 1.032606678891585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113037, + 0.05030372738838196, + -0.10239668190479279, + 0.08202383387203954 + ], + [ + -0.053963758051395416, + 0.9979877471923828, + -0.033291298896074295, + -0.22753803717053456 + ], + [ + 0.10051596164703369, + 0.038599643856287, + 0.9941864013671875, + 1.0536809387774284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186584, + 0.04963846132159233, + -0.10233431309461594, + 0.08340352069100608 + ], + [ + -0.05329246446490288, + 0.998024046421051, + -0.03328562527894974, + -0.23404524702092877 + ], + [ + 0.1004798635840416, + 0.03852327913045883, + 0.9941930174827576, + 1.0810079401277977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.0496625155210495, + -0.10191740095615387, + 0.08353689147366418 + ], + [ + -0.053322337567806244, + 0.9980151653289795, + -0.03350357711315155, + -0.23948608471287622 + ], + [ + 0.10005123913288116, + 0.03872203081846237, + 0.9942285418510437, + 1.110526405606005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.04925285652279854, + -0.10178175568580627, + 0.08574339824634186 + ], + [ + -0.05287175253033638, + 0.998050332069397, + -0.03316742554306984, + -0.24512641231218973 + ], + [ + 0.09994973242282867, + 0.038336094468832016, + 0.9942536950111389, + 1.1352919671828476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.04911331832408905, + -0.10172472894191742, + 0.08922749651946883 + ], + [ + -0.052760183811187744, + 0.9980460405349731, + -0.033474087715148926, + -0.24920304002969162 + ], + [ + 0.09988193213939667, + 0.03862684965133667, + 0.9942492246627808, + 1.1650754648706187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.04902191460132599, + -0.10194054245948792, + 0.09090644700659646 + ], + [ + -0.052687227725982666, + 0.9980463981628418, + -0.033577751368284225, + -0.25173784619656164 + ], + [ + 0.10009534657001495, + 0.038733210414648056, + 0.9942236542701721, + 1.1880963696247857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.993559718132019, + 0.0487002432346344, + -0.10231032967567444, + 0.09389796907055205 + ], + [ + -0.05236396938562393, + 0.9980682730674744, + -0.03343319147825241, + -0.2541698925017159 + ], + [ + 0.10048449039459229, + 0.038575246930122375, + 0.994190514087677, + 1.2112017575525431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.048615120351314545, + -0.10256709158420563, + 0.09495524957344152 + ], + [ + -0.052275508642196655, + 0.9980771541595459, + -0.0333053395152092, + -0.255752005395682 + ], + [ + 0.10075072944164276, + 0.038451842963695526, + 0.9941683411598206, + 1.2295910039781661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.04889291524887085, + -0.10252975672483444, + 0.09694335648547048 + ], + [ + -0.05256624519824982, + 0.9980575442314148, + -0.0334349200129509, + -0.25611069637220263 + ], + [ + 0.10069587081670761, + 0.038608118891716, + 0.9941678643226624, + 1.2512054653271385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993516743183136, + 0.04908096045255661, + -0.10254526883363724, + 0.09997009966468466 + ], + [ + -0.05277340114116669, + 0.9980407953262329, + -0.03360915556550026, + -0.25645094931413587 + ], + [ + 0.10069478303194046, + 0.038802918046712875, + 0.9941604137420654, + 1.2741156672024065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.04949834570288658, + -0.10260982066392899, + 0.10279394579322441 + ], + [ + -0.05320417508482933, + 0.9980149269104004, + -0.03369751572608948, + -0.258533355852832 + ], + [ + 0.10073816031217575, + 0.03893739730119705, + 0.9941507577896118, + 1.2966064456364383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9934517741203308, + 0.04956163093447685, + -0.10294263064861298, + 0.10701825263671541 + ], + [ + -0.05330852046608925, + 0.9980001449584961, + -0.033969711512327194, + -0.25941914089635953 + ], + [ + 0.1010531634092331, + 0.03923499211668968, + 0.9941070675849915, + 1.3218913174319815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.04986759275197983, + -0.10310870409011841, + 0.11239871548281775 + ], + [ + -0.05362820625305176, + 0.997981071472168, + -0.03402599319815636, + -0.2623204309295341 + ], + [ + 0.10120373964309692, + 0.03933161124587059, + 0.9940879344940186, + 1.3480241483968236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.05012756586074829, + -0.10322330892086029, + 0.11744585641916247 + ], + [ + -0.05391266942024231, + 0.9979594945907593, + -0.03420991823077202, + -0.2642776152361994 + ], + [ + 0.10129782557487488, + 0.03954898193478584, + 0.9940697550773621, + 1.3719670241779607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.05076683312654495, + -0.10334215313196182, + 0.12244491040850607 + ], + [ + -0.05455721169710159, + 0.9979252815246582, + -0.034186188131570816, + -0.2685948132748765 + ], + [ + 0.1013922169804573, + 0.03959688916802406, + 0.9940581917762756, + 1.3938306598091759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.051117971539497375, + -0.10378838330507278, + 0.1277237437269538 + ], + [ + -0.05496644973754883, + 0.9978898167610168, + -0.034563008695840836, + -0.2729220604694984 + ], + [ + 0.10180258005857468, + 0.04003579542040825, + 0.9939987063407898, + 1.4159405968021512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.05163772404193878, + -0.10428321361541748, + 0.13300830276979916 + ], + [ + -0.05555019527673721, + 0.9978434443473816, + -0.03496665507555008, + -0.2790639931740968 + ], + [ + 0.10225272178649902, + 0.040522053837776184, + 0.9939327836036682, + 1.4444105793600497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.05179730802774429, + -0.104777030646801, + 0.13673794904120878 + ], + [ + -0.05577006936073303, + 0.9978177547454834, + -0.035346925258636475, + -0.2835892526423873 + ], + [ + 0.10271751135587692, + 0.04094807803630829, + 0.9938673973083496, + 1.4708404080375381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.051831118762493134, + -0.10539916157722473, + 0.1408234865985055 + ], + [ + -0.05584421008825302, + 0.9978086948394775, + -0.03548542037606239, + -0.28979509130192266 + ], + [ + 0.10332895815372467, + 0.04112573340535164, + 0.9937966465950012, + 1.4907840533712924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.05181632563471794, + -0.10593901574611664, + 0.14600929726401102 + ], + [ + -0.05589934065937996, + 0.9977893233299255, + -0.0359402634203434, + -0.2963272706322048 + ], + [ + 0.10384252667427063, + 0.04161137714982033, + 0.9937229156494141, + 1.514660762331408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.05267321318387985, + -0.10620466619729996, + 0.14997210020316395 + ], + [ + -0.05684170126914978, + 0.997711718082428, + -0.03661029413342476, + -0.30171289377742344 + ], + [ + 0.10403325408697128, + 0.042388979345560074, + 0.9936701059341431, + 1.5418408014924054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.05306332930922508, + -0.10674865543842316, + 0.15487175493316663 + ], + [ + -0.0573040209710598, + 0.9976688027381897, + -0.037056814879179, + -0.3086066644836739 + ], + [ + 0.10453344881534576, + 0.04290969297289848, + 0.9935952425003052, + 1.572186248394962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.05341807007789612, + -0.10717276483774185, + 0.1569059371948242 + ], + [ + -0.057733550667762756, + 0.9976246953010559, + -0.03757424280047417, + -0.3148490259612816 + ], + [ + 0.10491105169057846, + 0.043491337448358536, + 0.9935301542282104, + 1.601274571697349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.05403519049286842, + -0.10786052793264389, + 0.1595753273184317 + ], + [ + -0.058432359248399734, + 0.9975667595863342, + -0.038029588758945465, + -0.31950952641054053 + ], + [ + 0.10554314404726028, + 0.04405438154935837, + 0.9934384226799011, + 1.6225872707359745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.05464387312531471, + -0.10854977369308472, + 0.16270314552213835 + ], + [ + -0.05914818122982979, + 0.9974981546401978, + -0.03871600702404976, + -0.32386158359223516 + ], + [ + 0.10616260766983032, + 0.044849563390016556, + 0.9933367967605591, + 1.644560206476329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104919, + 0.055205896496772766, + -0.10924900323152542, + 0.16471724957227707 + ], + [ + -0.05983088165521622, + 0.9974260330200195, + -0.03951676934957504, + -0.3251053432623545 + ], + [ + 0.10678624361753464, + 0.04575607180595398, + 0.9932286143302917, + 1.6673059076070786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960815, + 0.055440112948417664, + -0.11026956140995026, + 0.16649730820298772 + ], + [ + -0.06019476801156998, + 0.9973742365837097, + -0.040264926850795746, + -0.32755078396935394 + ], + [ + 0.10774771869182587, + 0.04659472405910492, + 0.9930858016014099, + 1.690705817606714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.05556797608733177, + -0.11152978241443634, + 0.16854833875409359 + ], + [ + -0.060452621430158615, + 0.997332751750946, + -0.04090125858783722, + -0.32991320102111155 + ], + [ + 0.10895949602127075, + 0.04732475429773331, + 0.9929190278053284, + 1.7131342262641531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.05580789968371391, + -0.11278221756219864, + 0.1693617106779762 + ], + [ + -0.06084806099534035, + 0.9972735047340393, + -0.04174994304776192, + -0.3299711214459461 + ], + [ + 0.11014474183320999, + 0.048280660063028336, + 0.9927422404289246, + 1.738565895738809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.05638560280203819, + -0.11364457756280899, + 0.16932963602388826 + ], + [ + -0.06155562028288841, + 0.9971981048583984, + -0.04250660911202431, + -0.329899966975917 + ], + [ + 0.11092939227819443, + 0.049158621579408646, + 0.9926117658615112, + 1.7603052137176627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.056514594703912735, + -0.11532508581876755, + 0.1733466692124876 + ], + [ + -0.06184430792927742, + 0.997151792049408, + -0.043169595301151276, + -0.3320388170256131 + ], + [ + 0.11255689710378647, + 0.04994429647922516, + 0.9923893213272095, + 1.7882744758457378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883301, + 0.05669296160340309, + -0.11660850048065186, + 0.1735840017326932 + ], + [ + -0.06215563789010048, + 0.9971069693565369, + -0.04375331848859787, + -0.33454168188399164 + ], + [ + 0.11379064619541168, + 0.05063185095787048, + 0.9922137260437012, + 1.811346436108368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.991384744644165, + 0.056886229664087296, + -0.11798398196697235, + 0.17456780374770003 + ], + [ + -0.06248658522963524, + 0.9970611929893494, + -0.04432125762104988, + -0.33801930238659256 + ], + [ + 0.11511598527431488, + 0.051311831921339035, + 0.9920259118080139, + 1.83447928370341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.05660528689622879, + -0.119034044444561, + 0.17633648345939779 + ], + [ + -0.06231111288070679, + 0.9970521926879883, + -0.04476906359195709, + -0.3391508965388588 + ], + [ + 0.11614898592233658, + 0.051795609295368195, + 0.9918803572654724, + 1.8560292360395336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.056857626885175705, + -0.1202438473701477, + 0.17860695504839869 + ], + [ + -0.0626719743013382, + 0.9970130324363708, + -0.04513602331280708, + -0.34272686450377754 + ], + [ + 0.11731836199760437, + 0.05227090045809746, + 0.9917177557945251, + 1.8772464468103387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050659, + 0.056953731924295425, + -0.12157700955867767, + 0.18013944336649587 + ], + [ + -0.06287131458520889, + 0.9969883561134338, + -0.045402612537145615, + -0.34753817682680876 + ], + [ + 0.11862501502037048, + 0.05263527110219002, + 0.9915430545806885, + 1.899921546475107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.057227157056331635, + -0.12260593473911285, + 0.18244486795243434 + ], + [ + -0.06325745582580566, + 0.9969426989555359, + -0.04586687684059143, + -0.35368186134647056 + ], + [ + 0.11960625648498535, + 0.05320082604885101, + 0.9913949966430664, + 1.9225808894576657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.057410165667533875, + -0.12272951006889343, + 0.18305304588183113 + ], + [ + -0.06350911408662796, + 0.9969033598899841, + -0.046370767056941986, + -0.361720699849336 + ], + [ + 0.11968730390071869, + 0.0537375882267952, + 0.9913562536239624, + 1.9507274202354576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207703, + 0.05768294632434845, + -0.12312536686658859, + 0.1835051562331149 + ], + [ + -0.06386278569698334, + 0.996858537197113, + -0.046846337616443634, + -0.370133719496105 + ], + [ + 0.12003634124994278, + 0.05427441745996475, + 0.9912847876548767, + 1.9800038914389657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090942, + 0.05768069997429848, + -0.12416577339172363, + 0.18527088390780244 + ], + [ + -0.06397093832492828, + 0.9968311190605164, + -0.047280725091695786, + -0.37636556567777185 + ], + [ + 0.12104511260986328, + 0.05477851256728172, + 0.9911344051361084, + 2.003805754616281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.0577319972217083, + -0.12539252638816833, + 0.18662270698426425 + ], + [ + -0.0641416609287262, + 0.9968005418777466, + -0.047692522406578064, + -0.38203318861947544 + ], + [ + 0.12223795056343079, + 0.055278800427913666, + 0.9909602403640747, + 2.023638807993004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.99030601978302, + 0.057792238891124725, + -0.12630952894687653, + 0.1879127502333427 + ], + [ + -0.06430143117904663, + 0.9967718124389648, + -0.04807570204138756, + -0.3875748536724975 + ], + [ + 0.12312337756156921, + 0.05573153868317604, + 0.9908252358436584, + 2.041803446791814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.05827495828270912, + -0.12711413204669952, + 0.19069395543656487 + ], + [ + -0.06489454954862595, + 0.9967094659805298, + -0.0485684797167778, + -0.396273008003327 + ], + [ + 0.1238655298948288, + 0.056340292096138, + 0.9906982779502869, + 2.06600030898184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.05892390012741089, + -0.12688769400119781, + 0.19138360187627268 + ], + [ + -0.06566489487886429, + 0.9966076612472534, + -0.04961153492331505, + -0.4051858681699504 + ], + [ + 0.1235339492559433, + 0.05745569244027138, + 0.9906756281852722, + 2.098607200616296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.05929175019264221, + -0.12595173716545105, + 0.1889311575803204 + ], + [ + -0.0661093145608902, + 0.9965258836746216, + -0.05065302550792694, + -0.4145876434114244 + ], + [ + 0.1225108653306961, + 0.058486394584178925, + 0.9907423853874207, + 2.1326168475807576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745667, + 0.059524666517972946, + -0.12573575973510742, + 0.18873958422977855 + ], + [ + -0.06645040959119797, + 0.9964534640312195, + -0.051621828228235245, + -0.4193063964302413 + ], + [ + 0.12221705913543701, + 0.059475068002939224, + 0.9907197952270508, + 2.155290263875023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.05937908962368965, + -0.12627269327640533, + 0.19069524222741957 + ], + [ + -0.06646739691495895, + 0.9963969588279724, + -0.052679553627967834, + -0.42289170363674994 + ], + [ + 0.12268966436386108, + 0.06055719405412674, + 0.990595817565918, + 2.175592357373756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.05880853533744812, + -0.12696921825408936, + 0.1937391350954627 + ], + [ + -0.06609850376844406, + 0.9963517189025879, + -0.053983353078365326, + -0.4240841461840459 + ], + [ + 0.12333131581544876, + 0.061844728887081146, + 0.9904365539550781, + 2.19135656805646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426636, + 0.05833970755338669, + -0.12718528509140015, + 0.19640617138809627 + ], + [ + -0.06584563106298447, + 0.996277928352356, + -0.05562962591648102, + -0.42790032426516217 + ], + [ + 0.12346646934747696, + 0.06345692276954651, + 0.9903177618980408, + 2.214350646071964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.05792372673749924, + -0.1272106170654297, + 0.1985490006705125 + ], + [ + -0.06563419103622437, + 0.9961984753608704, + -0.05727764964103699, + -0.432017954968024 + ], + [ + 0.12340929359197617, + 0.06506472080945969, + 0.9902205467224121, + 2.238908820296975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737793, + 0.057315584272146225, + -0.12720833718776703, + 0.20086409596069424 + ], + [ + -0.06527245044708252, + 0.9961047768592834, + -0.059285953640937805, + -0.4357958903923127 + ], + [ + 0.12331482023000717, + 0.06700925529003143, + 0.9901026487350464, + 2.2602229157939626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.05588507652282715, + -0.1276361644268036, + 0.2029821414878403 + ], + [ + -0.0641215369105339, + 0.9960540533065796, + -0.0613580048084259, + -0.4391653295876323 + ], + [ + 0.12370351701974869, + 0.06894370913505554, + 0.9899213314056396, + 2.2840454275337394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.0548248253762722, + -0.12863613665103912, + 0.2058766031610793 + ], + [ + -0.06343141198158264, + 0.9959454536437988, + -0.06378985196352005, + -0.4424758880898572 + ], + [ + 0.12461730092763901, + 0.07132270187139511, + 0.989638090133667, + 2.3129612013913583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.053719863295555115, + -0.12976527214050293, + 0.2092520199176194 + ], + [ + -0.06270050257444382, + 0.9958384037017822, + -0.06614049524068832, + -0.4485155917596126 + ], + [ + 0.12567219138145447, + 0.07362129539251328, + 0.989336371421814, + 2.3347239794830483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.05248437449336052, + -0.13104473054409027, + 0.21191203708306028 + ], + [ + -0.061909448355436325, + 0.9956997632980347, + -0.0689140185713768, + -0.45209828307087296 + ], + [ + 0.12686429917812347, + 0.07633683830499649, + 0.9889783263206482, + 2.3525754747975274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843079, + 0.05237596482038498, + -0.13493402302265167, + 0.21579795321044715 + ], + [ + -0.06240969896316528, + 0.9955052733421326, + -0.071234330534935, + -0.4600376530833866 + ], + [ + 0.1305965632200241, + 0.0789053738117218, + 0.9882906675338745, + 2.3747846620238344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522095, + 0.05332467332482338, + -0.1399105042219162, + 0.21841163620136786 + ], + [ + -0.06403107196092606, + 0.9952618479728699, + -0.07316998392343521, + -0.4670352807655427 + ], + [ + 0.13534583151340485, + 0.08130376785993576, + 0.9874569177627563, + 2.4018828763046125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.054061491042375565, + -0.14517661929130554, + 0.22038336673904443 + ], + [ + -0.06544817984104156, + 0.9950457811355591, + -0.07483583688735962, + -0.4746910301383567 + ], + [ + 0.1404116451740265, + 0.08343394100666046, + 0.9865714907646179, + 2.4274204435483844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.987076461315155, + 0.0547633096575737, + -0.1506020873785019, + 0.22481313263592512 + ], + [ + -0.0668073445558548, + 0.9948588609695435, + -0.07610917091369629, + -0.4824908792972565 + ], + [ + 0.14565981924533844, + 0.0851868987083435, + 0.9856603741645813, + 2.454436761227207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369446, + 0.05539267137646675, + -0.15587709844112396, + 0.22802977182762924 + ], + [ + -0.06803636997938156, + 0.9947085976600647, + -0.07697989046573639, + -0.4909191742899337 + ], + [ + 0.15078817307949066, + 0.08652457594871521, + 0.984772264957428, + 2.483172211828439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.05654771998524666, + -0.16042619943618774, + 0.22677787700712967 + ], + [ + -0.06978537887334824, + 0.9944988489151001, + -0.07811526954174042, + -0.49835454072929236 + ], + [ + 0.1551264226436615, + 0.08817227184772491, + 0.9839519262313843, + 2.514477158917321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.05731608718633652, + -0.1653514951467514, + 0.2293724695733492 + ], + [ + -0.07116874307394028, + 0.9943227767944336, + -0.07910280674695969, + -0.5061257351999697 + ], + [ + 0.1598788946866989, + 0.08964993804693222, + 0.9830572605133057, + 2.546752349783977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203186, + 0.05830130726099014, + -0.17005771398544312, + 0.2289186863867557 + ], + [ + -0.07271014899015427, + 0.9941582679748535, + -0.07976603507995605, + -0.5133775395759638 + ], + [ + 0.16441380977630615, + 0.09083139896392822, + 0.9822004437446594, + 2.577155151574508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231812, + 0.059048935770988464, + -0.17392559349536896, + 0.2295244547839902 + ], + [ + -0.07392840087413788, + 0.994021475315094, + -0.08034893125295639, + -0.5183674889198248 + ], + [ + 0.16814126074314117, + 0.0918399766087532, + 0.9814754128456116, + 2.5967665787948215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.05997278913855553, + -0.1776111125946045, + 0.22843042540809383 + ], + [ + -0.07530439645051956, + 0.9938756823539734, + -0.08087261766195297, + -0.522760074812433 + ], + [ + 0.17167320847511292, + 0.09281376749277115, + 0.980772078037262, + 2.614754977563153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9814273118972778, + 0.06035880371928215, + -0.1820913553237915, + 0.22861109629525367 + ], + [ + -0.07624726742506027, + 0.9937483668327332, + -0.08155074715614319, + -0.5251315244442023 + ], + [ + 0.176030695438385, + 0.09392009675502777, + 0.9798939824104309, + 2.637528861929541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.06067194044589996, + -0.1858394593000412, + 0.2268747009948832 + ], + [ + -0.07698187232017517, + 0.9936681389808655, + -0.08183809369802475, + -0.5283154996408932 + ], + [ + 0.17969746887683868, + 0.09456530958414078, + 0.9791660904884338, + 2.661875901914737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.060976918786764145, + -0.1892092227935791, + 0.22396327544921552 + ], + [ + -0.07769296318292618, + 0.993581235408783, + -0.08222018927335739, + -0.5300139598224474 + ], + [ + 0.1829811930656433, + 0.09527943283319473, + 0.9784885048866272, + 2.687075976519913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.06127164885401726, + -0.19245612621307373, + 0.221272289292248 + ], + [ + -0.07838138937950134, + 0.9934974312782288, + -0.08257880806922913, + -0.5322451308441623 + ], + [ + 0.18614491820335388, + 0.09596189856529236, + 0.9778248071670532, + 2.711462874573786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.061485253274440765, + -0.19572097063064575, + 0.218745768563327 + ], + [ + -0.07894695550203323, + 0.993442714214325, + -0.08269782364368439, + -0.5345729675557879 + ], + [ + 0.1893528699874878, + 0.09639042615890503, + 0.9771665334701538, + 2.737769608941055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466797, + 0.06129567325115204, + -0.1988966017961502, + 0.21500485176625458 + ], + [ + -0.0791025459766388, + 0.9934178590774536, + -0.08284769207239151, + -0.5360935907432999 + ], + [ + 0.1925092190504074, + 0.09676670283079147, + 0.9765123724937439, + 2.7634112348375113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369446, + 0.06093064695596695, + -0.20226755738258362, + 0.21323479836185774 + ], + [ + -0.07907367497682571, + 0.9934192895889282, + -0.08285827934741974, + -0.5386341445975833 + ], + [ + 0.19588789343833923, + 0.0969824492931366, + 0.9758188128471375, + 2.785977471205923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.06066565960645676, + -0.20522147417068481, + 0.20967102442386645 + ], + [ + -0.07907991856336594, + 0.9934282898902893, + -0.08274444192647934, + -0.5415255099391015 + ], + [ + 0.19885307550430298, + 0.09705644100904465, + 0.975211501121521, + 2.808543098217623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144165, + 0.06033633276820183, + -0.20836029946804047, + 0.2066937039889719 + ], + [ + -0.07910490781068802, + 0.9934094548225403, + -0.08294612914323807, + -0.5431358373683431 + ], + [ + 0.20198242366313934, + 0.09745343774557114, + 0.9745285511016846, + 2.8298506203229015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.059833720326423645, + -0.21154259145259857, + 0.20287608118448858 + ], + [ + -0.07898080348968506, + 0.9933942556381226, + -0.08324616402387619, + -0.5484505739189001 + ], + [ + 0.20516426861286163, + 0.09791740030050278, + 0.9738171100616455, + 2.8559280351092275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110168, + 0.05969397351145744, + -0.21430684626102448, + 0.1964440894641594 + ], + [ + -0.0791357010602951, + 0.9933764934539795, + -0.0833105593919754, + -0.555738986056784 + ], + [ + 0.20791424810886383, + 0.09818217158317566, + 0.9732070565223694, + 2.8899734343739523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593933, + 0.05944196879863739, + -0.21671272814273834, + 0.1908071758090586 + ], + [ + -0.07909855246543884, + 0.9933903217315674, + -0.08318135142326355, + -0.5641052550163822 + ], + [ + 0.2103358656167984, + 0.09819556772708893, + 0.9726851582527161, + 2.9210581632627957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.058851227164268494, + -0.21915973722934723, + 0.18736957122306316 + ], + [ + -0.07869853079319, + 0.9934410452842712, + -0.08295436948537827, + -0.5709409605765688 + ], + [ + 0.21284030377864838, + 0.09803784638643265, + 0.9721561670303345, + 2.945438537703476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.05818653479218483, + -0.22223085165023804, + 0.18182376218230828 + ], + [ + -0.07834260910749435, + 0.9934669137001038, + -0.08298145979642868, + -0.5767183406917369 + ], + [ + 0.215950608253479, + 0.0981723740696907, + 0.9714564085006714, + 2.9680179923844796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213623, + 0.05766924470663071, + -0.2253682017326355, + 0.17833029473389406 + ], + [ + -0.07813214510679245, + 0.9934858679771423, + -0.0829533264040947, + -0.5820403727068417 + ], + [ + 0.21911627054214478, + 0.09828604012727737, + 0.9707357883453369, + 2.989956495457369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.057415418326854706, + -0.22761432826519012, + 0.17333032591043462 + ], + [ + -0.07807713001966476, + 0.9935004711151123, + -0.0828295350074768, + -0.5871986072420498 + ], + [ + 0.22137926518917084, + 0.09828652441501617, + 0.9702221155166626, + 3.016956142555688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.05730113014578819, + -0.22992579638957977, + 0.16812226213154874 + ], + [ + -0.078162781894207, + 0.9935072064399719, + -0.08266843855381012, + -0.5922114222809889 + ], + [ + 0.22369594871997833, + 0.09828566014766693, + 0.9696906805038452, + 3.0437727651518323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.05694998428225517, + -0.23235954344272614, + 0.1643141616621743 + ], + [ + -0.07798706740140915, + 0.9935455918312073, + -0.08237241953611374, + -0.5967501676600913 + ], + [ + 0.2261686772108078, + 0.09810145944356918, + 0.9691356420516968, + 3.069720545216747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895203, + 0.05675526708364487, + -0.23478682339191437, + 0.16065626047587625 + ], + [ + -0.07792828232049942, + 0.9935891628265381, + -0.08190110325813293, + -0.6016697843293637 + ], + [ + 0.2286333292722702, + 0.09777243435382843, + 0.9685903787612915, + 3.094411624377764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.05637229606509209, + -0.23729684948921204, + 0.15595016433420963 + ], + [ + -0.07773470878601074, + 0.9936253428459167, + -0.08164539188146591, + -0.6041153337068603 + ], + [ + 0.23118162155151367, + 0.09762591868638992, + 0.9680001139640808, + 3.1181368694213276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.05617370456457138, + -0.2397782802581787, + 0.1518448193760022 + ], + [ + -0.07768621295690536, + 0.9936636686325073, + -0.08122420310974121, + -0.6072020997171816 + ], + [ + 0.23369631171226501, + 0.09735006093978882, + 0.9674239158630371, + 3.1413984861062922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.055995550006628036, + -0.24177876114845276, + 0.1479186272599559 + ], + [ + -0.07760753482580185, + 0.9937041401863098, + -0.08080331981182098, + -0.608944595148022 + ], + [ + 0.23573192954063416, + 0.09703919291496277, + 0.966961145401001, + 3.1650385541328485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.05594528466463089, + -0.2439797818660736, + 0.1453876071398097 + ], + [ + -0.07771814614534378, + 0.993716835975647, + -0.08054044842720032, + -0.6097964282197077 + ], + [ + 0.2379409670829773, + 0.0969381183385849, + 0.9664300680160522, + 3.187134521616542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.05580248683691025, + -0.24629436433315277, + 0.14213904012804446 + ], + [ + -0.0776672288775444, + 0.9937672019004822, + -0.07996585220098495, + -0.6110871009204699 + ], + [ + 0.24029697477817535, + 0.09650293737649918, + 0.9658905267715454, + 3.2136628742235294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.05563151091337204, + -0.24823328852653503, + 0.13842360122840186 + ], + [ + -0.07759416848421097, + 0.9938037991523743, + -0.07958091795444489, + -0.6111375186466365 + ], + [ + 0.24226799607276917, + 0.09622427821159363, + 0.9654258489608765, + 3.2410308375594696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.05556565523147583, + -0.2503349483013153, + 0.134999277640656 + ], + [ + -0.07766281068325043, + 0.9938234686851501, + -0.07926815003156662, + -0.6120613356719271 + ], + [ + 0.24438415467739105, + 0.0960594043135643, + 0.96490877866745, + 3.270134782553583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331543, + 0.055650923401117325, + -0.25194427371025085, + 0.1299768619077361 + ], + [ + -0.07778523862361908, + 0.9938544631004333, + -0.0787576287984848, + -0.6145203722559888 + ], + [ + 0.24601300060749054, + 0.09568846225738525, + 0.964531660079956, + 3.3031232901241467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9657927751541138, + 0.05547826737165451, + -0.2533111274242401, + 0.129922116033121 + ], + [ + -0.07760594040155411, + 0.9939119219779968, + -0.07820715755224228, + -0.6183462430889479 + ], + [ + 0.24743016064167023, + 0.09519035369157791, + 0.9642183780670166, + 3.328983927665701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.0552566796541214, + -0.2548043131828308, + 0.12931213091680968 + ], + [ + -0.07743817567825317, + 0.9939528703689575, + -0.07785289734601974, + -0.6225734676715833 + ], + [ + 0.24896156787872314, + 0.0948917493224144, + 0.9638535380363464, + 3.354247001796097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.05507858842611313, + -0.2566186487674713, + 0.12468618998924891 + ], + [ + -0.07726442068815231, + 0.9940186142921448, + -0.07718280702829361, + -0.6325271725654602 + ], + [ + 0.25083258748054504, + 0.09430443495512009, + 0.9634259939193726, + 3.389238493144512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.05527655780315399, + -0.2580374479293823, + 0.12253759525680312 + ], + [ + -0.07742083072662354, + 0.9940627813339233, + -0.07645430415868759, + -0.6394654044206591 + ], + [ + 0.25227928161621094, + 0.0937216505408287, + 0.9631050825119019, + 3.4190818369640534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.05503677949309349, + -0.25930270552635193, + 0.12354561776498665 + ], + [ + -0.07715117931365967, + 0.9941272139549255, + -0.07588686794042587, + -0.6458598458824526 + ], + [ + 0.2536033093929291, + 0.09317765384912491, + 0.9628100991249084, + 3.4395039177315248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.05455490201711655, + -0.261565238237381, + 0.12314929861737334 + ], + [ + -0.07691413909196854, + 0.9941357970237732, + -0.07601457834243774, + -0.6510409882967023 + ], + [ + 0.2558843791484833, + 0.09336896240711212, + 0.9621878266334534, + 3.460838933893736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.05448383092880249, + -0.26366376876831055, + 0.12024022728060754 + ], + [ + -0.07698395848274231, + 0.9941495060920715, + -0.07576405256986618, + -0.6576999705770741 + ], + [ + 0.25799328088760376, + 0.09326431900262833, + 0.9616346955299377, + 3.4884315741018974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.054300591349601746, + -0.26555365324020386, + 0.11680427508221733 + ], + [ + -0.07693955302238464, + 0.9941655397415161, + -0.07559902220964432, + -0.6626795274048036 + ], + [ + 0.25989919900894165, + 0.09320060163736343, + 0.961127519607544, + 3.514918802228671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.05426902323961258, + -0.26760292053222656, + 0.1115875270055688 + ], + [ + -0.07695553451776505, + 0.9942078590393066, + -0.07502353191375732, + -0.6695569520411284 + ], + [ + 0.2619814872741699, + 0.09276615083217621, + 0.9606040716171265, + 3.5420412799586423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385254, + 0.05424545332789421, + -0.2696676552295685, + 0.10918343194045019 + ], + [ + -0.07697233557701111, + 0.9942517280578613, + -0.07442289590835571, + -0.6752041074388845 + ], + [ + 0.2640804350376129, + 0.09230893850326538, + 0.9600732326507568, + 3.5644829925419628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.054182346910238266, + -0.271187961101532, + 0.10710854324813626 + ], + [ + -0.07690270245075226, + 0.994299054145813, + -0.07386042177677155, + -0.679110616589514 + ], + [ + 0.2656400203704834, + 0.09183496236801147, + 0.9596883654594421, + 3.5836366296966293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.05410146713256836, + -0.2730526030063629, + 0.10405969669421514 + ], + [ + -0.07685604691505432, + 0.9943419098854065, + -0.07333048433065414, + -0.6827092940392702 + ], + [ + 0.2675403654575348, + 0.09141796082258224, + 0.9592001438140869, + 3.603007931219063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.05412323772907257, + -0.27488309144973755, + 0.09969230919788426 + ], + [ + -0.07691517472267151, + 0.9943750500679016, + -0.07281702756881714, + -0.6859614921076862 + ], + [ + 0.26939576864242554, + 0.09104360640048981, + 0.9587163329124451, + 3.6257714286230613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.05441459268331528, + -0.27645784616470337, + 0.09538848782003213 + ], + [ + -0.07721234112977982, + 0.9943932890892029, + -0.07225161790847778, + -0.6873928005856592 + ], + [ + 0.27097630500793457, + 0.09067025780677795, + 0.9583061933517456, + 3.6482843989767315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.05442676320672035, + -0.27808061242103577, + 0.08993649131793907 + ], + [ + -0.07716385275125504, + 0.9944530129432678, + -0.07147712260484695, + -0.6895952578903972 + ], + [ + 0.27264782786369324, + 0.09000537544488907, + 0.9578946828842163, + 3.672587206290252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.0546671599149704, + -0.27929654717445374, + 0.08685329451365172 + ], + [ + -0.07736720144748688, + 0.9944784045219421, + -0.07090158760547638, + -0.6903005627906265 + ], + [ + 0.2738783657550812, + 0.08957801759243011, + 0.9575836658477783, + 3.6914967519577573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036621, + 0.05478096380829811, + -0.2804670035839081, + 0.08325800793470392 + ], + [ + -0.07741895318031311, + 0.9945188164710999, + -0.07027500122785568, + -0.6918489107763134 + ], + [ + 0.27507999539375305, + 0.08905792981386185, + 0.9572876691818237, + 3.713253561799653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + 0.054798856377601624, + -0.28176894783973694, + 0.07980417602736017 + ], + [ + -0.07735580205917358, + 0.994574248790741, + -0.06955641508102417, + -0.69349615962609 + ], + [ + 0.27642855048179626, + 0.08842568099498749, + 0.9569577574729919, + 3.7365781833944114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957690954208374, + 0.05480252578854561, + -0.2825327515602112, + 0.07732879684671112 + ], + [ + -0.07718496024608612, + 0.9946470260620117, + -0.06870059669017792, + -0.6948907174349983 + ], + [ + 0.27725541591644287, + 0.08760121464729309, + 0.9567943811416626, + 3.7551853457222815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + 0.05489902198314667, + -0.28313228487968445, + 0.07400937569170182 + ], + [ + -0.07708007097244263, + 0.9947170615196228, + -0.06779806315898895, + -0.6965643284113511 + ], + [ + 0.27791449427604675, + 0.08674106001853943, + 0.956681489944458, + 3.7740005400877643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + 0.05495430529117584, + -0.2836253345012665, + 0.07243422749249831 + ], + [ + -0.07694832980632782, + 0.9947821497917175, + -0.06698848307132721, + -0.6984128718790801 + ], + [ + 0.27846410870552063, + 0.08595654368400574, + 0.9565925002098083, + 3.790123411019643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + 0.05482164025306702, + -0.28396886587142944, + 0.07009424819174596 + ], + [ + -0.07667873799800873, + 0.9948406219482422, + -0.06642657518386841, + -0.7009594832641491 + ], + [ + 0.2788621783256531, + 0.08536221086978912, + 0.9565297365188599, + 3.808689995685925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + 0.05451071634888649, + -0.28361597657203674, + 0.06705461766048906 + ], + [ + -0.07610487937927246, + 0.9949344396591187, + -0.06567774713039398, + -0.706257040373945 + ], + [ + 0.27859917283058167, + 0.08446359634399414, + 0.9566861391067505, + 3.8291746155651296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + 0.05444630980491638, + -0.2821049094200134, + 0.05992661405732666 + ], + [ + -0.07572971284389496, + 0.9950015544891357, + -0.06509134918451309, + -0.7119826845500781 + ], + [ + 0.27715086936950684, + 0.08371064811944962, + 0.9571728706359863, + 3.8540138821562997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831482, + 0.05394670367240906, + -0.28049367666244507, + 0.05387876396953772 + ], + [ + -0.07479287683963776, + 0.9951337575912476, + -0.06414662301540375, + -0.717285820827392 + ], + [ + 0.27566826343536377, + 0.08245311677455902, + 0.9577100276947021, + 3.8787297995194145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + 0.05324147269129753, + -0.2794390916824341, + 0.05125263279510869 + ], + [ + -0.07379191368818283, + 0.9952476024627686, + -0.06353743374347687, + -0.7197359919548034 + ], + [ + 0.2747282385826111, + 0.0815327912569046, + 0.9580588936805725, + 3.8959040822254285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + 0.051856137812137604, + -0.2777705788612366, + 0.04774648942377256 + ], + [ + -0.07208303362131119, + 0.9954005479812622, + -0.06310169398784637, + -0.7218297979106074 + ], + [ + 0.2732207775115967, + 0.08055263757705688, + 0.9585727453231812, + 3.91403641856235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + 0.0506301149725914, + -0.2760399878025055, + 0.043797892623621486 + ], + [ + -0.07061650604009628, + 0.9955155253410339, + -0.06294553726911545, + -0.7261163585715824 + ], + [ + 0.2716151773929596, + 0.0799088403582573, + 0.9590827822685242, + 3.935173516007869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.96030193567276, + 0.04935877025127411, + -0.2745613157749176, + 0.040025609548109166 + ], + [ + -0.06914079934358597, + 0.9956258535385132, + -0.06283906102180481, + -0.7324428097637379 + ], + [ + 0.27025869488716125, + 0.07932786643505096, + 0.9595141410827637, + 3.9581668767664167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + 0.04836207628250122, + -0.27322474122047424, + 0.036358972066554474 + ], + [ + -0.0679871141910553, + 0.9957066774368286, + -0.06281670182943344, + -0.73862992507824 + ], + [ + 0.26901373267173767, + 0.07892588526010513, + 0.9598970413208008, + 3.981849389285713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + 0.04748312756419182, + -0.2717622220516205, + 0.030438436474201185 + ], + [ + -0.06693345308303833, + 0.9957822561264038, + -0.062749944627285, + -0.7435355556183967 + ], + [ + 0.2676364481449127, + 0.07850474864244461, + 0.9603164792060852, + 4.007163655736308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + 0.04646202176809311, + -0.2711964547634125, + 0.029125479885921388 + ], + [ + -0.06578322499990463, + 0.9958690404891968, + -0.06258944422006607, + -0.7462451956122393 + ], + [ + 0.2671681344509125, + 0.07801380008459091, + 0.960486888885498, + 4.027272131114047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + 0.045255862176418304, + -0.27137717604637146, + 0.029275476187467574 + ], + [ + -0.06457062810659409, + 0.9959434866905212, + -0.06266727298498154, + -0.747165778754414 + ], + [ + 0.2674402892589569, + 0.07777184993028641, + 0.9604307413101196, + 4.0427088489567025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + 0.04425545781850815, + -0.27161306142807007, + 0.02952483547266555 + ], + [ + -0.06356251984834671, + 0.996006429195404, + -0.06269785761833191, + -0.7482296782703215 + ], + [ + 0.26775360107421875, + 0.07754141092300415, + 0.9603620767593384, + 4.057990842366564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137024, + 0.04343560338020325, + -0.27187371253967285, + 0.02683083605075228 + ], + [ + -0.06280545145273209, + 0.9960384964942932, + -0.06295064836740494, + -0.7508824277615201 + ], + [ + 0.26806241273880005, + 0.0775928869843483, + 0.9602717757225037, + 4.080055802736593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + 0.0429566316306591, + -0.27243807911872864, + 0.022975877947781397 + ], + [ + -0.06239153817296028, + 0.9960565567016602, + -0.06307628005743027, + -0.7539775692898294 + ], + [ + 0.2686541974544525, + 0.07762763649225235, + 0.9601035714149475, + 4.104065206549738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + 0.0428258553147316, + -0.27385684847831726, + 0.02025383576606783 + ], + [ + -0.062385059893131256, + 0.9960547089576721, + -0.06311217695474625, + -0.7576620541333 + ], + [ + 0.2700735628604889, + 0.07772379368543625, + 0.9596974849700928, + 4.125117852304869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + 0.042320966720581055, + -0.2761334478855133, + 0.021611317733059757 + ], + [ + -0.06213310360908508, + 0.9960525035858154, + -0.06339507550001144, + -0.7589203598418673 + ], + [ + 0.2723604738712311, + 0.07802816480398178, + 0.9590262770652771, + 4.141298324593167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9593506455421448, + 0.041948169469833374, + -0.2790818512439728, + 0.021355795266403667 + ], + [ + -0.0622078999876976, + 0.9960004687309265, + -0.06413456797599792, + -0.7601866938065791 + ], + [ + 0.275275319814682, + 0.07888863980770111, + 0.9581232070922852, + 4.1587363843036735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672668, + 0.04221339896321297, + -0.28228941559791565, + 0.01800189456106096 + ], + [ + -0.06293138861656189, + 0.9959165453910828, + -0.06472941488027573, + -0.7625508217707924 + ], + [ + 0.27840426564216614, + 0.0798015370965004, + 0.9571430087089539, + 4.178847098282138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + 0.04263734444975853, + -0.2855720818042755, + 0.015163383136192957 + ], + [ + -0.06376131623983383, + 0.9958407878875732, + -0.06508202850818634, + -0.7676245344433807 + ], + [ + 0.2816093862056732, + 0.08051852881908417, + 0.9561448097229004, + 4.200361659906912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9561680555343628, + 0.04298488050699234, + -0.2896462380886078, + 0.01442978696330734 + ], + [ + -0.0646226555109024, + 0.9957542419433594, + -0.06555493175983429, + -0.7724607998046322 + ], + [ + 0.28559860587120056, + 0.08139924705028534, + 0.9548861980438232, + 4.218842672934567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + 0.043729912489652634, + -0.29404115676879883, + 0.007997210111451034 + ], + [ + -0.06592939049005508, + 0.9956384897232056, + -0.0660100132226944, + -0.7793724072152289 + ], + [ + 0.28987210988998413, + 0.08241178095340729, + 0.953510582447052, + 4.242289680084169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + 0.0449039600789547, + -0.29882144927978516, + 0.0015814128255354607 + ], + [ + -0.06760751456022263, + 0.9955217242240906, + -0.06607332825660706, + -0.7870558145253554 + ], + [ + 0.29451632499694824, + 0.08318710327148438, + 0.9520189166069031, + 4.2652650791665785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + 0.04573626071214676, + -0.30407699942588806, + -0.00041766302741092203 + ], + [ + -0.06917662918567657, + 0.9953680634498596, + -0.06676115840673447, + -0.7930653017500172 + ], + [ + 0.29961511492729187, + 0.0845615342259407, + 0.9503052830696106, + 4.2810903884794405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + 0.04690104350447655, + -0.3095182180404663, + -0.004484594809476304 + ], + [ + -0.07104375958442688, + 0.995207667350769, + -0.06719008833169937, + -0.7987951614430562 + ], + [ + 0.30488359928131104, + 0.08580219000577927, + 0.9485167264938354, + 4.298405692791161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + 0.047968871891498566, + -0.3154609203338623, + -0.008451464621053225 + ], + [ + -0.07295786589384079, + 0.9950222373008728, + -0.06788142025470734, + -0.8034828620832324 + ], + [ + 0.31063443422317505, + 0.08734829723834991, + 0.9465075731277466, + 4.314589064262339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + 0.049592241644859314, + -0.321349561214447, + -0.01628696138876072 + ], + [ + -0.07538000494241714, + 0.9948128461837769, + -0.06830240786075592, + -0.8085478872492693 + ], + [ + 0.3162953853607178, + 0.08881427347660065, + 0.9444941878318787, + 4.334350013106629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + 0.05142054706811905, + -0.32740122079849243, + -0.029017672108279335 + ], + [ + -0.07800152152776718, + 0.9945921301841736, + -0.06857278943061829, + -0.8151565962367587 + ], + [ + 0.32210463285446167, + 0.09023520350456238, + 0.9423938989639282, + 4.358834237522549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025452, + 0.05312994867563248, + -0.33349865674972534, + -0.0392318583736961 + ], + [ + -0.08051631599664688, + 0.9943738579750061, + -0.06883126497268677, + -0.8200888105348688 + ], + [ + 0.32796531915664673, + 0.09163966774940491, + 0.9402344822883606, + 4.3802019529728495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447449, + 0.05505100637674332, + -0.3392639756202698, + -0.05165717412812122 + ], + [ + -0.08324984461069107, + 0.9941285848617554, + -0.06912140548229218, + -0.8255281863005265 + ], + [ + 0.3334668278694153, + 0.09315413236618042, + 0.9381482601165771, + 4.401920823601709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + 0.056866105645895004, + -0.34477248787879944, + -0.05851705426863138 + ], + [ + -0.08590073883533478, + 0.9938753843307495, + -0.06951810419559479, + -0.8285319380138232 + ], + [ + 0.33870765566825867, + 0.09475204348564148, + 0.9361085295677185, + 4.414718606089048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + 0.05871870368719101, + -0.35011130571365356, + -0.06267210158388972 + ], + [ + -0.08866459876298904, + 0.9935908913612366, + -0.07011239975690842, + -0.8297843392344488 + ], + [ + 0.3437504768371582, + 0.09658815711736679, + 0.9340804815292358, + 4.421994801578315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + 0.06015794724225998, + -0.3555920422077179, + -0.07241696355783421 + ], + [ + -0.09096928685903549, + 0.9933510422706604, + -0.07055667787790298, + -0.8314540191836979 + ], + [ + 0.34898319840431213, + 0.0981564000248909, + 0.9319742918014526, + 4.435814905782109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684631, + 0.0619707927107811, + -0.3600524961948395, + -0.08330624759341208 + ], + [ + -0.09364401549100876, + 0.9930577278137207, + -0.07118400186300278, + -0.8345567604193941 + ], + [ + 0.35314157605171204, + 0.09997991472482681, + 0.9302123785018921, + 4.448692152501592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611145, + 0.06338736414909363, + -0.363702654838562, + -0.09279227061692068 + ], + [ + -0.09592612087726593, + 0.9927743077278137, + -0.07209227979183197, + -0.8345959756397395 + ], + [ + 0.3565049171447754, + 0.10188797116279602, + 0.9287211894989014, + 4.45885044792712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + 0.0648665502667427, + -0.3670696020126343, + -0.10509731171355731 + ], + [ + -0.0982513502240181, + 0.9924814701080322, + -0.07298734039068222, + -0.8362453358760779 + ], + [ + 0.3595753312110901, + 0.10379215329885483, + 0.9273256063461304, + 4.472433810994245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + 0.06604807078838348, + -0.3692636489868164, + -0.11753954650555255 + ], + [ + -0.1001288890838623, + 0.9922275543212891, + -0.07388278841972351, + -0.8371945284990873 + ], + [ + 0.36151373386383057, + 0.10546143352985382, + 0.9263831377029419, + 4.484478931920828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497375, + 0.06692667305469513, + -0.37091943621635437, + -0.12823008909317607 + ], + [ + -0.10174871981143951, + 0.991971492767334, + -0.07509834319353104, + -0.8384602521928612 + ], + [ + 0.36291542649269104, + 0.10730043798685074, + 0.9256235957145691, + 4.493964991441383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + 0.06783102452754974, + -0.3719951808452606, + -0.1396339465526567 + ], + [ + -0.10340899229049683, + 0.9916914105415344, + -0.07651642709970474, + -0.8387669303278992 + ], + [ + 0.3637142479419708, + 0.10930296033620834, + 0.9250755906105042, + 4.503388570756584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + 0.06859689950942993, + -0.37209105491638184, + -0.15181319667521306 + ], + [ + -0.10492381453514099, + 0.9913967847824097, + -0.07825186848640442, + -0.8386193231108108 + ], + [ + 0.3635220527648926, + 0.11147567629814148, + 0.9248918294906616, + 4.511369787725274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155823, + 0.06888691335916519, + -0.37176844477653503, + -0.16330676214490536 + ], + [ + -0.10592018812894821, + 0.9911428093910217, + -0.08010508120059967, + -0.8383592496459611 + ], + [ + 0.3629574477672577, + 0.11353635787963867, + 0.9248629212379456, + 4.51904676248486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + 0.0688844546675682, + -0.3706817328929901, + -0.17469419247430304 + ], + [ + -0.1065094843506813, + 0.9909260272979736, + -0.081983782351017, + -0.8375882791436237 + ], + [ + 0.36167076230049133, + 0.11541465669870377, + 0.9251344203948975, + 4.525046419643838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919373, + 0.06798604130744934, + -0.3688313663005829, + -0.18650409402190776 + ], + [ + -0.10605581104755402, + 0.9908124208450317, + -0.08392190933227539, + -0.8376759669631 + ], + [ + 0.35973718762397766, + 0.11691287159919739, + 0.9257000088691711, + 4.527992327216166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + 0.06787339597940445, + -0.3672087788581848, + -0.1949538526615659 + ], + [ + -0.1064617857336998, + 0.9906037449836731, + -0.08584918081760406, + -0.8412121442205088 + ], + [ + 0.3579314947128296, + 0.11873245239257812, + 0.9261682629585266, + 4.53080083321834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + 0.06783163547515869, + -0.3637774884700775, + -0.2140311881251957 + ], + [ + -0.1069190502166748, + 0.99033123254776, + -0.08838748931884766, + -0.8445339010245558 + ], + [ + 0.3542647659778595, + 0.12100784480571747, + 0.9272829294204712, + 4.545180504887864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + 0.06683541089296341, + -0.35911720991134644, + -0.23562587673105478 + ], + [ + -0.106063611805439, + 0.9902190566062927, + -0.0906459391117096, + -0.8501710649273821 + ], + [ + 0.3495463728904724, + 0.12247122824192047, + 0.9288800358772278, + 4.5601536322763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + 0.06573132425546646, + -0.3542909324169159, + -0.2525872957699253 + ], + [ + -0.10516964644193649, + 0.9900758266448975, + -0.09321601688861847, + -0.8539077400009414 + ], + [ + 0.34464767575263977, + 0.12421461939811707, + 0.9304776787757874, + 4.571163979518241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + 0.06427089124917984, + -0.3495660722255707, + -0.2679922239935916 + ], + [ + -0.10375655442476273, + 0.9900158047676086, + -0.0954112634062767, + -0.857779792426289 + ], + [ + 0.3399437367916107, + 0.12545111775398254, + 0.9320409297943115, + 4.580063955161883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + 0.06275496631860733, + -0.34453725814819336, + -0.2858185239208205 + ], + [ + -0.10227642208337784, + 0.9899424314498901, + -0.09774190932512283, + -0.8619785285802279 + ], + [ + 0.33493828773498535, + 0.12679022550582886, + 0.9336705207824707, + 4.5913191171372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413025, + 0.060632117092609406, + -0.3402038514614105, + -0.3038001592824425 + ], + [ + -0.10000381618738174, + 0.9900094270706177, + -0.0994013175368309, + -0.8660296939421391 + ], + [ + 0.3307780921459198, + 0.12729936838150024, + 0.935083270072937, + 4.60352962333799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + 0.05876663327217102, + -0.3360312581062317, + -0.3189414173364639 + ], + [ + -0.09803208708763123, + 0.9900352358818054, + -0.10109375417232513, + -0.867400735616684 + ], + [ + 0.32674187421798706, + 0.1279715597629547, + 0.9364096522331238, + 4.612055024504661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/move_left/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..23d8182896b2839ca6e3f5651c6fdefd2bda59f2 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/move_left/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.0022364004980772734, + -0.0026113721542060375, + 0.0007110841841108486 + ], + [ + -0.002242674818262458, + 0.9999945759773254, + -0.0024023065343499184, + -0.0072393433088526705 + ], + [ + 0.0026059853844344616, + 0.0024081487208604813, + 0.9999936819076538, + 0.023686459505984532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999806880950928, + 0.0040634265169501305, + -0.004699923098087311, + 0.0019491096686319884 + ], + [ + -0.0040840646252036095, + 0.9999819993972778, + -0.004389888606965542, + -0.015722769370149586 + ], + [ + 0.0046820007264614105, + 0.004408998414874077, + 0.9999793171882629, + 0.051171301625633006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.005368742626160383, + -0.007625406142324209, + 0.002410530940751019 + ], + [ + -0.005417895969003439, + 0.9999645948410034, + -0.0064400238916277885, + -0.02176427371273546 + ], + [ + 0.007590561639517546, + 0.0064810579642653465, + 0.9999501705169678, + 0.06948980313347841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.00689054187387228, + -0.010770018212497234, + 0.006295358879122757 + ], + [ + -0.006981814280152321, + 0.9999398589134216, + -0.008460155688226223, + -0.027420626663499408 + ], + [ + 0.01071107480674982, + 0.008534657768905163, + 0.9999061822891235, + 0.09129194913674955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.007960905320942402, + -0.013277232646942139, + 0.007651383610631245 + ], + [ + -0.008098271675407887, + 0.9999139308929443, + -0.010324593633413315, + -0.03191781834730707 + ], + [ + 0.013193896040320396, + 0.010430879890918732, + 0.999858558177948, + 0.1099354369421872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.009428995661437511, + -0.014257972128689289, + 0.008320838712371777 + ], + [ + -0.009610596112906933, + 0.9998728632926941, + -0.012722363695502281, + -0.03781123551391605 + ], + [ + 0.014136199839413166, + 0.012857532128691673, + 0.999817430973053, + 0.14138304067208715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.00977416057139635, + -0.014622199349105358, + 0.009361171744907824 + ], + [ + -0.009989832527935505, + 0.9998413324356079, + -0.014749979600310326, + -0.04387849830855854 + ], + [ + 0.01447570975869894, + 0.014893772080540657, + 0.9997842907905579, + 0.17329053444661885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.01059537474066019, + -0.015374253503978252, + 0.010295988640023603 + ], + [ + -0.01085029449313879, + 0.9998034238815308, + -0.016593357548117638, + -0.04962997719789473 + ], + [ + 0.015195419080555439, + 0.016757281497120857, + 0.9997441172599792, + 0.20308417003727766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.01089369785040617, + -0.016871005296707153, + 0.013975214812418688 + ], + [ + -0.011200395412743092, + 0.999771773815155, + -0.018192479386925697, + -0.05521690435302646 + ], + [ + 0.01666897162795067, + 0.018377771601080894, + 0.9996921420097351, + 0.22724916586733382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.011148378252983093, + -0.01857118122279644, + 0.017102571537241266 + ], + [ + -0.011516496539115906, + 0.9997369647026062, + -0.019834421575069427, + -0.060545971716083766 + ], + [ + 0.018345175310969353, + 0.020043641328811646, + 0.9996308088302612, + 0.2525741538653771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.011119464412331581, + -0.020447613671422005, + 0.01932769390947865 + ], + [ + -0.011560274288058281, + 0.9997005462646484, + -0.021567659452557564, + -0.0632075504647289 + ], + [ + 0.02020167000591755, + 0.02179819531738758, + 0.9995582699775696, + 0.2704971691665514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.011200539767742157, + -0.022018814459443092, + 0.02244199375635472 + ], + [ + -0.01170697994530201, + 0.9996667504310608, + -0.023007607087492943, + -0.0686277904048346 + ], + [ + 0.02175377868115902, + 0.023258360102772713, + 0.9994927644729614, + 0.29543559219742166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.01118478924036026, + -0.023529307916760445, + 0.025006621017836142 + ], + [ + -0.01175733096897602, + 0.9996346831321716, + -0.024337200447916985, + -0.07408474080066606 + ], + [ + 0.02324850670993328, + 0.024605581536889076, + 0.9994269013404846, + 0.319857891837072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.011243744753301144, + -0.025035269558429718, + 0.03004663547743922 + ], + [ + -0.01187987346202135, + 0.9996066093444824, + -0.0254072155803442, + -0.08144214758424512 + ], + [ + 0.02473974972963333, + 0.025695061311125755, + 0.9993636608123779, + 0.34812949913855334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.01170582789927721, + -0.0260941069573164, + 0.0329278455912203 + ], + [ + -0.01241482887417078, + 0.9995535612106323, + -0.027176616713404655, + -0.08721070314852009 + ], + [ + 0.025764333084225655, + 0.02748945541679859, + 0.9992899894714355, + 0.37536753572361625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.012052183039486408, + -0.027570083737373352, + 0.03529813878490153 + ], + [ + -0.012837381102144718, + 0.9995118379592896, + -0.028482673689723015, + -0.09506732295244788 + ], + [ + 0.02721334621310234, + 0.02882370539009571, + 0.9992139935493469, + 0.4015579820543096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.012399017810821533, + -0.028493991121649742, + 0.03629848069830793 + ], + [ + -0.013229986652731895, + 0.9994871616363525, + -0.029161887243390083, + -0.09805529539873778 + ], + [ + 0.028117800131440163, + 0.029524778947234154, + 0.9991685152053833, + 0.4133815061957868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.013489429838955402, + -0.03085138462483883, + 0.0419242016647173 + ], + [ + -0.01442603301256895, + 0.999435544013977, + -0.03034021146595478, + -0.10423204468806153 + ], + [ + 0.0304246973246336, + 0.03076806850731373, + 0.9990633726119995, + 0.43487840153924795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205933, + 0.013895992189645767, + -0.033847637474536896, + 0.04761413672336058 + ], + [ + -0.014967259019613266, + 0.9993883967399597, + -0.03160466253757477, + -0.11407444687821151 + ], + [ + 0.03338775783777237, + 0.03209010511636734, + 0.9989271759986877, + 0.45607367117983705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272461, + 0.016092753037810326, + -0.0376913920044899, + 0.05059762227074535 + ], + [ + -0.017323853448033333, + 0.9993193745613098, + -0.032567087560892105, + -0.12260503773600007 + ], + [ + 0.03714164346456528, + 0.03319268301129341, + 0.9987586140632629, + 0.4820968441773152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.018223222345113754, + -0.04194314777851105, + 0.054624448608661044 + ], + [ + -0.019634105265140533, + 0.9992466568946838, + -0.03347551450133324, + -0.12937709413792775 + ], + [ + 0.04130151867866516, + 0.034264009445905685, + 0.9985590577125549, + 0.5098991591429365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793945, + 0.020553000271320343, + -0.04581957310438156, + 0.056486086432196665 + ], + [ + -0.022124383598566055, + 0.9991750121116638, + -0.03405586630105972, + -0.13681084112340702 + ], + [ + 0.04508182406425476, + 0.03502662479877472, + 0.998369038105011, + 0.5340179517361276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.02236338146030903, + -0.04987017437815666, + 0.0583191884888543 + ], + [ + -0.024098118767142296, + 0.999115526676178, + -0.034459467977285385, + -0.14460468501266505 + ], + [ + 0.04905543848872185, + 0.035609740763902664, + 0.9981610774993896, + 0.5562950613184108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.025196420028805733, + -0.05386357381939888, + 0.06072513225717821 + ], + [ + -0.027118520811200142, + 0.9990102648735046, + -0.03525662422180176, + -0.14962213918350745 + ], + [ + 0.052921924740076065, + 0.03665493428707123, + 0.9979256987571716, + 0.5862060016048127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.027898434549570084, + -0.05810781940817833, + 0.06072573334986461 + ], + [ + -0.03001503273844719, + 0.9989053606987, + -0.03587669879198074, + -0.1537578852514282 + ], + [ + 0.05704331025481224, + 0.03754619508981705, + 0.9976654648780823, + 0.6174261386141829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.03114611655473709, + -0.062324296683073044, + 0.061010936356109116 + ], + [ + -0.0334443524479866, + 0.9987855553627014, + -0.03617827594280243, + -0.15665886270395224 + ], + [ + 0.06112179532647133, + 0.03817475587129593, + 0.9974000453948975, + 0.6489052121010092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.033693261444568634, + -0.06629057973623276, + 0.060710341062234795 + ], + [ + -0.036126427352428436, + 0.9987038373947144, + -0.0358545184135437, + -0.16200171926099322 + ], + [ + 0.06499660760164261, + 0.038150086998939514, + 0.9971559643745422, + 0.675249193965093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.036565959453582764, + -0.06995093077421188, + 0.05993494226592751 + ], + [ + -0.03916091471910477, + 0.9985808730125427, + -0.036091990768909454, + -0.16445533293456846 + ], + [ + 0.06853192299604416, + 0.038718730211257935, + 0.996897280216217, + 0.6963048273094611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.03873646631836891, + -0.07333295047283173, + 0.05644672261056117 + ], + [ + -0.0414595790207386, + 0.9984920620918274, + -0.03598237782716751, + -0.16577382153754938 + ], + [ + 0.07182854413986206, + 0.038898766040802, + 0.996658205986023, + 0.7143146511725181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.040912825614213943, + -0.07706233114004135, + 0.059568110907423324 + ], + [ + -0.04378388449549675, + 0.998394250869751, + -0.03594208508729935, + -0.1672448684879835 + ], + [ + 0.07546810060739517, + 0.039179109036922455, + 0.9963782429695129, + 0.7409667419134707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.042488738894462585, + -0.08002281188964844, + 0.05796265006065369 + ], + [ + -0.04545895755290985, + 0.998329222202301, + -0.03566781431436539, + -0.16762778466018502 + ], + [ + 0.07837364077568054, + 0.03915886580944061, + 0.9961546659469604, + 0.7679670684435518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9956108331680298, + 0.04434388503432274, + -0.08241777867078781, + 0.05552885304182624 + ], + [ + -0.04740210250020027, + 0.9982439279556274, + -0.03552674502134323, + -0.16766151123576695 + ], + [ + 0.08069764822721481, + 0.039277590811252594, + 0.9959644675254822, + 0.7897002354336246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.04596315324306488, + -0.08554010838270187, + 0.05798621056736379 + ], + [ + -0.0491487979888916, + 0.9981598258018494, + -0.03551483526825905, + -0.1672230822884518 + ], + [ + 0.08375032991170883, + 0.03955118730664253, + 0.9957015514373779, + 0.8160701332640821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.0472993478178978, + -0.08763521164655685, + 0.055137665461802834 + ], + [ + -0.050564780831336975, + 0.9980924129486084, + -0.03542303293943405, + -0.16868427244649417 + ], + [ + 0.08579254895448685, + 0.03967820107936859, + 0.9955226182937622, + 0.836268027789063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.048210158944129944, + -0.08975494652986526, + 0.05400948294838845 + ], + [ + -0.05155248939990997, + 0.9980462789535522, + -0.03529903292655945, + -0.1689313926918495 + ], + [ + 0.08787781745195389, + 0.03974243998527527, + 0.9953381419181824, + 0.8551960265182931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.04945862293243408, + -0.09141582995653152, + 0.053506449966327 + ], + [ + -0.052854835987091064, + 0.997984766960144, + -0.03511005640029907, + -0.16993334228577822 + ], + [ + 0.08949511498212814, + 0.03975166380405426, + 0.9951936602592468, + 0.88068475269753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.04863566905260086, + -0.09502732008695602, + 0.06411354004760872 + ], + [ + -0.05211786925792694, + 0.9980444312095642, + -0.03451117128133774, + -0.1731434618001399 + ], + [ + 0.09316302090883255, + 0.039266593754291534, + 0.9948762655258179, + 0.9140743035445179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765137, + 0.050517480820417404, + -0.09576677531003952, + 0.056290326753388284 + ], + [ + -0.054039012640714645, + 0.997941255569458, + -0.03454064205288887, + -0.17365605577394583 + ], + [ + 0.09382470697164536, + 0.039512719959020615, + 0.994804322719574, + 0.9272723292886923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.050298336893320084, + -0.09736401587724686, + 0.05614072658877442 + ], + [ + -0.05387471988797188, + 0.9979529976844788, + -0.03445683419704437, + -0.17788395919985528 + ], + [ + 0.09543158859014511, + 0.03949476033449173, + 0.9946522116661072, + 0.9512548919281234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.051648907363414764, + -0.09834951162338257, + 0.0499608451185595 + ], + [ + -0.055279895663261414, + 0.9978727102279663, + -0.03455757349729538, + -0.1815954834798684 + ], + [ + 0.09635543823242188, + 0.03978043794631958, + 0.9945517182350159, + 0.9652105460420323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.051056209951639175, + -0.0992148220539093, + 0.05392176026595387 + ], + [ + -0.05466962233185768, + 0.9979238510131836, + -0.034047503024339676, + -0.18959719873964787 + ], + [ + 0.09727050364017487, + 0.039258923381567, + 0.9944833517074585, + 0.9919233193072144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.05107952281832695, + -0.0993233472108841, + 0.05160707503125288 + ], + [ + -0.0546448640525341, + 0.9979433417320251, + -0.03351172059774399, + -0.1975035214661688 + ], + [ + 0.09740731120109558, + 0.038729555904865265, + 0.9944907426834106, + 1.0060813332813374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.05086435005068779, + -0.10076417773962021, + 0.05591511208797999 + ], + [ + -0.05446717515587807, + 0.9979591369628906, + -0.03333079069852829, + -0.2031227066555029 + ], + [ + 0.09886317700147629, + 0.03860612213611603, + 0.994351863861084, + 1.0313549622929326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113037, + 0.05030372738838196, + -0.10239668190479279, + 0.06197583584681801 + ], + [ + -0.053963758051395416, + 0.9979877471923828, + -0.033291298896074295, + -0.20517771531994217 + ], + [ + 0.10051596164703369, + 0.038599643856287, + 0.9941864013671875, + 1.052364843133567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186584, + 0.04963846132159233, + -0.10233431309461594, + 0.0628845571823742 + ], + [ + -0.05329246446490288, + 0.998024046421051, + -0.03328562527894974, + -0.21119054026253845 + ], + [ + 0.1004798635840416, + 0.03852327913045883, + 0.9941930174827576, + 1.0796610578570678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.0496625155210495, + -0.10191740095615387, + 0.06256155967712403 + ], + [ + -0.053322337567806244, + 0.9980151653289795, + -0.03350357711315155, + -0.21612302909294764 + ], + [ + 0.10005123913288116, + 0.03872203081846237, + 0.9942285418510437, + 1.109163534310129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.04925285652279854, + -0.10178175568580627, + 0.06430200001467828 + ], + [ + -0.05287175253033638, + 0.998050332069397, + -0.03316742554306984, + -0.22126489638166438 + ], + [ + 0.09994973242282867, + 0.038336094468832016, + 0.9942536950111389, + 1.1338930101858244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.04911331832408905, + -0.10172472894191742, + 0.06732636826193851 + ], + [ + -0.052760183811187744, + 0.9980460405349731, + -0.033474087715148926, + -0.22483651888543282 + ], + [ + 0.09988193213939667, + 0.03862684965133667, + 0.9942492246627808, + 1.1636550571607507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.04902191460132599, + -0.10194054245948792, + 0.06854729780540374 + ], + [ + -0.052687227725982666, + 0.9980463981628418, + -0.033577751368284225, + -0.22686540770933825 + ], + [ + 0.10009534657001495, + 0.038733210414648056, + 0.9942236542701721, + 1.1866438359670017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.993559718132019, + 0.0487002432346344, + -0.10231032967567444, + 0.07107527644018044 + ], + [ + -0.05236396938562393, + 0.9980682730674744, + -0.03343319147825241, + -0.22879713302217244 + ], + [ + 0.10048449039459229, + 0.038575246930122375, + 0.994190514087677, + 1.2097063651983289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.048615120351314545, + -0.10256709158420563, + 0.07167455508657124 + ], + [ + -0.052275508642196655, + 0.9980771541595459, + -0.0333053395152092, + -0.22987375138462454 + ], + [ + 0.10075072944164276, + 0.038451842963695526, + 0.9941683411598206, + 1.2280561038765354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.04889291524887085, + -0.10252975672483444, + 0.07321340327245601 + ], + [ + -0.05256624519824982, + 0.9980575442314148, + -0.0334349200129509, + -0.2297182147053705 + ], + [ + 0.10069587081670761, + 0.038608118891716, + 0.9941678643226624, + 1.2496457730082497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993516743183136, + 0.04908096045255661, + -0.10254526883363724, + 0.07578889363341862 + ], + [ + -0.05277340114116669, + 0.9980407953262329, + -0.03360915556550026, + -0.22954604476690293 + ], + [ + 0.10069478303194046, + 0.038802918046712875, + 0.9941604137420654, + 1.2725309962631712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.04949834570288658, + -0.10260982066392899, + 0.07816809260326883 + ], + [ + -0.05320417508482933, + 0.9980149269104004, + -0.03369751572608948, + -0.23111024884426076 + ], + [ + 0.10073816031217575, + 0.03893739730119705, + 0.9941507577896118, + 1.2949942518187605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9934517741203308, + 0.04956163093447685, + -0.10294263064861298, + 0.08193904593370963 + ], + [ + -0.05330852046608925, + 0.9980001449584961, + -0.033969711512327194, + -0.23148581886817005 + ], + [ + 0.1010531634092331, + 0.03923499211668968, + 0.9941070675849915, + 1.3202488056343535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.04986759275197983, + -0.10310870409011841, + 0.08687268085237862 + ], + [ + -0.05362820625305176, + 0.997981071472168, + -0.03402599319815636, + -0.2338710978123301 + ], + [ + 0.10120373964309692, + 0.03933161124587059, + 0.9940879344940186, + 1.3463503130392176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.05012756586074829, + -0.10322330892086029, + 0.09147184612094492 + ], + [ + -0.05391266942024231, + 0.9979594945907593, + -0.03420991823077202, + -0.23531301941560662 + ], + [ + 0.10129782557487488, + 0.03954898193478584, + 0.9940697550773621, + 1.3702666937009147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.05076683312654495, + -0.10334215313196182, + 0.09603438345706405 + ], + [ + -0.05455721169710159, + 0.9979252815246582, + -0.034186188131570816, + -0.23910496563871125 + ], + [ + 0.1013922169804573, + 0.03959688916802406, + 0.9940581917762756, + 1.392099196517813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.051117971539497375, + -0.10378838330507278, + 0.1008697093396947 + ], + [ + -0.05496644973754883, + 0.9978898167610168, + -0.034563008695840836, + -0.24291311374321076 + ], + [ + 0.10180258005857468, + 0.04003579542040825, + 0.9939987063407898, + 1.4141800942448315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.05163772404193878, + -0.10428321361541748, + 0.10571646280046822 + ], + [ + -0.05555019527673721, + 0.9978434443473816, + -0.03496665507555008, + -0.24853084419948468 + ], + [ + 0.10225272178649902, + 0.040522053837776184, + 0.9939327836036682, + 1.4426212846368984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.05179730802774429, + -0.104777030646801, + 0.10899772357537552 + ], + [ + -0.05577006936073303, + 0.9978177547454834, + -0.035346925258636475, + -0.25254149550689015 + ], + [ + 0.10271751135587692, + 0.04094807803630829, + 0.9938673973083496, + 1.4690201493744977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.051831118762493134, + -0.10539916157722473, + 0.11263154051154133 + ], + [ + -0.05584421008825302, + 0.9978086948394775, + -0.03548542037606239, + -0.258236405260609 + ], + [ + 0.10332895815372467, + 0.04112573340535164, + 0.9937966465950012, + 1.488920961615544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.05181632563471794, + -0.10593901574611664, + 0.11736391730930494 + ], + [ + -0.05589934065937996, + 0.9977893233299255, + -0.0359402634203434, + -0.26425848520644335 + ], + [ + 0.10384252667427063, + 0.04161137714982033, + 0.9937229156494141, + 1.5127667708241421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.05267321318387985, + -0.10620466619729996, + 0.12090079705208395 + ], + [ + -0.05684170126914978, + 0.997711718082428, + -0.03661029413342476, + -0.2691083436138964 + ], + [ + 0.10403325408697128, + 0.042388979345560074, + 0.9936701059341431, + 1.5399348915487097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.05306332930922508, + -0.10674865543842316, + 0.12536094636444883 + ], + [ + -0.0573040209710598, + 0.9976688027381897, + -0.037056814879179, + -0.27547949852178927 + ], + [ + 0.10453344881534576, + 0.04290969297289848, + 0.9935952425003052, + 1.5702512029216484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.05341807007789612, + -0.10717276483774185, + 0.1269544906374337 + ], + [ + -0.057733550667762756, + 0.9976246953010559, + -0.03757424280047417, + -0.2811999224666236 + ], + [ + 0.10491105169057846, + 0.043491337448358536, + 0.9935301542282104, + 1.5993162619678871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.05403519049286842, + -0.10786052793264389, + 0.12919353730436683 + ], + [ + -0.058432359248399734, + 0.9975667595863342, + -0.038029588758945465, + -0.2853298447864211 + ], + [ + 0.10554314404726028, + 0.04405438154935837, + 0.9934384226799011, + 1.6205970547517428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.05464387312531471, + -0.10854977369308472, + 0.13189145297819865 + ], + [ + -0.05914818122982979, + 0.9974981546401978, + -0.03871600702404976, + -0.28915049623032124 + ], + [ + 0.10616260766983032, + 0.044849563390016556, + 0.9933367967605591, + 1.642546058161823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104919, + 0.055205896496772766, + -0.10924900323152542, + 0.1334747721751531 + ], + [ + -0.05983088165521622, + 0.9974260330200195, + -0.03951676934957504, + -0.2898634461065133 + ], + [ + 0.10678624361753464, + 0.04575607180595398, + 0.9932286143302917, + 1.6652715685466926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960815, + 0.055440112948417664, + -0.11026956140995026, + 0.13481422063809084 + ], + [ + -0.06019476801156998, + 0.9973742365837097, + -0.040264926850795746, + -0.2917875809154073 + ], + [ + 0.10774771869182587, + 0.04659472405910492, + 0.9930858016014099, + 1.6886378419428056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.05556797608733177, + -0.11152978241443634, + 0.13642209756777482 + ], + [ + -0.060452621430158615, + 0.997332751750946, + -0.04090125858783722, + -0.2936316737284263 + ], + [ + 0.10895949602127075, + 0.04732475429773331, + 0.9929190278053284, + 1.7110201843982733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.05580789968371391, + -0.11278221756219864, + 0.13679672479629518 + ], + [ + -0.06084806099534035, + 0.9972735047340393, + -0.04174994304776192, + -0.29316689307275023 + ], + [ + 0.11014474183320999, + 0.048280660063028336, + 0.9927422404289246, + 1.736414101590281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.05638560280203819, + -0.11364457756280899, + 0.13633735407377787 + ], + [ + -0.06155562028288841, + 0.9971981048583984, + -0.04250660911202431, + -0.29256227521972666 + ], + [ + 0.11092939227819443, + 0.049158621579408646, + 0.9926117658615112, + 1.7581268242195895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.056514594703912735, + -0.11532508581876755, + 0.1399142473216218 + ], + [ + -0.06184430792927742, + 0.997151792049408, + -0.043169595301151276, + -0.2941809854321722 + ], + [ + 0.11255689710378647, + 0.04994429647922516, + 0.9923893213272095, + 1.7860361509924925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883301, + 0.05669296160340309, + -0.11660850048065186, + 0.1397120600593263 + ], + [ + -0.06215563789010048, + 0.9971069693565369, + -0.04375331848859787, + -0.2961626019112874 + ], + [ + 0.11379064619541168, + 0.05063185095787048, + 0.9922137260437012, + 1.8090580739620803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.991384744644165, + 0.056886229664087296, + -0.11798398196697235, + 0.14025771334263437 + ], + [ + -0.06248658522963524, + 0.9970611929893494, + -0.04432125762104988, + -0.29911803130222403 + ], + [ + 0.11511598527431488, + 0.051311831921339035, + 0.9920259118080139, + 1.8321367157542188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.05660528689622879, + -0.119034044444561, + 0.14156856470637852 + ], + [ + -0.06231111288070679, + 0.9970521926879883, + -0.04476906359195709, + -0.29974462865055473 + ], + [ + 0.11614898592233658, + 0.051795609295368195, + 0.9918803572654724, + 1.8536354147833614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.056857626885175705, + -0.1202438473701477, + 0.1434030595033065 + ], + [ + -0.0626719743013382, + 0.9970130324363708, + -0.04513602331280708, + -0.302796704829603 + ], + [ + 0.11731836199760437, + 0.05227090045809746, + 0.9917177557945251, + 1.8747953830421835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050659, + 0.056953731924295425, + -0.12157700955867767, + 0.14449430299553895 + ], + [ + -0.06287131458520889, + 0.9969883561134338, + -0.045402612537145615, + -0.3070894261093243 + ], + [ + 0.11862501502037048, + 0.05263527110219002, + 0.9915430545806885, + 1.8974030973110798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.057227157056331635, + -0.12260593473911285, + 0.146364598242557 + ], + [ + -0.06325745582580566, + 0.9969426989555359, + -0.04586687684059143, + -0.3127079423211047 + ], + [ + 0.11960625648498535, + 0.05320082604885101, + 0.9913949966430664, + 1.9200144960108587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.057410165667533875, + -0.12272951006889343, + 0.1465299462494643 + ], + [ + -0.06350911408662796, + 0.9969033598899841, + -0.046370767056941986, + -0.3202262986937295 + ], + [ + 0.11968730390071869, + 0.0537375882267952, + 0.9913562536239624, + 1.9481467791873477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207703, + 0.05768294632434845, + -0.12312536686658859, + 0.1465445335936431 + ], + [ + -0.06386278569698334, + 0.996858537197113, + -0.046846337616443634, + -0.32811480718822295 + ], + [ + 0.12003634124994278, + 0.05427441745996475, + 0.9912847876548767, + 1.9773988297236138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090942, + 0.05768069997429848, + -0.12416577339172363, + 0.14786463480640724 + ], + [ + -0.06397093832492828, + 0.9968311190605164, + -0.047280725091695786, + -0.3338309904299496 + ], + [ + 0.12104511260986328, + 0.05477851256728172, + 0.9911344051361084, + 2.001148688044525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.0577319972217083, + -0.12539252638816833, + 0.14877425211927164 + ], + [ + -0.0641416609287262, + 0.9968005418777466, + -0.047692522406578064, + -0.33898046154906786 + ], + [ + 0.12223795056343079, + 0.055278800427913666, + 0.9909602403640747, + 2.0209216250889543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.99030601978302, + 0.057792238891124725, + -0.12630952894687653, + 0.14962112154937596 + ], + [ + -0.06430143117904663, + 0.9967718124389648, + -0.04807570204138756, + -0.34400421323407676 + ], + [ + 0.12312337756156921, + 0.05573153868317604, + 0.9908252358436584, + 2.0390361490600926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.05827495828270912, + -0.12711413204669952, + 0.15197734488669223 + ], + [ + -0.06489454954862595, + 0.9967094659805298, + -0.0485684797167778, + -0.35216772040163263 + ], + [ + 0.1238655298948288, + 0.056340292096138, + 0.9906982779502869, + 2.063194912628851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.05892390012741089, + -0.12688769400119781, + 0.15224446585212928 + ], + [ + -0.06566489487886429, + 0.9966076612472534, + -0.04961153492331505, + -0.3605396303037802 + ], + [ + 0.1235339492559433, + 0.05745569244027138, + 0.9906756281852722, + 2.095829998518246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.05929175019264221, + -0.12595173716545105, + 0.1493536390112218 + ], + [ + -0.0661093145608902, + 0.9965258836746216, + -0.05065302550792694, + -0.3694128137279824 + ], + [ + 0.1225108653306961, + 0.058486394584178925, + 0.9907423853874207, + 2.1298950343316303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745667, + 0.059524666517972946, + -0.12573575973510742, + 0.14872175623541292 + ], + [ + -0.06645040959119797, + 0.9964534640312195, + -0.051621828228235245, + -0.3736066646657992 + ], + [ + 0.12221705913543701, + 0.059475068002939224, + 0.9907197952270508, + 2.1525926613577324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.05937908962368965, + -0.12627269327640533, + 0.15022403779237167 + ], + [ + -0.06646739691495895, + 0.9963969588279724, + -0.052679553627967834, + -0.3766802099087964 + ], + [ + 0.12268966436386108, + 0.06055719405412674, + 0.990595817565918, + 2.172890945621159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.05880853533744812, + -0.12696921825408936, + 0.15279558681059574 + ], + [ + -0.06609850376844406, + 0.9963517189025879, + -0.053983353078365326, + -0.3773773972646914 + ], + [ + 0.12333131581544876, + 0.061844728887081146, + 0.9904365539550781, + 2.1886535345248266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426636, + 0.05833970755338669, + -0.12718528509140015, + 0.1549918572107951 + ], + [ + -0.06584563106298447, + 0.996277928352356, + -0.05562962591648102, + -0.38069483273559146 + ], + [ + 0.12346646934747696, + 0.06345692276954651, + 0.9903177618980408, + 2.211683555112945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.05792372673749924, + -0.1272106170654297, + 0.15666489126025768 + ], + [ + -0.06563419103622437, + 0.9961984753608704, + -0.05727764964103699, + -0.38431242937627047 + ], + [ + 0.12340929359197617, + 0.06506472080945969, + 0.9902205467224121, + 2.2362875423893547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737793, + 0.057315584272146225, + -0.12720833718776703, + 0.15850038234738337 + ], + [ + -0.06527245044708252, + 0.9961047768592834, + -0.059285953640937805, + -0.3875980839349221 + ], + [ + 0.12331482023000717, + 0.06700925529003143, + 0.9901026487350464, + 2.2576660447290555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.05588507652282715, + -0.1276361644268036, + 0.16010087325377165 + ], + [ + -0.0641215369105339, + 0.9960540533065796, + -0.0613580048084259, + -0.39050992810423824 + ], + [ + 0.12370351701974869, + 0.06894370913505554, + 0.9899213314056396, + 2.281532296254007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.0548248253762722, + -0.12863613665103912, + 0.1624980328739553 + ], + [ + -0.06343141198158264, + 0.9959454536437988, + -0.06378985196352005, + -0.3933453667854917 + ], + [ + 0.12461730092763901, + 0.07132270187139511, + 0.989638090133667, + 2.3104895678119384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.053719863295555115, + -0.12976527214050293, + 0.16537387781385063 + ], + [ + -0.06270050257444382, + 0.9958384037017822, + -0.06614049524068832, + -0.39891256088579913 + ], + [ + 0.12567219138145447, + 0.07362129539251328, + 0.989336371421814, + 2.332284879526078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.05248437449336052, + -0.13104473054409027, + 0.16752789357434147 + ], + [ + -0.061909448355436325, + 0.9956997632980347, + -0.0689140185713768, + -0.40202789527278593 + ], + [ + 0.12686429917812347, + 0.07633683830499649, + 0.9889783263206482, + 2.3501833534615053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843079, + 0.05237596482038498, + -0.13493402302265167, + 0.1709804435139117 + ], + [ + -0.06240969896316528, + 0.9955052733421326, + -0.071234330534935, + -0.4094417196253072 + ], + [ + 0.1305965632200241, + 0.0789053738117218, + 0.9882906675338745, + 2.372312474704307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522095, + 0.05332467332482338, + -0.1399105042219162, + 0.17322310776526226 + ], + [ + -0.06403107196092606, + 0.9952618479728699, + -0.07316998392343521, + -0.4158617097542482 + ], + [ + 0.13534583151340485, + 0.08130376785993576, + 0.9874569177627563, + 2.399272148591885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.054061491042375565, + -0.14517661929130554, + 0.17481791523919588 + ], + [ + -0.06544817984104156, + 0.9950457811355591, + -0.07483583688735962, + -0.4229471218974694 + ], + [ + 0.1404116451740265, + 0.08343394100666046, + 0.9865714907646179, + 2.424640371992392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.987076461315155, + 0.0547633096575737, + -0.1506020873785019, + 0.17887306429337763 + ], + [ + -0.0668073445558548, + 0.9948588609695435, + -0.07610917091369629, + -0.4301768923583238 + ], + [ + 0.14565981924533844, + 0.0851868987083435, + 0.9856603741645813, + 2.451456936157268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369446, + 0.05539267137646675, + -0.15587709844112396, + 0.18171313900302574 + ], + [ + -0.06803636997938156, + 0.9947085976600647, + -0.07697989046573639, + -0.4380386275909661 + ], + [ + 0.15078817307949066, + 0.08652457594871521, + 0.984772264957428, + 2.479974554579903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.05654771998524666, + -0.16042619943618774, + 0.180109559899367 + ], + [ + -0.06978537887334824, + 0.9944988489151001, + -0.07811526954174042, + -0.44488325585489685 + ], + [ + 0.1551264226436615, + 0.08817227184772491, + 0.9839519262313843, + 2.511113278877332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.05731608718633652, + -0.1653514951467514, + 0.1823379613351131 + ], + [ + -0.07116874307394028, + 0.9943227767944336, + -0.07910280674695969, + -0.45207906390229863 + ], + [ + 0.1598788946866989, + 0.08964993804693222, + 0.9830572605133057, + 2.543190011403699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203186, + 0.05830130726099014, + -0.17005771398544312, + 0.18153071263850024 + ], + [ + -0.07271014899015427, + 0.9941582679748535, + -0.07976603507995605, + -0.4587456303014272 + ], + [ + 0.16441380977630615, + 0.09083139896392822, + 0.9822004437446594, + 2.5733871633879803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231812, + 0.059048935770988464, + -0.17392559349536896, + 0.18176534738805558 + ], + [ + -0.07392840087413788, + 0.994021475315094, + -0.08034893125295639, + -0.4631642827593186 + ], + [ + 0.16814126074314117, + 0.0918399766087532, + 0.9814754128456116, + 2.5928225027550247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.05997278913855553, + -0.1776111125946045, + 0.18031048684016518 + ], + [ + -0.07530439645051956, + 0.9938756823539734, + -0.08087261766195297, + -0.4669767663530681 + ], + [ + 0.17167320847511292, + 0.09281376749277115, + 0.980772078037262, + 2.610640571946683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9814273118972778, + 0.06035880371928215, + -0.1820913553237915, + 0.18011038741051863 + ], + [ + -0.07624726742506027, + 0.9937483668327332, + -0.08155074715614319, + -0.4687887591620286 + ], + [ + 0.176030695438385, + 0.09392009675502777, + 0.9798939824104309, + 2.633205163738002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.06067194044589996, + -0.1858394593000412, + 0.17798404777107607 + ], + [ + -0.07698187232017517, + 0.9936681389808655, + -0.08183809369802475, + -0.4714210545959104 + ], + [ + 0.17969746887683868, + 0.09456530958414078, + 0.9791660904884338, + 2.657351970744594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.060976918786764145, + -0.1892092227935791, + 0.17468009245568428 + ], + [ + -0.07769296318292618, + 0.993581235408783, + -0.08222018927335739, + -0.4725688216370949 + ], + [ + 0.1829811930656433, + 0.09527943283319473, + 0.9784885048866272, + 2.6823731285074484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.06127164885401726, + -0.19245612621307373, + 0.17159627402462246 + ], + [ + -0.07838138937950134, + 0.9934974312782288, + -0.08257880806922913, + -0.474249755040459 + ], + [ + 0.18614491820335388, + 0.09596189856529236, + 0.9778248071670532, + 2.706583406844577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.061485253274440765, + -0.19572097063064575, + 0.16867393962139093 + ], + [ + -0.07894695550203323, + 0.993442714214325, + -0.08269782364368439, + -0.47603188896740695 + ], + [ + 0.1893528699874878, + 0.09639042615890503, + 0.9771665334701538, + 2.7326948475146637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466797, + 0.06129567325115204, + -0.1988966017961502, + 0.1645140834044719 + ], + [ + -0.0791025459766388, + 0.9934178590774536, + -0.08284769207239151, + -0.47702724959539333 + ], + [ + 0.1925092190504074, + 0.09676670283079147, + 0.9765123724937439, + 2.7581384585819384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369446, + 0.06093064695596695, + -0.20226755738258362, + 0.16231799953513676 + ], + [ + -0.07907367497682571, + 0.9934192895889282, + -0.08285827934741974, + -0.47905120212170815 + ], + [ + 0.19588789343833923, + 0.0969824492931366, + 0.9758188128471375, + 2.7804827243089676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.06066565960645676, + -0.20522147417068481, + 0.1583302133181245 + ], + [ + -0.07907991856336594, + 0.9934282898902893, + -0.08274444192647934, + -0.48142360067309964 + ], + [ + 0.19885307550430298, + 0.09705644100904465, + 0.975211501121521, + 2.8028385525164397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144165, + 0.06033633276820183, + -0.20836029946804047, + 0.15492810399635978 + ], + [ + -0.07910490781068802, + 0.9934094548225403, + -0.08294612914323807, + -0.4825154603499433 + ], + [ + 0.20198242366313934, + 0.09745343774557114, + 0.9745285511016846, + 2.8239424602492997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.059833720326423645, + -0.21154259145259857, + 0.1506766519828695 + ], + [ + -0.07898080348968506, + 0.9933942556381226, + -0.08324616402387619, + -0.48732001499277383 + ], + [ + 0.20516426861286163, + 0.09791740030050278, + 0.9738171100616455, + 2.84981444551461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110168, + 0.05969397351145744, + -0.21430684626102448, + 0.14382846225862916 + ], + [ + -0.0791357010602951, + 0.9933764934539795, + -0.0833105593919754, + -0.4940824879180406 + ], + [ + 0.20791424810886383, + 0.09818217158317566, + 0.9732070565223694, + 2.88366516524035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593933, + 0.05944196879863739, + -0.21671272814273834, + 0.13776473549829013 + ], + [ + -0.07909855246543884, + 0.9933903217315674, + -0.08318135142326355, + -0.5019319869469905 + ], + [ + 0.2103358656167984, + 0.09819556772708893, + 0.9726851582527161, + 2.9145572764286096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.058851227164268494, + -0.21915973722934723, + 0.13388048364344426 + ], + [ + -0.07869853079319, + 0.9934410452842712, + -0.08295436948537827, + -0.5082699998493356 + ], + [ + 0.21284030377864838, + 0.09803784638643265, + 0.9721561670303345, + 2.9387278626578444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.05818653479218483, + -0.22223085165023804, + 0.1278921147763441 + ], + [ + -0.07834260910749435, + 0.9934669137001038, + -0.08298145979642868, + -0.5135488905552504 + ], + [ + 0.215950608253479, + 0.0981723740696907, + 0.9714564085006714, + 2.9610764732683337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213623, + 0.05766924470663071, + -0.2253682017326355, + 0.12396689925504767 + ], + [ + -0.07813214510679245, + 0.9934858679771423, + -0.0829533264040947, + -0.5183645197554775 + ], + [ + 0.21911627054214478, + 0.09828604012727737, + 0.9707357883453369, + 2.9827767281428628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.057415418326854706, + -0.22761432826519012, + 0.1185401887997337 + ], + [ + -0.07807713001966476, + 0.9935004711151123, + -0.0828295350074768, + -0.5230074852417057 + ], + [ + 0.22137926518917084, + 0.09828652441501617, + 0.9702221155166626, + 3.0095824711276715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.05730113014578819, + -0.22992579638957977, + 0.11291582263322267 + ], + [ + -0.078162781894207, + 0.9935072064399719, + -0.08266843855381012, + -0.5274970510047703 + ], + [ + 0.22369594871997833, + 0.09828566014766693, + 0.9696906805038452, + 3.036199680093118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.05694998428225517, + -0.23235954344272614, + 0.10867869193139285 + ], + [ + -0.07798706740140915, + 0.9935455918312073, + -0.08237241953611374, + -0.5315264405763668 + ], + [ + 0.2261686772108078, + 0.09810145944356918, + 0.9691356420516968, + 3.0619251493526543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895203, + 0.05675526708364487, + -0.23478682339191437, + 0.1046024285076897 + ], + [ + -0.07792828232049942, + 0.9935891628265381, + -0.08190110325813293, + -0.5359293420425648 + ], + [ + 0.2286333292722702, + 0.09777243435382843, + 0.9685903787612915, + 3.086382960776488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.05637229606509209, + -0.23729684948921204, + 0.09946766751975829 + ], + [ + -0.07773470878601074, + 0.9936253428459167, + -0.08164539188146591, + -0.5378669826880745 + ], + [ + 0.23118162155151367, + 0.09762591868638992, + 0.9680001139640808, + 3.1098783525291847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.05617370456457138, + -0.2397782802581787, + 0.09494600771129995 + ], + [ + -0.07768621295690536, + 0.9936636686325073, + -0.08122420310974121, + -0.5404368172413198 + ], + [ + 0.23369631171226501, + 0.09735006093978882, + 0.9674239158630371, + 3.132901545840761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.055995550006628036, + -0.24177876114845276, + 0.0905981225092054 + ], + [ + -0.07760753482580185, + 0.9937041401863098, + -0.08080331981182098, + -0.5416641517897735 + ], + [ + 0.23573192954063416, + 0.09703919291496277, + 0.966961145401001, + 3.156328382267468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.05594528466463089, + -0.2439797818660736, + 0.08765774279976812 + ], + [ + -0.07771814614534378, + 0.993716835975647, + -0.08054044842720032, + -0.5419906394961087 + ], + [ + 0.2379409670829773, + 0.0969381183385849, + 0.9664300680160522, + 3.178211152927887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.05580248683691025, + -0.24629436433315277, + 0.08399624094582986 + ], + [ + -0.0776672288775444, + 0.9937672019004822, + -0.07996585220098495, + -0.5427637459143348 + ], + [ + 0.24029697477817535, + 0.09650293737649918, + 0.9658905267715454, + 3.204493399374727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.05563151091337204, + -0.24823328852653503, + 0.07986055269909365 + ], + [ + -0.07759416848421097, + 0.9938037991523743, + -0.07958091795444489, + -0.5422989052670877 + ], + [ + 0.24226799607276917, + 0.09622427821159363, + 0.9654258489608765, + 3.2316473523055875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.05556565523147583, + -0.2503349483013153, + 0.07602647267965879 + ], + [ + -0.07766281068325043, + 0.9938234686851501, + -0.07926815003156662, + -0.5426994219350354 + ], + [ + 0.24438415467739105, + 0.0960594043135643, + 0.96490877866745, + 3.2605330837377604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331543, + 0.055650923401117325, + -0.25194427371025085, + 0.0705971218969511 + ], + [ + -0.07778523862361908, + 0.9938544631004333, + -0.0787576287984848, + -0.5446308264913766 + ], + [ + 0.24601300060749054, + 0.09568846225738525, + 0.964531660079956, + 3.2933195158839226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9657927751541138, + 0.05547826737165451, + -0.2533111274242401, + 0.07011401310635075 + ], + [ + -0.07760594040155411, + 0.9939119219779968, + -0.07820715755224228, + -0.547947001889132 + ], + [ + 0.24743016064167023, + 0.09519035369157791, + 0.9642183780670166, + 3.3189816988032796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.0552566796541214, + -0.2548043131828308, + 0.06907475730359267 + ], + [ + -0.07743817567825317, + 0.9939528703689575, + -0.07785289734601974, + -0.5516649781505842 + ], + [ + 0.24896156787872314, + 0.0948917493224144, + 0.9638535380363464, + 3.3440501104230465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.05507858842611313, + -0.2566186487674713, + 0.06402862270673117 + ], + [ + -0.07726442068815231, + 0.9940186142921448, + -0.07718280702829361, + -0.5611083035667738 + ], + [ + 0.25083258748054504, + 0.09430443495512009, + 0.9634259939193726, + 3.3788032829761505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.05527655780315399, + -0.2580374479293823, + 0.061479945919939855 + ], + [ + -0.07742083072662354, + 0.9940627813339233, + -0.07645430415868759, + -0.5675155386832601 + ], + [ + 0.25227928161621094, + 0.0937216505408287, + 0.9631050825119019, + 3.408434730336286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.05503677949309349, + -0.25930270552635193, + 0.0620545145250173 + ], + [ + -0.07715117931365967, + 0.9941272139549255, + -0.07588686794042587, + -0.5734062347435145 + ], + [ + 0.2536033093929291, + 0.09317765384912491, + 0.9628100991249084, + 3.4286538733952288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.05455490201711655, + -0.261565238237381, + 0.06122592169305553 + ], + [ + -0.07691413909196854, + 0.9941357970237732, + -0.07601457834243774, + -0.5780854129380938 + ], + [ + 0.2558843791484833, + 0.09336896240711212, + 0.9621878266334534, + 3.449769043188164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.05448383092880249, + -0.26366376876831055, + 0.057911768526846666 + ], + [ + -0.07698395848274231, + 0.9941495060920715, + -0.07576405256986618, + -0.5842212498188019 + ], + [ + 0.25799328088760376, + 0.09326431900262833, + 0.9616346955299377, + 3.4771313264750052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.054300591349601746, + -0.26555365324020386, + 0.054059389377561745 + ], + [ + -0.07693955302238464, + 0.9941655397415161, + -0.07559902220964432, + -0.5886853108515486 + ], + [ + 0.25989919900894165, + 0.09320060163736343, + 0.961127519607544, + 3.5034029087870593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.05426902323961258, + -0.26760292053222656, + 0.0484410399975984 + ], + [ + -0.07695553451776505, + 0.9942078590393066, + -0.07502353191375732, + -0.5950412377067235 + ], + [ + 0.2619814872741699, + 0.09276615083217621, + 0.9606040716171265, + 3.530269778293112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385254, + 0.05424545332789421, + -0.2696676552295685, + 0.04563708405419824 + ], + [ + -0.07697233557701111, + 0.9942517280578613, + -0.07442289590835571, + -0.6001666730296784 + ], + [ + 0.2640804350376129, + 0.09230893850326538, + 0.9600732326507568, + 3.5524506896446293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.054182346910238266, + -0.271187961101532, + 0.0431494093603558 + ], + [ + -0.07690270245075226, + 0.994299054145813, + -0.07386042177677155, + -0.6035572559793214 + ], + [ + 0.2656400203704834, + 0.09183496236801147, + 0.9596883654594421, + 3.5713779154607064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.05410146713256836, + -0.2730526030063629, + 0.03969392376965371 + ], + [ + -0.07685604691505432, + 0.9943419098854065, + -0.07333048433065414, + -0.6066387144983678 + ], + [ + 0.2675403654575348, + 0.09141796082258224, + 0.9592001438140869, + 3.5905006879913635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.05412323772907257, + -0.27488309144973755, + 0.034927659946075384 + ], + [ + -0.07691517472267151, + 0.9943750500679016, + -0.07281702756881714, + -0.6093668286927081 + ], + [ + 0.26939576864242554, + 0.09104360640048981, + 0.9587163329124451, + 3.6130196798250873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.05441459268331528, + -0.27645784616470337, + 0.030240959663322006 + ], + [ + -0.07721234112977982, + 0.9943932890892029, + -0.07225161790847778, + -0.6102579025650657 + ], + [ + 0.27097630500793457, + 0.09067025780677795, + 0.9583061933517456, + 3.6353058477530733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.05442676320672035, + -0.27808061242103577, + 0.024386652785798782 + ], + [ + -0.07716385275125504, + 0.9944530129432678, + -0.07147712260484695, + -0.6119418618255767 + ], + [ + 0.27264782786369324, + 0.09000537544488907, + 0.9578946828842163, + 3.659352245970049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.0546671599149704, + -0.27929654717445374, + 0.02091076805251807 + ], + [ + -0.07736720144748688, + 0.9944784045219421, + -0.07090158760547638, + -0.6121127915339194 + ], + [ + 0.2738783657550812, + 0.08957801759243011, + 0.9575836658477783, + 3.678052620280192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036621, + 0.05478096380829811, + -0.2804670035839081, + 0.016912710436300382 + ], + [ + -0.07741895318031311, + 0.9945188164710999, + -0.07027500122785568, + -0.6131365721352434 + ], + [ + 0.27507999539375305, + 0.08905792981386185, + 0.9572876691818237, + 3.6995939705106946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + 0.054798856377601624, + -0.28176894783973694, + 0.01305202893588854 + ], + [ + -0.07735580205917358, + 0.994574248790741, + -0.06955641508102417, + -0.6142665471719659 + ], + [ + 0.27642855048179626, + 0.08842568099498749, + 0.9569577574729919, + 3.722682319127995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957690954208374, + 0.05480252578854561, + -0.2825327515602112, + 0.010157387196153833 + ], + [ + -0.07718496024608612, + 0.9946470260620117, + -0.06870059669017792, + -0.6151505599995166 + ], + [ + 0.27725541591644287, + 0.08760121464729309, + 0.9567943811416626, + 3.7410758061109535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + 0.05489902198314667, + -0.28313228487968445, + 0.0064226887076373335 + ], + [ + -0.07708007097244263, + 0.9947170615196228, + -0.06779806315898895, + -0.6163089875725732 + ], + [ + 0.27791449427604675, + 0.08674106001853943, + 0.956681489944458, + 3.759685621097468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + 0.05495430529117584, + -0.2836253345012665, + 0.00442689799744149 + ], + [ + -0.07694832980632782, + 0.9947821497917175, + -0.06698848307132721, + -0.6176447777644448 + ], + [ + 0.27846410870552063, + 0.08595654368400574, + 0.9565925002098083, + 3.7756155945252683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + 0.05482164025306702, + -0.28396886587142944, + 0.0016480595305346096 + ], + [ + -0.07667873799800873, + 0.9948406219482422, + -0.06642657518386841, + -0.6196896574131533 + ], + [ + 0.2788621783256531, + 0.08536221086978912, + 0.9565297365188599, + 3.7940139111977267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + 0.05451071634888649, + -0.28361597657203674, + -0.0018606019840724242 + ], + [ + -0.07610487937927246, + 0.9949344396591187, + -0.06567774713039398, + -0.6245062131236717 + ], + [ + 0.27859917283058167, + 0.08446359634399414, + 0.9566861391067505, + 3.8143565377463466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + 0.05444630980491638, + -0.2821049094200134, + -0.009464291407578235 + ], + [ + -0.07572971284389496, + 0.9950015544891357, + -0.06509134918451309, + -0.6297381089433379 + ], + [ + 0.27715086936950684, + 0.08371064811944962, + 0.9571728706359863, + 3.839155430379121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831482, + 0.05394670367240906, + -0.28049367666244507, + -0.01602592968926339 + ], + [ + -0.07479287683963776, + 0.9951337575912476, + -0.06414662301540375, + -0.6345861775863574 + ], + [ + 0.27566826343536377, + 0.08245311677455902, + 0.9577100276947021, + 3.8637952954296906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + 0.05324147269129753, + -0.2794390916824341, + -0.0191708438926273 + ], + [ + -0.07379191368818283, + 0.9952476024627686, + -0.06353743374347687, + -0.6365884740319517 + ], + [ + 0.2747282385826111, + 0.0815327912569046, + 0.9580588936805725, + 3.8808777696556516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + 0.051856137812137604, + -0.2777705788612366, + -0.023266693949699394 + ], + [ + -0.07208303362131119, + 0.9954005479812622, + -0.06310169398784637, + -0.6382876045677973 + ], + [ + 0.2732207775115967, + 0.08055263757705688, + 0.9585727453231812, + 3.89895804239356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + 0.0506301149725914, + -0.2760399878025055, + -0.027794665983621625 + ], + [ + -0.07061650604009628, + 0.9955155253410339, + -0.06294553726911545, + -0.642164899095677 + ], + [ + 0.2716151773929596, + 0.0799088403582573, + 0.9590827822685242, + 3.920077799613349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.96030193567276, + 0.04935877025127411, + -0.2745613157749176, + -0.032145733026346726 + ], + [ + -0.06914079934358597, + 0.9956258535385132, + -0.06283906102180481, + -0.6480844855740451 + ], + [ + 0.27025869488716125, + 0.07932786643505096, + 0.9595141410827637, + 3.943039989874559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + 0.04836207628250122, + -0.27322474122047424, + -0.03636630797299786 + ], + [ + -0.0679871141910553, + 0.9957066774368286, + -0.06281670182943344, + -0.6538427387890609 + ], + [ + 0.26901373267173767, + 0.07892588526010513, + 0.9598970413208008, + 3.9666974594195685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + 0.04748312756419182, + -0.2717622220516205, + -0.042834860270006075 + ], + [ + -0.06693345308303833, + 0.9957822561264038, + -0.062749944627285, + -0.6583129431890404 + ], + [ + 0.2676364481449127, + 0.07850474864244461, + 0.9603164792060852, + 3.991996572587801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + 0.04646202176809311, + -0.2711964547634125, + -0.044688518276969014 + ], + [ + -0.06578322499990463, + 0.9958690404891968, + -0.06258944422006607, + -0.6605949886863071 + ], + [ + 0.2671681344509125, + 0.07801380008459091, + 0.960486888885498, + 4.012011853897053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + 0.045255862176418304, + -0.27137717604637146, + -0.04507894046280694 + ], + [ + -0.06457062810659409, + 0.9959434866905212, + -0.06266727298498154, + -0.6610950679882713 + ], + [ + 0.2674402892589569, + 0.07777184993028641, + 0.9604307413101196, + 4.027315468373506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + 0.04425545781850815, + -0.27161306142807007, + -0.04535220744817153 + ], + [ + -0.06356251984834671, + 0.996006429195404, + -0.06269785761833191, + -0.6617238075512907 + ], + [ + 0.26775360107421875, + 0.07754141092300415, + 0.9603620767593384, + 4.042461441334895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137024, + 0.04343560338020325, + -0.27187371253967285, + -0.04855361624040466 + ], + [ + -0.06280545145273209, + 0.9960384964942932, + -0.06295064836740494, + -0.6639242291378514 + ], + [ + 0.26806241273880005, + 0.0775928869843483, + 0.9602717757225037, + 4.064413377916179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + 0.0429566316306591, + -0.27243807911872864, + -0.05288016109362893 + ], + [ + -0.06239153817296028, + 0.9960565567016602, + -0.06307628005743027, + -0.6665405527567086 + ], + [ + 0.2686541974544525, + 0.07762763649225235, + 0.9601035714149475, + 4.08828475151373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + 0.0428258553147316, + -0.27385684847831726, + -0.056023647967312074 + ], + [ + -0.062385059893131256, + 0.9960547089576721, + -0.06311217695474625, + -0.6697144018423155 + ], + [ + 0.2700735628604889, + 0.07772379368543625, + 0.9596974849700928, + 4.109135166170517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + 0.042320966720581055, + -0.2761334478855133, + -0.055099231623797026 + ], + [ + -0.06213310360908508, + 0.9960525035858154, + -0.06339507550001144, + -0.6704826255207477 + ], + [ + 0.2723604738712311, + 0.07802816480398178, + 0.9590262770652771, + 4.125057025332958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9593506455421448, + 0.041948169469833374, + -0.2790818512439728, + -0.05575919547590656 + ], + [ + -0.0622078999876976, + 0.9960004687309265, + -0.06413456797599792, + -0.6712358454215354 + ], + [ + 0.275275319814682, + 0.07888863980770111, + 0.9581232070922852, + 4.1422285184480145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672668, + 0.04221339896321297, + -0.28228941559791565, + -0.05945350038976485 + ], + [ + -0.06293138861656189, + 0.9959165453910828, + -0.06472941488027573, + -0.6730346920841558 + ], + [ + 0.27840426564216614, + 0.0798015370965004, + 0.9571430087089539, + 4.162057012535524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + 0.04263734444975853, + -0.2855720818042755, + -0.06261424476613746 + ], + [ + -0.06376131623983383, + 0.9958407878875732, + -0.06508202850818634, + -0.6775327613388282 + ], + [ + 0.2816093862056732, + 0.08051852881908417, + 0.9561448097229004, + 4.183264079761966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9561680555343628, + 0.04298488050699234, + -0.2896462380886078, + -0.06365399177091709 + ], + [ + -0.0646226555109024, + 0.9957542419433594, + -0.06555493175983429, + -0.6817908911817315 + ], + [ + 0.28559860587120056, + 0.08139924705028534, + 0.9548861980438232, + 4.20138214804988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + 0.043729912489652634, + -0.29404115676879883, + -0.07034531345833903 + ], + [ + -0.06592939049005508, + 0.9956384897232056, + -0.0660100132226944, + -0.6880878262113834 + ], + [ + 0.28987210988998413, + 0.08241178095340729, + 0.953510582447052, + 4.224450096243245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + 0.0449039600789547, + -0.29882144927978516, + -0.07696655928944621 + ], + [ + -0.06760751456022263, + 0.9955217242240906, + -0.06607332825660706, + -0.6951233827657458 + ], + [ + 0.29451632499694824, + 0.08318710327148438, + 0.9520189166069031, + 4.246990716514956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + 0.04573626071214676, + -0.30407699942588806, + -0.07918398244225461 + ], + [ + -0.06917662918567657, + 0.9953680634498596, + -0.06676115840673447, + -0.7004961980425793 + ], + [ + 0.29961511492729187, + 0.0845615342259407, + 0.9503052830696106, + 4.262390077114105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + 0.04690104350447655, + -0.3095182180404663, + -0.08342815004109184 + ], + [ + -0.07104375958442688, + 0.995207667350769, + -0.06719008833169937, + -0.7055625487496887 + ], + [ + 0.30488359928131104, + 0.08580219000577927, + 0.9485167264938354, + 4.2792492990332525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + 0.047968871891498566, + -0.3154609203338623, + -0.08756049403533843 + ], + [ + -0.07295786589384079, + 0.9950222373008728, + -0.06788142025470734, + -0.7095831621888179 + ], + [ + 0.31063443422317505, + 0.08734829723834991, + 0.9465075731277466, + 4.294957143039519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + 0.049592241644859314, + -0.321349561214447, + -0.09550465077593706 + ], + [ + -0.07538000494241714, + 0.9948128461837769, + -0.06830240786075592, + -0.7139366351931855 + ], + [ + 0.3162953853607178, + 0.08881427347660065, + 0.9444941878318787, + 4.31423936408499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + 0.05142054706811905, + -0.32740122079849243, + -0.10831230796045728 + ], + [ + -0.07800152152776718, + 0.9945921301841736, + -0.06857278943061829, + -0.7198149383068084 + ], + [ + 0.32210463285446167, + 0.09023520350456238, + 0.9423938989639282, + 4.338223621580336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025452, + 0.05312994867563248, + -0.33349865674972534, + -0.11860511120822695 + ], + [ + -0.08051631599664688, + 0.9943738579750061, + -0.06883126497268677, + -0.7240237466774989 + ], + [ + 0.32796531915664673, + 0.09163966774940491, + 0.9402344822883606, + 4.359081061421961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447449, + 0.05505100637674332, + -0.3392639756202698, + -0.13109157235510108 + ], + [ + -0.08324984461069107, + 0.9941285848617554, + -0.06912140548229218, + -0.7287202694493792 + ], + [ + 0.3334668278694153, + 0.09315413236618042, + 0.9381482601165771, + 4.380327508933302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + 0.056866105645895004, + -0.34477248787879944, + -0.13802332403363238 + ], + [ + -0.08590073883533478, + 0.9938753843307495, + -0.06951810419559479, + -0.7309869452447131 + ], + [ + 0.33870765566825867, + 0.09475204348564148, + 0.9361085295677185, + 4.3926801039256915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + 0.05871870368719101, + -0.35011130571365356, + -0.14224488969514335 + ], + [ + -0.08866459876298904, + 0.9935908913612366, + -0.07011239975690842, + -0.7314925362666448 + ], + [ + 0.3437504768371582, + 0.09658815711736679, + 0.9340804815292358, + 4.399547209255937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + 0.06015794724225998, + -0.3555920422077179, + -0.15208414397809816 + ], + [ + -0.09096928685903549, + 0.9933510422706604, + -0.07055667787790298, + -0.732450858697943 + ], + [ + 0.34898319840431213, + 0.0981564000248909, + 0.9319742918014526, + 4.41291332853877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684631, + 0.0619707927107811, + -0.3600524961948395, + -0.16306042304073554 + ], + [ + -0.09364401549100876, + 0.9930577278137207, + -0.07118400186300278, + -0.7348111897778972 + ], + [ + 0.35314157605171204, + 0.09997991472482681, + 0.9302123785018921, + 4.425455091800091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611145, + 0.06338736414909363, + -0.363702654838562, + -0.17269564938286078 + ], + [ + -0.09592612087726593, + 0.9927743077278137, + -0.07209227979183197, + -0.7341410085558892 + ], + [ + 0.3565049171447754, + 0.10188797116279602, + 0.9287211894989014, + 4.435356807017672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + 0.0648665502667427, + -0.3670696020126343, + -0.1851494850239892 + ], + [ + -0.0982513502240181, + 0.9924814701080322, + -0.07298734039068222, + -0.7350759148597718 + ], + [ + 0.3595753312110901, + 0.10379215329885483, + 0.9273256063461304, + 4.44870899449224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + 0.06604807078838348, + -0.3692636489868164, + -0.19780951297801475 + ], + [ + -0.1001288890838623, + 0.9922275543212891, + -0.07388278841972351, + -0.735346802133293 + ], + [ + 0.36151373386383057, + 0.10546143352985382, + 0.9263831377029419, + 4.46060545657568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497375, + 0.06692667305469513, + -0.37091943621635437, + -0.2087657313847887 + ], + [ + -0.10174871981143951, + 0.991971492767334, + -0.07509834319353104, + -0.7359570052168796 + ], + [ + 0.36291542649269104, + 0.10730043798685074, + 0.9256235957145691, + 4.470008804112817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + 0.06783102452754974, + -0.3719951808452606, + -0.2204526775125144 + ], + [ + -0.10340899229049683, + 0.9916914105415344, + -0.07651642709970474, + -0.7356052981770557 + ], + [ + 0.3637142479419708, + 0.10930296033620834, + 0.9250755906105042, + 4.479422290040099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + 0.06859689950942993, + -0.37209105491638184, + -0.23296487458086246 + ], + [ + -0.10492381453514099, + 0.9913967847824097, + -0.07825186848640442, + -0.7348131214362987 + ], + [ + 0.3635220527648926, + 0.11147567629814148, + 0.9248918294906616, + 4.487504526958373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155823, + 0.06888691335916519, + -0.37176844477653503, + -0.24485516314921174 + ], + [ + -0.10592018812894821, + 0.9911428093910217, + -0.08010508120059967, + -0.7339527711380219 + ], + [ + 0.3629574477672577, + 0.11353635787963867, + 0.9248629212379456, + 4.495309586297487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + 0.0688844546675682, + -0.3706817328929901, + -0.25669847364011017 + ], + [ + -0.1065094843506813, + 0.9909260272979736, + -0.081983782351017, + -0.7326161867250567 + ], + [ + 0.36167076230049133, + 0.11541465669870377, + 0.9251344203948975, + 4.5014914878036665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919373, + 0.06798604130744934, + -0.3688313663005829, + -0.26908626962399135 + ], + [ + -0.10605581104755402, + 0.9908124208450317, + -0.08392190933227539, + -0.7322282480516872 + ], + [ + 0.35973718762397766, + 0.11691287159919739, + 0.9257000088691711, + 4.504648347076587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + 0.06787339597940445, + -0.3672087788581848, + -0.27802491159254805 + ], + [ + -0.1064617857336998, + 0.9906037449836731, + -0.08584918081760406, + -0.73521547458598 + ], + [ + 0.3579314947128296, + 0.11873245239257812, + 0.9261682629585266, + 4.507689814636673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + 0.06783163547515869, + -0.3637774884700775, + -0.2976531306902568 + ], + [ + -0.1069190502166748, + 0.99033123254776, + -0.08838748931884766, + -0.737989308350328 + ], + [ + 0.3542647659778595, + 0.12100784480571747, + 0.9272829294204712, + 4.52253091978854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + 0.06683541089296341, + -0.35911720991134644, + -0.3199448603074908 + ], + [ + -0.106063611805439, + 0.9902190566062927, + -0.0906459391117096, + -0.7431908238553194 + ], + [ + 0.3495463728904724, + 0.12247122824192047, + 0.9288800358772278, + 4.537994608499002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + 0.06573132425546646, + -0.3542909324169159, + -0.3376208481149397 + ], + [ + -0.10516964644193649, + 0.9900758266448975, + -0.09321601688861847, + -0.7464996090653726 + ], + [ + 0.34464767575263977, + 0.12421461939811707, + 0.9304776787757874, + 4.5495466314796085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + 0.06427089124917984, + -0.3495660722255707, + -0.3537741027880406 + ], + [ + -0.10375655442476273, + 0.9900158047676086, + -0.0954112634062767, + -0.7499877338392147 + ], + [ + 0.3399437367916107, + 0.12545111775398254, + 0.9320409297943115, + 4.55892555212629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + 0.06275496631860733, + -0.34453725814819336, + -0.37236593699685616 + ], + [ + -0.10227642208337784, + 0.9899424314498901, + -0.09774190932512283, + -0.7538119271433584 + ], + [ + 0.33493828773498535, + 0.12679022550582886, + 0.9336705207824707, + 4.5707054201531525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413025, + 0.060632117092609406, + -0.3402038514614105, + -0.3911524039247761 + ], + [ + -0.10000381618738174, + 0.9900094270706177, + -0.0994013175368309, + -0.7575549460623575 + ], + [ + 0.3307780921459198, + 0.12729936838150024, + 0.935083270072937, + 4.5832800498619175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + 0.05876663327217102, + -0.3360312581062317, + -0.4070663213729858 + ], + [ + -0.09803208708763123, + 0.9900352358818054, + -0.10109375417232513, + -0.7585940033197403 + ], + [ + 0.32674187421798706, + 0.1279715597629547, + 0.9364096522331238, + 4.592177993059158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/move_right/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0d3f7b63df9dc4c4b0abc1b2bb38d90f221980 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/move_right/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.0022364004980772734, + -0.0026113721542060375, + 0.0016772620576762274 + ], + [ + -0.002242674818262458, + 0.9999945759773254, + -0.0024023065343499184, + -0.007241510144425871 + ], + [ + 0.0026059853844344616, + 0.0024081487208604813, + 0.9999936819076538, + 0.02368897736625935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999806880950928, + 0.0040634265169501305, + -0.004699923098087311, + 0.0038814395006998006 + ], + [ + -0.0040840646252036095, + 0.9999819993972778, + -0.004389888606965542, + -0.015730661282468823 + ], + [ + 0.0046820007264614105, + 0.004408998414874077, + 0.9999793171882629, + 0.05118034897003197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.005368742626160383, + -0.007625406142324209, + 0.005308955545415697 + ], + [ + -0.005417895969003439, + 0.9999645948410034, + -0.0064400238916277885, + -0.021779977759022427 + ], + [ + 0.007590561639517546, + 0.0064810579642653465, + 0.9999501705169678, + 0.06951180476141905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.00689054187387228, + -0.010770018212497234, + 0.010159777360405898 + ], + [ + -0.006981814280152321, + 0.9999398589134216, + -0.008460155688226223, + -0.02744760952062077 + ], + [ + 0.01071107480674982, + 0.008534657768905163, + 0.9999061822891235, + 0.0913333445949399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.007960905320942402, + -0.013277232646942139, + 0.012481722427343113 + ], + [ + -0.008098271675407887, + 0.9999139308929443, + -0.010324593633413315, + -0.03195694043269552 + ], + [ + 0.013193896040320396, + 0.010430879890918732, + 0.999858558177948, + 0.1099991755704013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.009428995661437511, + -0.014257972128689289, + 0.014117093257390072 + ], + [ + -0.009610596112906933, + 0.9998728632926941, + -0.012722363695502281, + -0.037866949114570586 + ], + [ + 0.014136199839413166, + 0.012857532128691673, + 0.999817430973053, + 0.14146498965666346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.00977416057139635, + -0.014622199349105358, + 0.016123410664354833 + ], + [ + -0.009989832527935505, + 0.9998413324356079, + -0.014749979600310326, + -0.043946062393288535 + ], + [ + 0.01447570975869894, + 0.014893772080540657, + 0.9997842907905579, + 0.17338843779764385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.01059537474066019, + -0.015374253503978252, + 0.018024109655784236 + ], + [ + -0.01085029449313879, + 0.9998034238815308, + -0.016593357548117638, + -0.049713844208469714 + ], + [ + 0.015195419080555439, + 0.016757281497120857, + 0.9997441172599792, + 0.20320162255190996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.01089369785040617, + -0.016871005296707153, + 0.02266911357317282 + ], + [ + -0.011200395412743092, + 0.999771773815155, + -0.018192479386925697, + -0.05531429909574597 + ], + [ + 0.01666897162795067, + 0.018377771601080894, + 0.9996921420097351, + 0.22739411344670732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.011148378252983093, + -0.01857118122279644, + 0.026762140581861212 + ], + [ + -0.011516496539115906, + 0.9997369647026062, + -0.019834421575069427, + -0.06065724221404624 + ], + [ + 0.018345175310969353, + 0.020043641328811646, + 0.9996308088302612, + 0.2527514019360145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.011119464412331581, + -0.020447613671422005, + 0.029952834069656865 + ], + [ + -0.011560274288058281, + 0.9997005462646484, + -0.021567659452557564, + -0.06333041328324931 + ], + [ + 0.02020167000591755, + 0.02179819531738758, + 0.9995582699775696, + 0.2707118729057447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.011200539767742157, + -0.022018814459443092, + 0.034032658384977904 + ], + [ + -0.01170697994530201, + 0.9996667504310608, + -0.023007607087492943, + -0.06876352350564971 + ], + [ + 0.02175377868115902, + 0.023258360102772713, + 0.9994927644729614, + 0.2956878099212612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.01118478924036026, + -0.023529307916760445, + 0.03756274388752122 + ], + [ + -0.01175733096897602, + 0.9996346831321716, + -0.024337200447916985, + -0.07423241742153243 + ], + [ + 0.02324850670993328, + 0.024605581536889076, + 0.9994269013404846, + 0.32014990206627886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.011243744753301144, + -0.025035269558429718, + 0.043568110854729364 + ], + [ + -0.01187987346202135, + 0.9996066093444824, + -0.0254072155803442, + -0.08160284152479419 + ], + [ + 0.02473974972963333, + 0.025695061311125755, + 0.9993636608123779, + 0.3484641430962489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.01170582789927721, + -0.0260941069573164, + 0.04741467071184214 + ], + [ + -0.01241482887417078, + 0.9995535612106323, + -0.027176616713404655, + -0.08739062820466748 + ], + [ + 0.025764333084225655, + 0.02748945541679859, + 0.9992899894714355, + 0.3757409318552717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.012052183039486408, + -0.027570083737373352, + 0.050750076842768756 + ], + [ + -0.012837381102144718, + 0.9995118379592896, + -0.028482673689723015, + -0.0952657752206936 + ], + [ + 0.02721334621310234, + 0.02882370539009571, + 0.9992139935493469, + 0.40197867146436717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.012399017810821533, + -0.028493991121649742, + 0.05271566950396639 + ], + [ + -0.013229986652731895, + 0.9994871616363525, + -0.029161887243390083, + -0.09827259952733339 + ], + [ + 0.028117800131440163, + 0.029524778947234154, + 0.9991685152053833, + 0.41384334445881527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.013489429838955402, + -0.03085138462483883, + 0.05930564481279124 + ], + [ + -0.01442603301256895, + 0.999435544013977, + -0.03034021146595478, + -0.1044829322187149 + ], + [ + 0.0304246973246336, + 0.03076806850731373, + 0.9990633726119995, + 0.4354075267101112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205933, + 0.013895992189645767, + -0.033847637474536896, + 0.06595933249823137 + ], + [ + -0.014967259019613266, + 0.9993883967399597, + -0.03160466253757477, + -0.11434920815490006 + ], + [ + 0.03338775783777237, + 0.03209010511636734, + 0.9989271759986877, + 0.4566865865411102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272461, + 0.016092753037810326, + -0.0376913920044899, + 0.06990505826933949 + ], + [ + -0.017323853448033333, + 0.9993193745613098, + -0.032567087560892105, + -0.12293979818910217 + ], + [ + 0.03714164346456528, + 0.03319268301129341, + 0.9987586140632629, + 0.4828145570945049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.018223222345113754, + -0.04194314777851105, + 0.07489307682583297 + ], + [ + -0.019634105265140533, + 0.9992466568946838, + -0.03347551450133324, + -0.12977546728823497 + ], + [ + 0.04130151867866516, + 0.034264009445905685, + 0.9985590577125549, + 0.5107371609711993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793945, + 0.020553000271320343, + -0.04581957310438156, + 0.07771530609919829 + ], + [ + -0.022124383598566055, + 0.9991750121116638, + -0.03405586630105972, + -0.13728111787622677 + ], + [ + 0.04508182406425476, + 0.03502662479877472, + 0.998369038105011, + 0.5349762127307303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.02236338146030903, + -0.04987017437815666, + 0.0805081950293647 + ], + [ + -0.024098118767142296, + 0.999115526676178, + -0.034459467977285385, + -0.145140198763046 + ], + [ + 0.04905543848872185, + 0.035609740763902664, + 0.9981610774993896, + 0.5573851821737157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.025196420028805733, + -0.05386357381939888, + 0.08387250241594038 + ], + [ + -0.027118520811200142, + 0.9990102648735046, + -0.03525662422180176, + -0.1502509744486947 + ], + [ + 0.052921924740076065, + 0.03665493428707123, + 0.9979256987571716, + 0.5874331766712493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.027898434549570084, + -0.05810781940817833, + 0.08483009069150196 + ], + [ + -0.03001503273844719, + 0.9989053606987, + -0.03587669879198074, + -0.15448288604221194 + ], + [ + 0.05704331025481224, + 0.03754619508981705, + 0.9976654648780823, + 0.6188039963498063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.03114611655473709, + -0.062324296683073044, + 0.0860706622833791 + ], + [ + -0.0334443524479866, + 0.9987855553627014, + -0.03617827594280243, + -0.15749901068815286 + ], + [ + 0.06112179532647133, + 0.03817475587129593, + 0.9974000453948975, + 0.6504406388435099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.033693261444568634, + -0.06629057973623276, + 0.08672507074864014 + ], + [ + -0.036126427352428436, + 0.9987038373947144, + -0.0358545184135437, + -0.16294414780062177 + ], + [ + 0.06499660760164261, + 0.038150086998939514, + 0.9971559643745422, + 0.6769447576416575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.036565959453582764, + -0.06995093077421188, + 0.08690367803913383 + ], + [ + -0.03916091471910477, + 0.9985808730125427, + -0.036091990768909454, + -0.16551475864677614 + ], + [ + 0.06853192299604416, + 0.038718730211257935, + 0.996897280216217, + 0.6981588310233636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.03873646631836891, + -0.07333295047283173, + 0.08436951889220068 + ], + [ + -0.0414595790207386, + 0.9984920620918274, + -0.03598237782716751, + -0.16693549090141546 + ], + [ + 0.07182854413986206, + 0.038898766040802, + 0.996658205986023, + 0.7163272383996254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.040912825614213943, + -0.07706233114004135, + 0.08844308177198189 + ], + [ + -0.04378388449549675, + 0.998394250869751, + -0.03594208508729935, + -0.16851396658930226 + ], + [ + 0.07546810060739517, + 0.039179109036922455, + 0.9963782429695129, + 0.7431542230904966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.042488738894462585, + -0.08002281188964844, + 0.08779115080833436 + ], + [ + -0.04545895755290985, + 0.998329222202301, + -0.03566781431436539, + -0.16898935730186637 + ], + [ + 0.07837364077568054, + 0.03915886580944061, + 0.9961546659469604, + 0.770314491500601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9956108331680298, + 0.04434388503432274, + -0.08241777867078781, + 0.08631102372914697 + ], + [ + -0.04740210250020027, + 0.9982439279556274, + -0.03552674502134323, + -0.16912708348698086 + ], + [ + 0.08069764822721481, + 0.039277590811252594, + 0.9959644675254822, + 0.7921952351855771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.04596315324306488, + -0.08554010838270187, + 0.08971958281337351 + ], + [ + -0.0491487979888916, + 0.9981598258018494, + -0.03551483526825905, + -0.16879014541273532 + ], + [ + 0.08375032991170883, + 0.03955118730664253, + 0.9957015514373779, + 0.8187404336380786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.0472993478178978, + -0.08763521164655685, + 0.08782461147377456 + ], + [ + -0.050564780831336975, + 0.9980924129486084, + -0.03542303293943405, + -0.17034533771051877 + ], + [ + 0.08579254895448685, + 0.03967820107936859, + 0.9955226182937622, + 0.8390863337450557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.048210158944129944, + -0.08975494652986526, + 0.08764994076052726 + ], + [ + -0.05155248939990997, + 0.9980462789535522, + -0.03529903292655945, + -0.170674713589431 + ], + [ + 0.08787781745195389, + 0.03974243998527527, + 0.9953381419181824, + 0.858167740151934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.04945862293243408, + -0.09141582995653152, + 0.0881006706667983 + ], + [ + -0.052854835987091064, + 0.997984766960144, + -0.03511005640029907, + -0.17177177136359006 + ], + [ + 0.08949511498212814, + 0.03975166380405426, + 0.9951936602592468, + 0.8837976262621258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.04863566905260086, + -0.09502732008695602, + 0.09965805948356499 + ], + [ + -0.05211786925792694, + 0.9980444312095642, + -0.03451117128133774, + -0.17500661268182421 + ], + [ + 0.09316302090883255, + 0.039266593754291534, + 0.9948762655258179, + 0.9174047690262829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765137, + 0.050517480820417404, + -0.09576677531003952, + 0.09278945799755013 + ], + [ + -0.054039012640714645, + 0.997941255569458, + -0.03454064205288887, + -0.1756400968177595 + ], + [ + 0.09382470697164536, + 0.039512719959020615, + 0.994804322719574, + 0.930717101138859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.050298336893320084, + -0.09736401587724686, + 0.0935949327721112 + ], + [ + -0.05387471988797188, + 0.9979529976844788, + -0.03445683419704437, + -0.17991402110867744 + ], + [ + 0.09543158859014511, + 0.03949476033449173, + 0.9946522116661072, + 0.9548508648315202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.051648907363414764, + -0.09834951162338257, + 0.08836898862739692 + ], + [ + -0.055279895663261414, + 0.9978727102279663, + -0.03455757349729538, + -0.1837319045683036 + ], + [ + 0.09635543823242188, + 0.03978043794631958, + 0.9945517182350159, + 0.9689344277128505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.051056209951639175, + -0.0992148220539093, + 0.09328791385399547 + ], + [ + -0.05466962233185768, + 0.9979238510131836, + -0.034047503024339676, + -0.19176285527646542 + ], + [ + 0.09727050364017487, + 0.039258923381567, + 0.9944833517074585, + 0.9957765469876464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.05107952281832695, + -0.0993233472108841, + 0.0919328901214876 + ], + [ + -0.0546448640525341, + 0.9979433417320251, + -0.03351172059774399, + -0.1997209942103296 + ], + [ + 0.09740731120109558, + 0.038729555904865265, + 0.9944907426834106, + 1.0100340937358745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.05086435005068779, + -0.10076417773962021, + 0.097195496370539 + ], + [ + -0.05446717515587807, + 0.9979591369628906, + -0.03333079069852829, + -0.2053855941257471 + ], + [ + 0.09886317700147629, + 0.03860612213611603, + 0.994351863861084, + 1.0354623213374385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113037, + 0.05030372738838196, + -0.10239668190479279, + 0.10421034784420677 + ], + [ + -0.053963758051395416, + 0.9979877471923828, + -0.033291298896074295, + -0.2074718267733348 + ], + [ + 0.10051596164703369, + 0.038599643856287, + 0.9941864013671875, + 1.0566379854644554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186584, + 0.04963846132159233, + -0.10233431309461594, + 0.10608067817014197 + ], + [ + -0.05329246446490288, + 0.998024046421051, + -0.03328562527894974, + -0.21350760393492554 + ], + [ + 0.1004798635840416, + 0.03852327913045883, + 0.9941930174827576, + 1.0840297475781129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.0496625155210495, + -0.10191740095615387, + 0.10671944618225097 + ], + [ + -0.053322337567806244, + 0.9980151653289795, + -0.03350357711315155, + -0.21849291076262792 + ], + [ + 0.10005123913288116, + 0.03872203081846237, + 0.9942285418510437, + 1.1136102560493681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.04925285652279854, + -0.10178175568580627, + 0.10942139962445135 + ], + [ + -0.05287175253033638, + 0.998050332069397, + -0.03316742554306984, + -0.22366583586854924 + ], + [ + 0.09994973242282867, + 0.038336094468832016, + 0.9942536950111389, + 1.1384317903055086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.04911331832408905, + -0.10172472894191742, + 0.11340634388768155 + ], + [ + -0.052760183811187744, + 0.9980460405349731, + -0.033474087715148926, + -0.22728336798971976 + ], + [ + 0.09988193213939667, + 0.03862684965133667, + 0.9942492246627808, + 1.1682872627092444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.04902191460132599, + -0.10194054245948792, + 0.11558644047393891 + ], + [ + -0.052687227725982666, + 0.9980463981628418, + -0.033577751368284225, + -0.22935977887704176 + ], + [ + 0.10009534657001495, + 0.038733210414648056, + 0.9942236542701721, + 1.1913826494761135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.993559718132019, + 0.0487002432346344, + -0.10231032967567444, + 0.11907333045622001 + ], + [ + -0.05236396938562393, + 0.9980682730674744, + -0.03343319147825241, + -0.23132679337896586 + ], + [ + 0.10048449039459229, + 0.038575246930122375, + 0.994190514087677, + 1.2145606884057971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.048615120351314545, + -0.10256709158420563, + 0.12063147172979687 + ], + [ + -0.052275508642196655, + 0.9980771541595459, + -0.0333053395152092, + -0.23244964601337045 + ], + [ + 0.10075072944164276, + 0.038451842963695526, + 0.9941683411598206, + 1.23302063257366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.04889291524887085, + -0.10252975672483444, + 0.12312976534383885 + ], + [ + -0.05256624519824982, + 0.9980575442314148, + -0.0334349200129509, + -0.23235922412595886 + ], + [ + 0.10069587081670761, + 0.038608118891716, + 0.9941678643226624, + 1.2547048892231956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993516743183136, + 0.04908096045255661, + -0.10254526883363724, + 0.12666463024086422 + ], + [ + -0.05277340114116669, + 0.9980407953262329, + -0.03360915556550026, + -0.23224845081567763 + ], + [ + 0.10069478303194046, + 0.038802918046712875, + 0.9941604137420654, + 1.27768734747157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.04949834570288658, + -0.10260982066392899, + 0.13000232136767845 + ], + [ + -0.05320417508482933, + 0.9980149269104004, + -0.03369751572608948, + -0.23388611884868662 + ], + [ + 0.10073816031217575, + 0.03893739730119705, + 0.9941507577896118, + 1.300250155835048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9934517741203308, + 0.04956163093447685, + -0.10294263064861298, + 0.13473116919614267 + ], + [ + -0.05330852046608925, + 0.9980001449584961, + -0.033969711512327194, + -0.2343186387963197 + ], + [ + 0.1010531634092331, + 0.03923499211668968, + 0.9941070675849915, + 1.3256187805015107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.04986759275197983, + -0.10310870409011841, + 0.14062290005925773 + ], + [ + -0.05362820625305176, + 0.997981071472168, + -0.03402599319815636, + -0.2367727205661184 + ], + [ + 0.10120373964309692, + 0.03933161124587059, + 0.9940879344940186, + 1.3518260709329504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.05012756586074829, + -0.10322330892086029, + 0.14618051527202994 + ], + [ + -0.05391266942024231, + 0.9979594945907593, + -0.03420991823077202, + -0.23828212294889534 + ], + [ + 0.10129782557487488, + 0.03954898193478584, + 0.9940697550773621, + 1.3758454145296761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.05076683312654495, + -0.10334215313196182, + 0.15170034201824723 + ], + [ + -0.05455721169710159, + 0.9979252815246582, + -0.034186188131570816, + -0.24216227798502227 + ], + [ + 0.1013922169804573, + 0.03959688916802406, + 0.9940581917762756, + 1.3977810792085053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.051117971539497375, + -0.10378838330507278, + 0.15749174943868666 + ], + [ + -0.05496644973754883, + 0.9978898167610168, + -0.034563008695840836, + -0.24604646691665558 + ], + [ + 0.10180258005857468, + 0.04003579542040825, + 0.9939987063407898, + 1.4199833331080738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.05163772404193878, + -0.10428321361541748, + 0.16329363398793814 + ], + [ + -0.05555019527673721, + 0.9978434443473816, + -0.03496665507555008, + -0.2517511453749477 + ], + [ + 0.10225272178649902, + 0.040522053837776184, + 0.9939327836036682, + 1.4485489786535068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.05179730802774429, + -0.104777030646801, + 0.1675309627096434 + ], + [ + -0.05577006936073303, + 0.9978177547454834, + -0.035346925258636475, + -0.2558284271310493 + ], + [ + 0.10271751135587692, + 0.04094807803630829, + 0.9938673973083496, + 1.4750740316862934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.051831118762493134, + -0.10539916157722473, + 0.17212029197365766 + ], + [ + -0.05584421008825302, + 0.9978086948394775, + -0.03548542037606239, + -0.2615816622900502 + ], + [ + 0.10332895815372467, + 0.04112573340535164, + 0.9937966465950012, + 1.4951107156305496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.05181632563471794, + -0.10593901574611664, + 0.1778087144312651 + ], + [ + -0.05589934065937996, + 0.9977893233299255, + -0.0359402634203434, + -0.2676610537683186 + ], + [ + 0.10384252667427063, + 0.04161137714982033, + 0.9937229156494141, + 1.5190876202738803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.05267321318387985, + -0.10620466619729996, + 0.18230049093276407 + ], + [ + -0.05684170126914978, + 0.997711718082428, + -0.03661029413342476, + -0.2726231927745008 + ], + [ + 0.10403325408697128, + 0.042388979345560074, + 0.9936701059341431, + 1.546367865714474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.05306332930922508, + -0.10674865543842316, + 0.18771504312033815 + ], + [ + -0.0573040209710598, + 0.9976688027381897, + -0.037056814879179, + -0.2790783017711795 + ], + [ + 0.10453344881534576, + 0.04290969297289848, + 0.9935952425003052, + 1.5768161055042549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.05341807007789612, + -0.10717276483774185, + 0.19026375343834145 + ], + [ + -0.057733550667762756, + 0.9976246953010559, + -0.03757424280047417, + -0.2848814822193505 + ], + [ + 0.10491105169057846, + 0.043491337448358536, + 0.9935301542282104, + 1.606006242075692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.05403519049286842, + -0.10786052793264389, + 0.19345504753831505 + ], + [ + -0.058432359248399734, + 0.9975667595863342, + -0.038029588758945465, + -0.2891124226314866 + ], + [ + 0.10554314404726028, + 0.04405438154935837, + 0.9934384226799011, + 1.6274293162504545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.05464387312531471, + -0.10854977369308472, + 0.19710496692841756 + ], + [ + -0.05914818122982979, + 0.9974981546401978, + -0.03871600702404976, + -0.29303656031112163 + ], + [ + 0.10616260766983032, + 0.044849563390016556, + 0.9933367967605591, + 1.649520992772015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104919, + 0.055205896496772766, + -0.10924900323152542, + 0.19964012006918588 + ], + [ + -0.05983088165521622, + 0.9974260330200195, + -0.03951676934957504, + -0.29385217155019444 + ], + [ + 0.10678624361753464, + 0.04575607180595398, + 0.9932286143302917, + 1.6723906514545281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960815, + 0.055440112948417664, + -0.11026956140995026, + 0.2019299686242993 + ], + [ + -0.06019476801156998, + 0.9973742365837097, + -0.040264926850795746, + -0.2958587246456584 + ], + [ + 0.10774771869182587, + 0.04659472405910492, + 0.9930858016014099, + 1.695925127264958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.05556797608733177, + -0.11152978241443634, + 0.20448648941113753 + ], + [ + -0.060452621430158615, + 0.997332751750946, + -0.04090125858783722, + -0.2977786651502053 + ], + [ + 0.10895949602127075, + 0.04732475429773331, + 0.9929190278053284, + 1.7184947005504572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.05580789968371391, + -0.11278221756219864, + 0.20580898523330687 + ], + [ + -0.06084806099534035, + 0.9972735047340393, + -0.04174994304776192, + -0.2973998016637305 + ], + [ + 0.11014474183320999, + 0.048280660063028336, + 0.9927422404289246, + 1.7440763445004173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.05638560280203819, + -0.11364457756280899, + 0.20629887353394918 + ], + [ + -0.06155562028288841, + 0.9971981048583984, + -0.04250660911202431, + -0.29690387935562124 + ], + [ + 0.11092939227819443, + 0.049158621579408646, + 0.9926117658615112, + 1.7659508296652981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.056514594703912735, + -0.11532508581876755, + 0.21081974811600027 + ], + [ + -0.06184430792927742, + 0.997151792049408, + -0.043169595301151276, + -0.2986027040667292 + ], + [ + 0.11255689710378647, + 0.04994429647922516, + 0.9923893213272095, + 1.7940836972588503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883301, + 0.05669296160340309, + -0.11660850048065186, + 0.21156412902949512 + ], + [ + -0.06215563789010048, + 0.9971069693565369, + -0.04375331848859787, + -0.30066663364245405 + ], + [ + 0.11379064619541168, + 0.05063185095787048, + 0.9922137260437012, + 1.8173037729617478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.991384744644165, + 0.056886229664087296, + -0.11798398196697235, + 0.2130550472488726 + ], + [ + -0.06248658522963524, + 0.9970611929893494, + -0.04432125762104988, + -0.30370641823696054 + ], + [ + 0.11511598527431488, + 0.051311831921339035, + 0.9920259118080139, + 1.840589676991753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.05660528689622879, + -0.119034044444561, + 0.21531561679310268 + ], + [ + -0.06231111288070679, + 0.9970521926879883, + -0.04476906359195709, + -0.3043803346329841 + ], + [ + 0.11614898592233658, + 0.051795609295368195, + 0.9918803572654724, + 1.8622764504510136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.056857626885175705, + -0.1202438473701477, + 0.2180957731993302 + ], + [ + -0.0626719743013382, + 0.9970130324363708, + -0.04513602331280708, + -0.30751981013926905 + ], + [ + 0.11731836199760437, + 0.05227090045809746, + 0.9917177557945251, + 1.8836367668449014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050659, + 0.056953731924295425, + -0.12157700955867767, + 0.2201317768022058 + ], + [ + -0.06287131458520889, + 0.9969883561134338, + -0.045402612537145615, + -0.31188829939650453 + ], + [ + 0.11862501502037048, + 0.05263527110219002, + 0.9915430545806885, + 1.906457567056596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.057227157056331635, + -0.12260593473911285, + 0.2229484927971006 + ], + [ + -0.06325745582580566, + 0.9969426989555359, + -0.04586687684059143, + -0.31759740750570803 + ], + [ + 0.11960625648498535, + 0.05320082604885101, + 0.9913949966430664, + 1.9292594240483454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.057410165667533875, + -0.12272951006889343, + 0.22406911500122234 + ], + [ + -0.06350911408662796, + 0.9969033598899841, + -0.046370767056941986, + -0.3251965771874656 + ], + [ + 0.11968730390071869, + 0.0537375882267952, + 0.9913562536239624, + 1.9575136116665341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207703, + 0.05768294632434845, + -0.12312536686658859, + 0.22503582872630318 + ], + [ + -0.06386278569698334, + 0.996858537197113, + -0.046846337616443634, + -0.33317446750431245 + ], + [ + 0.12003634124994278, + 0.05427441745996475, + 0.9912847876548767, + 1.9869089553105659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090942, + 0.05768069997429848, + -0.12416577339172363, + 0.22730273503612206 + ], + [ + -0.06397093832492828, + 0.9968311190605164, + -0.047280725091695786, + -0.33896102702991976 + ], + [ + 0.12104511260986328, + 0.05477851256728172, + 0.9911344051361084, + 2.0108556874132386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.0577319972217083, + -0.12539252638816833, + 0.22915665727594625 + ], + [ + -0.0641416609287262, + 0.9968005418777466, + -0.047692522406578064, + -0.3441861615664717 + ], + [ + 0.12223795056343079, + 0.055278800427913666, + 0.9909602403640747, + 2.0308423862941023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.99030601978302, + 0.057792238891124725, + -0.12630952894687653, + 0.230950601434938 + ], + [ + -0.06430143117904663, + 0.9967718124389648, + -0.04807570204138756, + -0.3492850070990226 + ], + [ + 0.12312337756156921, + 0.05573153868317604, + 0.9908252358436584, + 2.0491477307922024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.05827495828270912, + -0.12711413204669952, + 0.23425273643311673 + ], + [ + -0.06489454954862595, + 0.9967094659805298, + -0.0485684797167778, + -0.3575599245187165 + ], + [ + 0.1238655298948288, + 0.056340292096138, + 0.9906982779502869, + 2.0734871209099675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.05892390012741089, + -0.12688769400119781, + 0.23547576138938683 + ], + [ + -0.06566489487886429, + 0.9966076612472534, + -0.04961153492331505, + -0.36605928813417754 + ], + [ + 0.1235339492559433, + 0.05745569244027138, + 0.9906756281852722, + 2.1062140116441075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.05929175019264221, + -0.12595173716545105, + 0.2335499070836726 + ], + [ + -0.0661093145608902, + 0.9965258836746216, + -0.05065302550792694, + -0.3750337023090049 + ], + [ + 0.1225108653306961, + 0.058486394584178925, + 0.9907423853874207, + 2.1403114170843853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745667, + 0.059524666517972946, + -0.12573575973510742, + 0.23387595842713896 + ], + [ + -0.06645040959119797, + 0.9964534640312195, + -0.051621828228235245, + -0.3793207578576993 + ], + [ + 0.12221705913543701, + 0.059475068002939224, + 0.9907197952270508, + 2.1631021476022285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.05937908962368965, + -0.12627269327640533, + 0.2363298457601796 + ], + [ + -0.06646739691495895, + 0.9963969588279724, + -0.052679553627967834, + -0.3824599835535754 + ], + [ + 0.12268966436386108, + 0.06055719405412674, + 0.990595817565918, + 2.1835596120875813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.05880853533744812, + -0.12696921825408936, + 0.23985328890275265 + ], + [ + -0.06609850376844406, + 0.9963517189025879, + -0.053983353078365326, + -0.3831889565332212 + ], + [ + 0.12333131581544876, + 0.061844728887081146, + 0.9904365539550781, + 2.1994971574612574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426636, + 0.05833970755338669, + -0.12718528509140015, + 0.24300623734792073 + ], + [ + -0.06584563106298447, + 0.996277928352356, + -0.05562962591648102, + -0.38654777771896787 + ], + [ + 0.12346646934747696, + 0.06345692276954651, + 0.9903177618980408, + 2.222658352388276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.05792372673749924, + -0.1272106170654297, + 0.24563785074413685 + ], + [ + -0.06563419103622437, + 0.9961984753608704, + -0.05727764964103699, + -0.3902099943679312 + ], + [ + 0.12340929359197617, + 0.06506472080945969, + 0.9902205467224121, + 2.2473764934077645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737793, + 0.057315584272146225, + -0.12720833718776703, + 0.24843328292819036 + ], + [ + -0.06527245044708252, + 0.9961047768592834, + -0.059285953640937805, + -0.3935262098692466 + ], + [ + 0.12331482023000717, + 0.06700925529003143, + 0.9901026487350464, + 2.2688656515905246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.05588507652282715, + -0.1276361644268036, + 0.25099295780854525 + ], + [ + -0.0641215369105339, + 0.9960540533065796, + -0.0613580048084259, + -0.3963954798013404 + ], + [ + 0.12370351701974869, + 0.06894370913505554, + 0.9899213314056396, + 2.2928867253524383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.0548248253762722, + -0.12863613665103912, + 0.2543403746425242 + ], + [ + -0.06343141198158264, + 0.9959454536437988, + -0.06378985196352005, + -0.39922886007074 + ], + [ + 0.12461730092763901, + 0.07132270187139511, + 0.989638090133667, + 2.3220482739849366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.053719863295555115, + -0.12976527214050293, + 0.2581647772287977 + ], + [ + -0.06270050257444382, + 0.9958384037017822, + -0.06614049524068832, + -0.4047888398710368 + ], + [ + 0.12567219138145447, + 0.07362129539251328, + 0.989336371421814, + 2.344062853017867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.05248437449336052, + -0.13104473054409027, + 0.26126571556796196 + ], + [ + -0.061909448355436325, + 0.9956997632980347, + -0.0689140185713768, + -0.4078898527016098 + ], + [ + 0.12686429917812347, + 0.07633683830499649, + 0.9889783263206482, + 2.3621956252677427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843079, + 0.05237596482038498, + -0.13493402302265167, + 0.2656253378028455 + ], + [ + -0.06240969896316528, + 0.9955052733421326, + -0.071234330534935, + -0.41541134300439253 + ], + [ + 0.1305965632200241, + 0.0789053738117218, + 0.9882906675338745, + 2.3848043198818747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522095, + 0.05332467332482338, + -0.1399105042219162, + 0.2687523069876979 + ], + [ + -0.06403107196092606, + 0.9952618479728699, + -0.07316998392343521, + -0.4220482867553038 + ], + [ + 0.13534583151340485, + 0.08130376785993576, + 0.9874569177627563, + 2.4123490405255468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.054061491042375565, + -0.14517661929130554, + 0.271224384031434 + ], + [ + -0.06544817984104156, + 0.9950457811355591, + -0.07483583688735962, + -0.42933385249065315 + ], + [ + 0.1404116451740265, + 0.08343394100666046, + 0.9865714907646179, + 2.4383423779465727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.987076461315155, + 0.0547633096575737, + -0.1506020873785019, + 0.27615016482878424 + ], + [ + -0.0668073445558548, + 0.9948588609695435, + -0.07610917091369629, + -0.43676080457542255 + ], + [ + 0.14565981924533844, + 0.0851868987083435, + 0.9856603741645813, + 2.46581181689449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369446, + 0.05539267137646675, + -0.15587709844112396, + 0.2798589120452531 + ], + [ + -0.06803636997938156, + 0.9947085976600647, + -0.07697989046573639, + -0.44480939677732 + ], + [ + 0.15078817307949066, + 0.08652457594871521, + 0.984772264957428, + 2.4949805273597945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.05654771998524666, + -0.16042619943618774, + 0.27912828385254035 + ], + [ + -0.06978537887334824, + 0.9944988489151001, + -0.07811526954174042, + -0.4518955064856488 + ], + [ + 0.1551264226436615, + 0.08817227184772491, + 0.9839519262313843, + 2.5267008614424924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.05731608718633652, + -0.1653514951467514, + 0.2822216533232426 + ], + [ + -0.07116874307394028, + 0.9943227767944336, + -0.07910280674695969, + -0.4592990813155969 + ], + [ + 0.1598788946866989, + 0.08964993804693222, + 0.9830572605133057, + 2.559409609415393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203186, + 0.05830130726099014, + -0.17005771398544312, + 0.28227761527478407 + ], + [ + -0.07271014899015427, + 0.9941582679748535, + -0.07976603507995605, + -0.4661922735796458 + ], + [ + 0.16441380977630615, + 0.09083139896392822, + 0.9822004437446594, + 2.590225679171834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231812, + 0.059048935770988464, + -0.17392559349536896, + 0.2833881381485197 + ], + [ + -0.07392840087413788, + 0.994021475315094, + -0.08034893125295639, + -0.4708071222699783 + ], + [ + 0.16814126074314117, + 0.0918399766087532, + 0.9814754128456116, + 2.610205222464702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.05997278913855553, + -0.1776111125946045, + 0.2828083941470022 + ], + [ + -0.07530439645051956, + 0.9938756823539734, + -0.08087261766195297, + -0.4748346164174702 + ], + [ + 0.17167320847511292, + 0.09281376749277115, + 0.980772078037262, + 2.628554298048434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9814273118972778, + 0.06035880371928215, + -0.1820913553237915, + 0.28346843281805806 + ], + [ + -0.07624726742506027, + 0.9937483668327332, + -0.08155074715614319, + -0.47681866462032 + ], + [ + 0.176030695438385, + 0.09392009675502777, + 0.9798939824104309, + 2.6517436620981796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.06067194044589996, + -0.1858394593000412, + 0.282213579773327 + ], + [ + -0.07698187232017517, + 0.9936681389808655, + -0.08183809369802475, + -0.47960270286182277 + ], + [ + 0.17969746887683868, + 0.09456530958414078, + 0.9791660904884338, + 2.6764502524609726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.060976918786764145, + -0.1892092227935791, + 0.279786012051762 + ], + [ + -0.07769296318292618, + 0.993581235408783, + -0.08222018927335739, + -0.4809011104422203 + ], + [ + 0.1829811930656433, + 0.09527943283319473, + 0.9784885048866272, + 2.7019971984884013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.06127164885401726, + -0.19245612621307373, + 0.2775786665614676 + ], + [ + -0.07838138937950134, + 0.9934974312782288, + -0.08257880806922913, + -0.482731605871864 + ], + [ + 0.18614491820335388, + 0.09596189856529236, + 0.9778248071670532, + 2.7267266250462923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.061485253274440765, + -0.19572097063064575, + 0.27553048022991217 + ], + [ + -0.07894695550203323, + 0.993442714214325, + -0.08269782364368439, + -0.4846512184086917 + ], + [ + 0.1893528699874878, + 0.09639042615890503, + 0.9771665334701538, + 2.7533681560253753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466797, + 0.06129567325115204, + -0.1988966017961502, + 0.27224702761656994 + ], + [ + -0.0791025459766388, + 0.9934178590774536, + -0.08284769207239151, + -0.4857399937899216 + ], + [ + 0.1925092190504074, + 0.09676670283079147, + 0.9765123724937439, + 2.779342372564302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369446, + 0.06093064695596695, + -0.20226755738258362, + 0.27092166907257503 + ], + [ + -0.07907367497682571, + 0.9934192895889282, + -0.08285827934741974, + -0.48783716600802207 + ], + [ + 0.19588789343833923, + 0.0969824492931366, + 0.9758188128471375, + 2.8022480458021164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.06066565960645676, + -0.20522147417068481, + 0.2678110785386413 + ], + [ + -0.07907991856336594, + 0.9934282898902893, + -0.08274444192647934, + -0.49028666400967014 + ], + [ + 0.19885307550430298, + 0.09705644100904465, + 0.975211501121521, + 2.825125467258951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144165, + 0.06033633276820183, + -0.20836029946804047, + 0.26527993290320684 + ], + [ + -0.07910490781068802, + 0.9934094548225403, + -0.08294612914323807, + -0.49145775427636895 + ], + [ + 0.20198242366313934, + 0.09745343774557114, + 0.9745285511016846, + 2.8467752559677413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.059833720326423645, + -0.21154259145259857, + 0.26189713260689795 + ], + [ + -0.07898080348968506, + 0.9933942556381226, + -0.08324616402387619, + -0.49632458969014853 + ], + [ + 0.20516426861286163, + 0.09791740030050278, + 0.9738171100616455, + 2.873205154399941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110168, + 0.05969397351145744, + -0.21430684626102448, + 0.2559230817400891 + ], + [ + -0.0791357010602951, + 0.9933764934539795, + -0.0833105593919754, + -0.5031811820496108 + ], + [ + 0.20791424810886383, + 0.09818217158317566, + 0.9732070565223694, + 2.9075702816895816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593933, + 0.05944196879863739, + -0.21671272814273834, + 0.2507414385892343 + ], + [ + -0.07909855246543884, + 0.9933903217315674, + -0.08318135142326355, + -0.5111028336096501 + ], + [ + 0.2103358656167984, + 0.09819556772708893, + 0.9726851582527161, + 2.9389440434566443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.058851227164268494, + -0.21915973722934723, + 0.24773885057744197 + ], + [ + -0.07869853079319, + 0.9934410452842712, + -0.08295436948537827, + -0.5174705044154959 + ], + [ + 0.21284030377864838, + 0.09803784638643265, + 0.9721561670303345, + 2.9636106421334154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.05818653479218483, + -0.22223085165023804, + 0.24261411224010487 + ], + [ + -0.07834260910749435, + 0.9934669137001038, + -0.08298145979642868, + -0.5227834782954576 + ], + [ + 0.215950608253479, + 0.0981723740696907, + 0.9714564085006714, + 2.986531520811256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213623, + 0.05766924470663071, + -0.2253682017326355, + 0.23954713668512262 + ], + [ + -0.07813214510679245, + 0.9934858679771423, + -0.0829533264040947, + -0.5276497891739659 + ], + [ + 0.21911627054214478, + 0.09828604012727737, + 0.9707357883453369, + 3.008816632758016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.057415418326854706, + -0.22761432826519012, + 0.23499921845353167 + ], + [ + -0.07807713001966476, + 0.9935004711151123, + -0.0828295350074768, + -0.5323616534759457 + ], + [ + 0.22137926518917084, + 0.09828652441501617, + 0.9702221155166626, + 3.0361052043484027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.05730113014578819, + -0.22992579638957977, + 0.23024912797598449 + ], + [ + -0.078162781894207, + 0.9935072064399719, + -0.08266843855381012, + -0.5369370005089016 + ], + [ + 0.22369594871997833, + 0.09828566014766693, + 0.9696906805038452, + 3.0632160990206514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.05694998428225517, + -0.23235954344272614, + 0.22688267295775205 + ], + [ + -0.07798706740140915, + 0.9935455918312073, + -0.08237241953611374, + -0.5410205183469731 + ], + [ + 0.2261686772108078, + 0.09810145944356918, + 0.9691356420516968, + 3.089458727447883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895203, + 0.05675526708364487, + -0.23478682339191437, + 0.22367426531326368 + ], + [ + -0.07792828232049942, + 0.9935891628265381, + -0.08190110325813293, + -0.5454915563949352 + ], + [ + 0.2286333292722702, + 0.09777243435382843, + 0.9685903787612915, + 3.114437485237916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.05637229606509209, + -0.23729684948921204, + 0.21940430742531009 + ], + [ + -0.07773470878601074, + 0.9936253428459167, + -0.08164539188146591, + -0.5474805505379386 + ], + [ + 0.23118162155151367, + 0.09762591868638992, + 0.9680001139640808, + 3.1384689298804833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.05617370456457138, + -0.2397782802581787, + 0.21574499131976693 + ], + [ + -0.07768621295690536, + 0.9936636686325073, + -0.08122420310974121, + -0.5501194466823253 + ], + [ + 0.23369631171226501, + 0.09735006093978882, + 0.9674239158630371, + 3.1620289122280867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.055995550006628036, + -0.24177876114845276, + 0.2122723894994616 + ], + [ + -0.07760753482580185, + 0.9937041401863098, + -0.08080331981182098, + -0.551411958096396 + ], + [ + 0.23573192954063416, + 0.09703919291496277, + 0.966961145401001, + 3.1859372236590455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.05594528466463089, + -0.2439797818660736, + 0.21019846886252436 + ], + [ + -0.07771814614534378, + 0.993716835975647, + -0.08054044842720032, + -0.5518274290082248 + ], + [ + 0.2379409670829773, + 0.0969381183385849, + 0.9664300680160522, + 3.2083273526263123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.05580248683691025, + -0.24629436433315277, + 0.20739867821119834 + ], + [ + -0.0776672288775444, + 0.9937672019004822, + -0.07996585220098495, + -0.5526691316262535 + ], + [ + 0.24029697477817535, + 0.09650293737649918, + 0.9658905267715454, + 3.235139970071074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.05563151091337204, + -0.24823328852653503, + 0.2041354332857086 + ], + [ + -0.07759416848421097, + 0.9938037991523743, + -0.07958091795444489, + -0.5522699433428366 + ], + [ + 0.24226799607276917, + 0.09622427821159363, + 0.9654258489608765, + 3.2627793749893343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.05556565523147583, + -0.2503349483013153, + 0.20116609013886844 + ], + [ + -0.07766281068325043, + 0.9938234686851501, + -0.07926815003156662, + -0.5527543172312244 + ], + [ + 0.24438415467739105, + 0.0960594043135643, + 0.96490877866745, + 3.2921731578699056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331543, + 0.055650923401117325, + -0.25194427371025085, + 0.19661541801431903 + ], + [ + -0.07778523862361908, + 0.9938544631004333, + -0.0787576287984848, + -0.5547767271814139 + ], + [ + 0.24601300060749054, + 0.09568846225738525, + 0.964531660079956, + 3.3254081681370735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9657927751541138, + 0.05547826737165451, + -0.2533111274242401, + 0.19702011689471738 + ], + [ + -0.07760594040155411, + 0.9939119219779968, + -0.07820715755224228, + -0.5581444974394812 + ], + [ + 0.24743016064167023, + 0.09519035369157791, + 0.9642183780670166, + 3.3514942609745524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.0552566796541214, + -0.2548043131828308, + 0.19686367372095873 + ], + [ + -0.07743817567825317, + 0.9939528703689575, + -0.07785289734601974, + -0.5619152487476091 + ], + [ + 0.24896156787872314, + 0.0948917493224144, + 0.9638535380363464, + 3.3770044435625493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.05507858842611313, + -0.2566186487674713, + 0.1926875690619151 + ], + [ + -0.07726442068815231, + 0.9940186142921448, + -0.07718280702829361, + -0.571410226325194 + ], + [ + 0.25083258748054504, + 0.09430443495512009, + 0.9634259939193726, + 3.4122476279735565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.05527655780315399, + -0.2580374479293823, + 0.19101885960297885 + ], + [ + -0.07742083072662354, + 0.9940627813339233, + -0.07645430415868759, + -0.5779131188484782 + ], + [ + 0.25227928161621094, + 0.0937216505408287, + 0.9631050825119019, + 3.442315715983294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.05503677949309349, + -0.25930270552635193, + 0.19248130953542275 + ], + [ + -0.07715117931365967, + 0.9941272139549255, + -0.07588686794042587, + -0.5838421430564733 + ], + [ + 0.2536033093929291, + 0.09317765384912491, + 0.9628100991249084, + 3.4629577026850935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.05455490201711655, + -0.261565238237381, + 0.19250479262808096 + ], + [ + -0.07691413909196854, + 0.9941357970237732, + -0.07601457834243774, + -0.5885635710172895 + ], + [ + 0.2558843791484833, + 0.09336896240711212, + 0.9621878266334534, + 3.4846286542605664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.05448383092880249, + -0.26366376876831055, + 0.19004376235503506 + ], + [ + -0.07698395848274231, + 0.9941495060920715, + -0.07576405256986618, + -0.5947833001613617 + ], + [ + 0.25799328088760376, + 0.09326431900262833, + 0.9616346955299377, + 3.5125275060750436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.054300591349601746, + -0.26555365324020386, + 0.18705156133082754 + ], + [ + -0.07693955302238464, + 0.9941655397415161, + -0.07559902220964432, + -0.5993156065831438 + ], + [ + 0.25989919900894165, + 0.09320060163736343, + 0.961127519607544, + 3.5393116870076184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.05426902323961258, + -0.26760292053222656, + 0.18228448681209397 + ], + [ + -0.07695553451776505, + 0.9942078590393066, + -0.07502353191375732, + -0.6057480946831081 + ], + [ + 0.2619814872741699, + 0.09276615083217621, + 0.9606040716171265, + 3.566719376522562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385254, + 0.05424545332789421, + -0.2696676552295685, + 0.18032938439920904 + ], + [ + -0.07697233557701111, + 0.9942517280578613, + -0.07442289590835571, + -0.6109502369510955 + ], + [ + 0.2640804350376129, + 0.09230893850326538, + 0.9600732326507568, + 3.589447465567773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.054182346910238266, + -0.271187961101532, + 0.17871079080634647 + ], + [ + -0.07690270245075226, + 0.994299054145813, + -0.07386042177677155, + -0.6144053666631957 + ], + [ + 0.2656400203704834, + 0.09183496236801147, + 0.9596883654594421, + 3.6088498410395378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.05410146713256836, + -0.2730526030063629, + 0.1761094461100689 + ], + [ + -0.07685604691505432, + 0.9943419098854065, + -0.07333048433065414, + -0.6175545008718104 + ], + [ + 0.2675403654575348, + 0.09141796082258224, + 0.9592001438140869, + 3.628499174679535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.05412323772907257, + -0.27488309144973755, + 0.17219631998003393 + ], + [ + -0.07691517472267151, + 0.9943750500679016, + -0.07281702756881714, + -0.6203653271071576 + ], + [ + 0.26939576864242554, + 0.09104360640048981, + 0.9587163329124451, + 3.6515419733121197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.05441459268331528, + -0.27645784616470337, + 0.16836961434371228 + ], + [ + -0.07721234112977982, + 0.9943932890892029, + -0.07225161790847778, + -0.621373495635923 + ], + [ + 0.27097630500793457, + 0.09067025780677795, + 0.9583061933517456, + 3.6743159631600126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.05442676320672035, + -0.27808061242103577, + 0.1633742665467055 + ], + [ + -0.07716385275125504, + 0.9944530129432678, + -0.07147712260484695, + -0.623125028890976 + ], + [ + 0.27264782786369324, + 0.09000537544488907, + 0.9578946828842163, + 3.6988664239213085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.0546671599149704, + -0.27929654717445374, + 0.16077141628605157 + ], + [ + -0.07736720144748688, + 0.9944784045219421, + -0.07090158760547638, + -0.6234001803441324 + ], + [ + 0.2738783657550812, + 0.08957801759243011, + 0.9575836658477783, + 3.718009753834798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036621, + 0.05478096380829811, + -0.2804670035839081, + 0.15764843248514737 + ], + [ + -0.07741895318031311, + 0.9945188164710999, + -0.07027500122785568, + -0.6245063121192121 + ], + [ + 0.27507999539375305, + 0.08905792981386185, + 0.9572876691818237, + 3.739992192056444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + 0.054798856377601624, + -0.28176894783973694, + 0.1546570236268251 + ], + [ + -0.07735580205917358, + 0.994574248790741, + -0.06955641508102417, + -0.6257017526937567 + ], + [ + 0.27642855048179626, + 0.08842568099498749, + 0.9569577574729919, + 3.7635456700687824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957690954208374, + 0.05480252578854561, + -0.2825327515602112, + 0.15265439874020176 + ], + [ + -0.07718496024608612, + 0.9946470260620117, + -0.06870059669017792, + -0.6266350854854077 + ], + [ + 0.27725541591644287, + 0.08760121464729309, + 0.9567943811416626, + 3.7823292689622887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + 0.05489902198314667, + -0.28313228487968445, + 0.14981765533990904 + ], + [ + -0.07708007097244263, + 0.9947170615196228, + -0.06779806315898895, + -0.6278523798438086 + ], + [ + 0.27791449427604675, + 0.08674106001853943, + 0.956681489944458, + 3.8013056661339775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + 0.05495430529117584, + -0.2836253345012665, + 0.14872452474158743 + ], + [ + -0.07694832980632782, + 0.9947821497917175, + -0.06698848307132721, + -0.6292427868946738 + ], + [ + 0.27846410870552063, + 0.08595654368400574, + 0.9565925002098083, + 3.8175869964171145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + 0.05482164025306702, + -0.28396886587142944, + 0.14685637648554817 + ], + [ + -0.07667873799800873, + 0.9948406219482422, + -0.06642657518386841, + -0.6313211181529478 + ], + [ + 0.2788621783256531, + 0.08536221086978912, + 0.9565297365188599, + 3.8363147440451932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + 0.05451071634888649, + -0.28361597657203674, + 0.1442912799940593 + ], + [ + -0.07610487937927246, + 0.9949344396591187, + -0.06567774713039398, + -0.6361241560627297 + ], + [ + 0.27859917283058167, + 0.08446359634399414, + 0.9566861391067505, + 3.856886653019034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + 0.05444630980491638, + -0.2821049094200134, + 0.13768173523139263 + ], + [ + -0.07572971284389496, + 0.9950015544891357, + -0.06509134918451309, + -0.6413719488874726 + ], + [ + 0.27715086936950684, + 0.08371064811944962, + 0.9571728706359863, + 3.8817322306011035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831482, + 0.05394670367240906, + -0.28049367666244507, + 0.13212304466948419 + ], + [ + -0.07479287683963776, + 0.9951337575912476, + -0.06414662301540375, + -0.646148361445625 + ], + [ + 0.27566826343536377, + 0.08245311677455902, + 0.9577100276947021, + 3.906410679149167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + 0.05324147269129753, + -0.2794390916824341, + 0.1299581163459354 + ], + [ + -0.07379191368818283, + 0.9952476024627686, + -0.06353743374347687, + -0.6480672161612245 + ], + [ + 0.2747282385826111, + 0.0815327912569046, + 0.9580588936805725, + 3.9236132734351687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + 0.051856137812137604, + -0.2777705788612366, + 0.12687628567218778 + ], + [ + -0.07208303362131119, + 0.9954005479812622, + -0.06310169398784637, + -0.6495701663520025 + ], + [ + 0.2732207775115967, + 0.08055263757705688, + 0.9585727453231812, + 3.9417230336562445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + 0.0506301149725914, + -0.2760399878025055, + 0.12336408286422923 + ], + [ + -0.07061650604009628, + 0.9955155253410339, + -0.06294553726911545, + -0.6532861459406389 + ], + [ + 0.2716151773929596, + 0.0799088403582573, + 0.9590827822685242, + 3.962853909676202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.96030193567276, + 0.04935877025127411, + -0.2745613157749176, + 0.12001805194982008 + ], + [ + -0.06914079934358597, + 0.9956258535385132, + -0.06283906102180481, + -0.6590401291415311 + ], + [ + 0.27025869488716125, + 0.07932786643505096, + 0.9595141410827637, + 3.985863589837355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + 0.04836207628250122, + -0.27322474122047424, + 0.11679414832505627 + ], + [ + -0.0679871141910553, + 0.9957066774368286, + -0.06281670182943344, + -0.6646812642398088 + ], + [ + 0.26901373267173767, + 0.07892588526010513, + 0.9598970413208008, + 4.009583706657092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + 0.04748312756419182, + -0.2717622220516205, + 0.1113273845958537 + ], + [ + -0.06693345308303833, + 0.9957822561264038, + -0.062749944627285, + -0.6690481636835182 + ], + [ + 0.2676364481449127, + 0.07850474864244461, + 0.9603164792060852, + 4.034921838667081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + 0.04646202176809311, + -0.2711964547634125, + 0.1104362487109099 + ], + [ + -0.06578322499990463, + 0.9958690404891968, + -0.06258944422006607, + -0.6712092868263883 + ], + [ + 0.2671681344509125, + 0.07801380008459091, + 0.960486888885498, + 4.055120142257732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + 0.045255862176418304, + -0.27137717604637146, + 0.11097577191565347 + ], + [ + -0.06457062810659409, + 0.9959434866905212, + -0.06266727298498154, + -0.6715760974780373 + ], + [ + 0.2674402892589569, + 0.07777184993028641, + 0.9604307413101196, + 4.070726066050322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + 0.04425545781850815, + -0.27161306142807007, + 0.11162813189237014 + ], + [ + -0.06356251984834671, + 0.996006429195404, + -0.06269785761833191, + -0.6721026151400545 + ], + [ + 0.26775360107421875, + 0.07754141092300415, + 0.9603620767593384, + 4.086181594553777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137024, + 0.04343560338020325, + -0.27187371253967285, + 0.1093496386555658 + ], + [ + -0.06280545145273209, + 0.9960384964942932, + -0.06295064836740494, + -0.6742401003909572 + ], + [ + 0.26806241273880005, + 0.0775928869843483, + 0.9602717757225037, + 4.108442952955403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + 0.0429566316306591, + -0.27243807911872864, + 0.10592909960643106 + ], + [ + -0.06239153817296028, + 0.9960565567016602, + -0.06307628005743027, + -0.6768487199331107 + ], + [ + 0.2686541974544525, + 0.07762763649225235, + 0.9601035714149475, + 4.1326710971801175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + 0.0428258553147316, + -0.27385684847831726, + 0.10364827323291037 + ], + [ + -0.062385059893131256, + 0.9960547089576721, + -0.06311217695474625, + -0.6800817741144106 + ], + [ + 0.2700735628604889, + 0.07772379368543625, + 0.9596974849700928, + 4.154016956327042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + 0.042320966720581055, + -0.2761334478855133, + 0.10539580645480594 + ], + [ + -0.06213310360908508, + 0.9960525035858154, + -0.06339507550001144, + -0.6808681587810101 + ], + [ + 0.2723604738712311, + 0.07802816480398178, + 0.9590262770652771, + 4.17058201275298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9593506455421448, + 0.041948169469833374, + -0.2790818512439728, + 0.10552294203552647 + ], + [ + -0.0622078999876976, + 0.9960004687309265, + -0.06413456797599792, + -0.6816939851296121 + ], + [ + 0.275275319814682, + 0.07888863980770111, + 0.9581232070922852, + 4.188506688155989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672668, + 0.04221339896321297, + -0.28228941559791565, + 0.1025948207375508 + ], + [ + -0.06293138861656189, + 0.9959165453910828, + -0.06472941488027573, + -0.683675265038647 + ], + [ + 0.27840426564216614, + 0.0798015370965004, + 0.9571430087089539, + 4.209130197547484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + 0.04263734444975853, + -0.2855720818042755, + 0.10019141937007651 + ], + [ + -0.06376131623983383, + 0.9958407878875732, + -0.06508202850818634, + -0.6883752653564232 + ], + [ + 0.2816093862056732, + 0.08051852881908417, + 0.9561448097229004, + 4.231151279735104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9561680555343628, + 0.04298488050699234, + -0.2896462380886078, + 0.09986460323351017 + ], + [ + -0.0646226555109024, + 0.9957542419433594, + -0.06555493175983429, + -0.6928423018343207 + ], + [ + 0.28559860587120056, + 0.08139924705028534, + 0.9548861980438232, + 4.250223648764085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + 0.043729912489652634, + -0.29404115676879883, + 0.09386043360699778 + ], + [ + -0.06592939049005508, + 0.9956384897232056, + -0.0660100132226944, + -0.6994264073777889 + ], + [ + 0.28987210988998413, + 0.08241178095340729, + 0.953510582447052, + 4.274302497750895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + 0.0449039600789547, + -0.29882144927978516, + 0.08789538383339915 + ], + [ + -0.06760751456022263, + 0.9955217242240906, + -0.06607332825660706, + -0.7068158901148084 + ], + [ + 0.29451632499694824, + 0.08318710327148438, + 0.9520189166069031, + 4.297926390113462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + 0.04573626071214676, + -0.30407699942588806, + 0.08630278868519742 + ], + [ + -0.06917662918567657, + 0.9953680634498596, + -0.06676115840673447, + -0.7125269161618274 + ], + [ + 0.29961511492729187, + 0.0845615342259407, + 0.9503052830696106, + 4.3144970536231995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + 0.04690104350447655, + -0.3095182180404663, + 0.08266097865818779 + ], + [ + -0.07104375958442688, + 0.995207667350769, + -0.06719008833169937, + -0.7179866265127625 + ], + [ + 0.30488359928131104, + 0.08580219000577927, + 0.9485167264938354, + 4.3325671072167475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + 0.047968871891498566, + -0.3154609203338623, + 0.0790926707683554 + ], + [ + -0.07295786589384079, + 0.9950222373008728, + -0.06788142025470734, + -0.7224124680754643 + ], + [ + 0.31063443422317505, + 0.08734829723834991, + 0.9465075731277466, + 4.349580782680696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + 0.049592241644859314, + -0.321349561214447, + 0.07169921130373857 + ], + [ + -0.07538000494241714, + 0.9948128461837769, + -0.06830240786075592, + -0.7272646940380767 + ], + [ + 0.3162953853607178, + 0.08881427347660065, + 0.9444941878318787, + 4.370164055409639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + 0.05142054706811905, + -0.32740122079849243, + 0.05941839433378644 + ], + [ + -0.07800152152776718, + 0.9945921301841736, + -0.06857278943061829, + -0.7336818754673005 + ], + [ + 0.32210463285446167, + 0.09023520350456238, + 0.9423938989639282, + 4.395486667421129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025452, + 0.05312994867563248, + -0.33349865674972534, + 0.04963805195358065 + ], + [ + -0.08051631599664688, + 0.9943738579750061, + -0.06883126497268677, + -0.7384155519522618 + ], + [ + 0.32796531915664673, + 0.09163966774940491, + 0.9402344822883606, + 4.417702881754309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447449, + 0.05505100637674332, + -0.3392639756202698, + 0.03767044843322989 + ], + [ + -0.08324984461069107, + 0.9941285848617554, + -0.06912140548229218, + -0.7436811110895613 + ], + [ + 0.3334668278694153, + 0.09315413236618042, + 0.9381482601165771, + 4.440254880898241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + 0.056866105645895004, + -0.34477248787879944, + 0.03126357468070039 + ], + [ + -0.08590073883533478, + 0.9938753843307495, + -0.06951810419559479, + -0.7465071753531263 + ], + [ + 0.33870765566825867, + 0.09475204348564148, + 0.9361085295677185, + 4.453876559587492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + 0.05871870368719101, + -0.35011130571365356, + 0.027566499371027592 + ], + [ + -0.08866459876298904, + 0.9935908913612366, + -0.07011239975690842, + -0.7475977967182795 + ], + [ + 0.3437504768371582, + 0.09658815711736679, + 0.9340804815292358, + 4.461986909396407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + 0.06015794724225998, + -0.3555920422077179, + 0.01823558114145113 + ], + [ + -0.09096928685903549, + 0.9933510422706604, + -0.07055667787790298, + -0.74906264151568 + ], + [ + 0.34898319840431213, + 0.0981564000248909, + 0.9319742918014526, + 4.476640695203906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684631, + 0.0619707927107811, + -0.3600524961948395, + 0.007824208641397781 + ], + [ + -0.09364401549100876, + 0.9930577278137207, + -0.07118400186300278, + -0.7520018786119954 + ], + [ + 0.35314157605171204, + 0.09997991472482681, + 0.9302123785018921, + 4.490283013973835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611145, + 0.06338736414909363, + -0.363702654838562, + -0.001191320302693727 + ], + [ + -0.09592612087726593, + 0.9927743077278137, + -0.07209227979183197, + -0.7518433168530464 + ], + [ + 0.3565049171447754, + 0.10188797116279602, + 0.9287211894989014, + 4.501146603321684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + 0.0648665502667427, + -0.3670696020126343, + -0.013011923281178964 + ], + [ + -0.0982513502240181, + 0.9924814701080322, + -0.07298734039068222, + -0.753302252292633 + ], + [ + 0.3595753312110901, + 0.10379215329885483, + 0.9273256063461304, + 4.51541282405024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + 0.06604807078838348, + -0.3692636489868164, + -0.024953369731488442 + ], + [ + -0.1001288890838623, + 0.9922275543212891, + -0.07388278841972351, + -0.7540181795180132 + ], + [ + 0.36151373386383057, + 0.10546143352985382, + 0.9263831377029419, + 4.52801816250391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497375, + 0.06692667305469513, + -0.37091943621635437, + -0.03514973706957224 + ], + [ + -0.10174871981143951, + 0.991971492767334, + -0.07509834319353104, + -0.755028745935159 + ], + [ + 0.36291542649269104, + 0.10730043798685074, + 0.9256235957145691, + 4.538033531397437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + 0.06783102452754974, + -0.3719951808452606, + -0.04603545734847801 + ], + [ + -0.10340899229049683, + 0.9916914105415344, + -0.07651642709970474, + -0.7550881517970044 + ], + [ + 0.3637142479419708, + 0.10930296033620834, + 0.9250755906105042, + 4.54794816284076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + 0.06859689950942993, + -0.37209105491638184, + -0.05767118804120787 + ], + [ + -0.10492381453514099, + 0.9913967847824097, + -0.07825186848640442, + -0.7546827520149342 + ], + [ + 0.3635220527648926, + 0.11147567629814148, + 0.9248918294906616, + 4.556345418109986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155823, + 0.06888691335916519, + -0.37176844477653503, + -0.06864655251088349 + ], + [ + -0.10592018812894821, + 0.9911428093910217, + -0.08010508120059967, + -0.7541134253036285 + ], + [ + 0.3629574477672577, + 0.11353635787963867, + 0.9248629212379456, + 4.56439424060681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + 0.0688844546675682, + -0.3706817328929901, + -0.0795120156329611 + ], + [ + -0.1065094843506813, + 0.9909260272979736, + -0.081983782351017, + -0.7529919141660566 + ], + [ + 0.36167076230049133, + 0.11541465669870377, + 0.9251344203948975, + 4.570680677113326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919373, + 0.06798604130744934, + -0.3688313663005829, + -0.09085020612979282 + ], + [ + -0.10605581104755402, + 0.9908124208450317, + -0.08392190933227539, + -0.7526196551999608 + ], + [ + 0.35973718762397766, + 0.11691287159919739, + 0.9257000088691711, + 4.573815207305738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + 0.06787339597940445, + -0.3672087788581848, + -0.09876716165726887 + ], + [ + -0.1064617857336998, + 0.9906037449836731, + -0.08584918081760406, + -0.7557878003316225 + ], + [ + 0.3579314947128296, + 0.11873245239257812, + 0.9261682629585266, + 4.576855320861374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + 0.06783163547515869, + -0.3637774884700775, + -0.11723614533742269 + ], + [ + -0.1069190502166748, + 0.99033123254776, + -0.08838748931884766, + -0.7587532978126968 + ], + [ + 0.3542647659778595, + 0.12100784480571747, + 0.9272829294204712, + 4.591330164195835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + 0.06683541089296341, + -0.35911720991134644, + -0.13826268735715155 + ], + [ + -0.106063611805439, + 0.9902190566062927, + -0.0906459391117096, + -0.7638911616183134 + ], + [ + 0.3495463728904724, + 0.12247122824192047, + 0.9288800358772278, + 4.606215253256369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + 0.06573132425546646, + -0.3542909324169159, + -0.15466151267722034 + ], + [ + -0.10516964644193649, + 0.9900758266448975, + -0.09321601688861847, + -0.7671270856138876 + ], + [ + 0.34464767575263977, + 0.12421461939811707, + 0.9304776787757874, + 4.617144194936407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + 0.06427089124917984, + -0.3495660722255707, + -0.16954245938771012 + ], + [ + -0.10375655442476273, + 0.9900158047676086, + -0.0954112634062767, + -0.7704383010881535 + ], + [ + 0.3399437367916107, + 0.12545111775398254, + 0.9320409297943115, + 4.625928955319999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + 0.06275496631860733, + -0.34453725814819336, + -0.1868413832164617 + ], + [ + -0.10227642208337784, + 0.9899424314498901, + -0.09774190932512283, + -0.7740695759618051 + ], + [ + 0.33493828773498535, + 0.12679022550582886, + 0.9336705207824707, + 4.637045853955734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413025, + 0.060632117092609406, + -0.3402038514614105, + -0.2043800729772319 + ], + [ + -0.10000381618738174, + 0.9900094270706177, + -0.0994013175368309, + -0.7774590872552084 + ], + [ + 0.3307780921459198, + 0.12729936838150024, + 0.935083270072937, + 4.6491160759315395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + 0.05876663327217102, + -0.3360312581062317, + -0.2190631866455078 + ], + [ + -0.09803208708763123, + 0.9900352358818054, + -0.10109375417232513, + -0.7782004207372666 + ], + [ + 0.32674187421798706, + 0.1279715597629547, + 0.9364096522331238, + 4.657526367902756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/orbit_left/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4749b91c050793f31fa37a97a7344e53a0c39a0e --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/orbit_left/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999966020556381, + 0.0022364004980772734, + -0.0013466465238435427, + -5.658290903892498e-05 + ], + [ + -0.0022396347530754712, + 0.9999945759773254, + -0.0024051409934275035, + -0.007238018077630672 + ], + [ + 0.0013412602860670532, + 0.0024081487208604813, + 0.9999961780106437, + 0.02384906857997897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999893773352614, + 0.004063426516950131, + -0.0021704969245818833, + 0.0004131084705614905 + ], + [ + -0.0040729475123397795, + 0.999981999397278, + -0.0044002050413737065, + -0.015717947675299864 + ], + [ + 0.0021525780779452167, + 0.004408998414874078, + 0.9999879610988953, + 0.051493329433137024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999782231780019, + 0.005368742626160383, + -0.003831331422725777, + 0.00010514015700448503 + ], + [ + -0.005393422329732611, + 0.9999645948410034, + -0.006460534035884502, + -0.021754983472569142 + ], + [ + 0.003796511142738666, + 0.0064810579642653465, + 0.9999717729246458, + 0.06996613574305945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999599712280031, + 0.00689054187387228, + -0.005711390009555077, + 0.0032195512230006346 + ], + [ + -0.006938925824842325, + 0.9999398589134216, + -0.008495367755953928, + -0.02740477019465854 + ], + [ + 0.005652508569502424, + 0.008534657768905163, + 0.9999475734509273, + 0.09191745356722539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999441033072435, + 0.007960905320942402, + -0.00695411059383537, + 0.0038047068232225766 + ], + [ + -0.008032821005863123, + 0.9999139308929443, + -0.010375597549615952, + -0.03189524931886482 + ], + [ + 0.006870912097348146, + 0.010430879890918732, + 0.9999219998686689, + 0.11070775366265607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999333155303816, + 0.009428995661437511, + -0.006670354977647818, + 0.0037039786633582235 + ], + [ + -0.009513778101591272, + 0.9998728632926941, + -0.012794925630098, + -0.03777955894385971 + ], + [ + 0.006548863001286333, + 0.012857532128691673, + 0.9998959144915265, + 0.1423054422680964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999355937883483, + 0.00977416057139635, + -0.005769991908737919, + 0.003974461431167557 + ], + [ + -0.009858859415663277, + 0.9998413324356079, + -0.01483784159397709, + -0.04384184190242419 + ], + [ + 0.005624048403521239, + 0.014893772080540657, + 0.9998732641510882, + 0.17436480805230775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999300320708145, + 0.01059537474066019, + -0.00525755241670114, + 0.004138878649482617 + ], + [ + -0.010681852870245786, + 0.9998034238815308, + -0.016702288003921272, + -0.04958523020415794 + ], + [ + 0.005079552133834908, + 0.016757281497120857, + 0.9998466877012138, + 0.20430744086895658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999256211171299, + 0.01089369785040617, + -0.005489871254994828, + 0.00704643716040702 + ], + [ + -0.010992596922926555, + 0.999771773815155, + -0.018318787529080043, + -0.05516651555296734 + ], + [ + 0.005289059654436664, + 0.018377771601080894, + 0.9998171129057143, + 0.22861509341287733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999203079665623, + 0.011148378252983093, + -0.005925686742887607, + 0.009401383943374942 + ], + [ + -0.011264730034725749, + 0.9997369647026062, + -0.019978484151651644, + -0.06049026169400337 + ], + [ + 0.005701401028389663, + 0.020043641328811646, + 0.9997828731510388, + 0.25407888964323966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999168111116559, + 0.011119464412331581, + -0.006537807632521699, + 0.010853296243954487 + ], + [ + -0.011259115024574093, + 0.9997005462646484, + -0.021726394195541215, + -0.06314903835343852 + ], + [ + 0.006294264242199898, + 0.02179819531738758, + 0.9997425792618965, + 0.2721365789928392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999913856097064, + 0.011200539767742157, + -0.0068447165797468675, + 0.013194408232577674 + ], + [ + -0.011356463813437329, + 0.9996667504310608, + -0.023182624807951482, + -0.0685654526555375 + ], + [ + 0.00658277782212132, + 0.023258360102772713, + 0.9997077973872447, + 0.2972096197755062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999122787506965, + 0.01118478924036026, + -0.0070909418197489344, + 0.01498551286646431 + ], + [ + -0.011355619630535078, + 0.9996346831321716, + -0.024527210602976027, + -0.0740195512593003 + ], + [ + 0.0068140199541544995, + 0.024605581536889076, + 0.9996740435358663, + 0.32176470547356956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999099232371745, + 0.011243744753301144, + -0.007332700186692381, + 0.019251601821375988 + ], + [ + -0.011428168555756159, + 0.9996066093444824, + -0.02561356985039279, + -0.0813730930724203 + ], + [ + 0.007041824705601706, + 0.025695061311125755, + 0.9996450342365625, + 0.3501668269922292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999060643056101, + 0.01170582789927721, + -0.007127339203660537, + 0.021359496847975612 + ], + [ + -0.011897059047691578, + 0.9995535612106323, + -0.027407233679778587, + -0.08713492847401726 + ], + [ + 0.006803333525589401, + 0.02748945541679859, + 0.9995989188519744, + 0.37753841354323253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999004629024921, + 0.012052183039486408, + -0.007339279939753545, + 0.022955215769682555 + ], + [ + -0.012258425295967114, + 0.9995118379592896, + -0.028736597977842396, + -0.09498474926841276 + ], + [ + 0.006989358530649743, + 0.02882370539009571, + 0.9995600632199542, + 0.40385559701322626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998986553231184, + 0.012399017810821533, + -0.006999011200629402, + 0.02318193294678522 + ], + [ + -0.012599983974760665, + 0.9994871616363525, + -0.02943957571473196, + -0.09796434074753482 + ], + [ + 0.0066304009423877215, + 0.029524778947234154, + 0.9995420802774164, + 0.41581079793282943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998762889511654, + 0.013489429838955402, + -0.00809309987267224, + 0.028030268871014802 + ], + [ + -0.013731654772140582, + 0.999435544013977, + -0.030660732500991102, + -0.10412271328356099 + ], + [ + 0.0076749366028042425, + 0.03076806850731373, + 0.9994970635526158, + 0.43741842219402877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998551676072179, + 0.01389599218964577, + -0.009826371415445258, + 0.03294044311410243 + ], + [ + -0.01420355426081745, + 0.9993883967399599, + -0.03195516520117196, + -0.11395510640741725 + ], + [ + 0.009376313080062789, + 0.03209010511636735, + 0.9994410088020063, + 0.4587111838355432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999793477712589, + 0.01609275303781033, + -0.01240865518146974, + 0.03514159227726842 + ], + [ + -0.016494627199749364, + 0.99931937456131, + -0.03299482329137464, + -0.12244642312118811 + ], + [ + 0.011869229595137764, + 0.03319268301129342, + 0.9993785029875502, + 0.48481501559396256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997153613423124, + 0.018223222345113754, + -0.015399902132610036, + 0.038384238630762346 + ], + [ + -0.018738197071503017, + 0.9992466568946838, + -0.033985116318781476, + -0.12917646608757566 + ], + [ + 0.014768982703021362, + 0.034264009445905685, + 0.999303699750415, + 0.5126855250740531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.99962643564877, + 0.020553000271320346, + -0.018016439863208885, + 0.03946213300374088 + ], + [ + -0.021168368811754473, + 0.999175012111664, + -0.03465819587026559, + -0.13656072684614842 + ], + [ + 0.017289249120911107, + 0.035026624798774726, + 0.999236803251622, + 0.536872504640563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995333367357405, + 0.02236338146030903, + -0.020807831156094154, + 0.040510194893416424 + ], + [ + -0.023085680125822138, + 0.999115526676178, + -0.03514577690877061, + -0.1443099003111628 + ], + [ + 0.020003451390110803, + 0.035609740763902664, + 0.9991655691688675, + 0.5592084586571153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994052193194777, + 0.025196420028805733, + -0.023543578276758015, + 0.04213112114298863 + ], + [ + -0.026036029645550424, + 0.9990102648735046, + -0.03606340087680102, + -0.14926206993810073 + ], + [ + 0.02261160841897443, + 0.03665493428707123, + 0.9990721423014908, + 0.5891739417854328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992585804803025, + 0.027898434549570084, + -0.02653150319500975, + 0.04134545074274369 + ], + [ + -0.028865860097773702, + 0.9989053606987, + -0.03680763273176265, + -0.1533298067524634 + ], + [ + 0.025475585177185178, + 0.03754619508981705, + 0.9989701264878279, + 0.6204376195672623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990796165972224, + 0.03114611655473709, + -0.02949341109224676, + 0.04084438913397505 + ], + [ + -0.03223683610590279, + 0.9987855553627014, + -0.03725827101114418, + -0.15614654271950087 + ], + [ + 0.028297142782971914, + 0.03817475587129593, + 0.998870360020756, + 0.6519546575511143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9989131750862453, + 0.033693261444568634, + -0.03220534995811334, + 0.03975754276491182 + ], + [ + -0.03488125338947032, + 0.9987038373947144, + -0.03706701236810163, + -0.161412695138428 + ], + [ + 0.030914704380829966, + 0.038150086998939514, + 0.9987937010917175, + 0.67833457219024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9987316723431221, + 0.036565959453582764, + -0.03461245993466812, + 0.03819678942538407 + ], + [ + -0.037858522841498245, + 0.9985808730125427, + -0.037455857853742947, + -0.1637803984374482 + ], + [ + 0.03319373193358433, + 0.038718730211257935, + 0.9986986472066275, + 0.6994273381442707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9985737991673339, + 0.03873646631836891, + -0.03674097100928463, + 0.03392329561725235 + ], + [ + -0.04011225874705806, + 0.9984920620918274, + -0.03747845921169876, + -0.1650231136738947 + ], + [ + 0.03523379090808724, + 0.038898766040802, + 0.9986217999276678, + 0.7174741891311852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983927232526255, + 0.040912825614213943, + -0.03921868831548543, + 0.036258078572592965 + ], + [ + -0.042388987565975214, + 0.998394250869751, + -0.03757706421567903, + -0.16641457604223625 + ], + [ + 0.03761833161390237, + 0.039179109036922455, + 0.998523859704358, + 0.7441500743277559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982583431086189, + 0.042488738894462585, + -0.04092590196413819, + 0.03386763197963865 + ], + [ + -0.04402596506773682, + 0.998329222202301, + -0.037422242044213815, + -0.16672857545824665 + ], + [ + 0.03926750821845144, + 0.03915886580944061, + 0.9984611203520393, + 0.7711862642434462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9981302244441739, + 0.044343885034322746, + -0.04206752207569392, + 0.030650742197417487 + ], + [ + -0.045925862293413125, + 0.9982439279556277, + -0.03741555967585524, + -0.16668484461954397 + ], + [ + 0.040334491998454416, + 0.0392775908112526, + 0.9984139721367823, + 0.7929652159697271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9979763143258247, + 0.04596315324306488, + -0.04393878911029825, + 0.03232222750152194 + ], + [ + -0.04762417628832806, + 0.9981598258018494, + -0.03753459338720354, + -0.16617160560031916 + ], + [ + 0.04213272787935246, + 0.03955118730664253, + 0.9983288689287544, + 0.8193584254705683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978765208756528, + 0.0472993478178978, + -0.04478027471407671, + 0.028690647588680167 + ], + [ + -0.048995287314275396, + 0.9980924129486084, + -0.03756394739828307, + -0.16756348139620447 + ], + [ + 0.042918099844416656, + 0.03967820107936859, + 0.9982903794469425, + 0.8396016899993014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9977936899007652, + 0.048210158944129944, + -0.04564614908496884, + 0.0267786478157998 + ], + [ + -0.04993996802969068, + 0.9980462789535522, + -0.03754571189991783, + -0.16775039939920003 + ], + [ + 0.0437468858639026, + 0.03974243998527527, + 0.99825184073683, + 0.8585706781093067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9977138865441724, + 0.04945862293243408, + -0.04605300830723867, + 0.025493619456906882 + ], + [ + -0.05120204098506439, + 0.997984766960144, + -0.03747933759577755, + -0.1686815147345198 + ], + [ + 0.04410652832961664, + 0.03975166380405426, + 0.9982356491252805, + 0.8841102958197716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976426340498612, + 0.04863566905260086, + -0.04841260659797502, + 0.03530903796099758 + ], + [ + -0.050446453412951946, + 0.9980444312095642, + -0.03691136108640626, + -0.17187413469108087 + ], + [ + 0.04652273127463865, + 0.039266593754291534, + 0.9981451636140933, + 0.9174889432203328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975739729229809, + 0.05051748082041742, + -0.04789733725302577, + 0.02670750417225546 + ], + [ + -0.05231723944608932, + 0.9979412555694582, + -0.03709686371311825, + -0.17229659557663957 + ], + [ + 0.04592468720397691, + 0.03951271995902062, + 0.998163132581585, + 0.9307595149284698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.997568614310549, + 0.050298336893320084, + -0.048238037231903175, + 0.025773465514054822 + ], + [ + -0.05211031921830996, + 0.9979529976844788, + -0.037071194974749255, + -0.17649310174507862 + ], + [ + 0.0462746696929305, + 0.03949476033449173, + 0.9981477171330541, + 0.9547847872919931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975125746505392, + 0.051648907363414764, + -0.04796898688643502, + 0.01881355104300418 + ], + [ + -0.05346167634457826, + 0.9978727102279663, + -0.0373087377565846, + -0.18012650193779475 + ], + [ + 0.0459399937407304, + 0.03978043794631958, + 0.9981517959189805, + 0.9688019372151989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975619961336064, + 0.051056209951639175, + -0.04757438080298054, + 0.021991685720904208 + ], + [ + -0.05283143235249291, + 0.9979238510131836, + -0.03683530675431301, + -0.1881072475127018 + ], + [ + 0.04559494241683883, + 0.039258923381567, + 0.9981882532507178, + 0.9955752487223417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976151059557552, + 0.05107952281832695, + -0.04642170651027254, + 0.0188978558639208 + ], + [ + -0.05278852667908137, + 0.9979433417320251, + -0.03636575361233572, + -0.1959743235943698 + ], + [ + 0.04446868850245376, + 0.038729555904865265, + 0.9982597644407495, + 1.0098179767359468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9976174851118051, + 0.05086435005068779, + -0.04660594156514043, + 0.022421326011565282 + ], + [ + -0.052574900107711334, + 0.9979591369628906, + -0.03624216683249464, + -0.2015616808554707 + ], + [ + 0.044667385275575906, + 0.03860612213611603, + 0.9982556694672362, + 1.0351315593904595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9976283019959736, + 0.05030372738838197, + -0.04698185816879514, + 0.027695970830047142 + ], + [ + -0.0520285801457451, + 0.997987747192383, + -0.03624120049384513, + -0.20359709523792466 + ], + [ + 0.04506425379122313, + 0.03859964385628701, + 0.9982380839456622, + 1.0561722738976977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9977231868031445, + 0.049638461321592345, + -0.045655553114228135, + 0.02782468957989375 + ], + [ + -0.05131281919925477, + 0.9980240464210512, + -0.03626312458652986, + -0.2095971319713115 + ], + [ + 0.04376529913939602, + 0.03852327913045884, + 0.9982988318076796, + 1.0835563164643403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.997797482718508, + 0.0496625155210495, + -0.043975035836834014, + 0.02672427034037602 + ], + [ + -0.05128406485290238, + 0.9980151653289795, + -0.03654731255831647, + -0.21449480775324495 + ], + [ + 0.042072719807664055, + 0.03872203081846237, + 0.9983639266977065, + 1.113160750706349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978785146079328, + 0.04925285652279854, + -0.04257560996683437, + 0.027685450576028163 + ], + [ + -0.05080798197569907, + 0.998050332069397, + -0.036249817935284194, + -0.21961492649943012 + ], + [ + 0.04070720263248473, + 0.038336094468832016, + 0.9984354173949038, + 1.1379809775606085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9979407758258454, + 0.04911331832408905, + -0.04125583607389468, + 0.029930726330804187 + ], + [ + -0.05063212673512099, + 0.9980460405349731, + -0.036613375785775996, + -0.2231579750865446 + ], + [ + 0.03937701367467408, + 0.03862684965133667, + 0.9984775269902195, + 1.1678324641654452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9979879714195062, + 0.04902191460132599, + -0.04021016464815734, + 0.03037150032163257 + ], + [ + -0.05050654401795402, + 0.9980463981628418, + -0.036776328851074076, + -0.22515547315805265 + ], + [ + 0.03832876507783651, + 0.038733210414648056, + 0.9985142256787903, + 1.1909000427541587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9980392681809347, + 0.04870024323463441, + -0.03931839546302514, + 0.03211818812330881 + ], + [ + -0.050146514617946954, + 0.9980682730674746, + -0.03667547755533776, + -0.2270635129155392 + ], + [ + 0.03745634281579079, + 0.03857524693012238, + 0.9985534204511277, + 1.2140342322192712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9980825013844816, + 0.048615120351314545, + -0.038313777661005494, + 0.031937041741377264 + ], + [ + -0.05002005400873817, + 0.9980771541595459, + -0.03660558210145891, + -0.2281078469572157 + ], + [ + 0.036460525985775954, + 0.038451842963695526, + 0.9985950280731088, + 1.232459924338736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9981178926665804, + 0.04889291524887085, + -0.03701483331253118, + 0.03269743494742679 + ], + [ + -0.050255309976439726, + 0.9980575442314148, + -0.03681722191701739, + -0.22790719447873817 + ], + [ + 0.035142834038199275, + 0.038608118891716, + 0.9986362611417544, + 1.2541381274807608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9981541235329042, + 0.049080960452556624, + -0.03576865694499353, + 0.03449407786188853 + ], + [ + -0.0504037262324376, + 0.9980407953262331, + -0.03706847161292159, + -0.2276932935617585 + ], + [ + 0.03387921339215628, + 0.03880291804671288, + 0.9986724019825387, + 1.2771097214001825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981756733858357, + 0.04949834570288658, + -0.03457250022786528, + 0.0360946890614752 + ], + [ + -0.05078054407513734, + 0.9980149269104004, + -0.03724974034809178, + -0.22920547807609667 + ], + [ + 0.03266006944928803, + 0.03893739730119705, + 0.998707778091424, + 1.2996574849986597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9982042120815827, + 0.049561630934476866, + -0.03364466808093508, + 0.039085079286319546 + ], + [ + -0.050818566865253566, + 0.9980001449584963, + -0.037592724246533996, + -0.22954383570106898 + ], + [ + 0.031714224600482566, + 0.03923499211668969, + 0.9987265950276053, + 1.3249847068396683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.998225254966484, + 0.04986759275197983, + -0.03255014145604497, + 0.04323941856414569 + ], + [ + -0.05108588304413105, + 0.997981071472168, + -0.037735729390621385, + -0.23188058920041713 + ], + [ + 0.03060263144728663, + 0.03933161124587059, + 0.9987574767544088, + 1.3511656755787649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9982489689791921, + 0.05012756586074829, + -0.03140373499077184, + 0.04705943532457843 + ], + [ + -0.05130859334426329, + 0.9979594945907593, + -0.03800424553132792, + -0.2332762513631928 + ], + [ + 0.02943459839753193, + 0.03954898193478584, + 0.9987840266258469, + 1.3751637596450306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9982518956618156, + 0.05076683312654495, + -0.03026300305974696, + 0.050843667522201375 + ], + [ + -0.051905035263363535, + 0.9979252815246582, + -0.038092678055480694, + -0.2370035561081207 + ], + [ + 0.028266366755112897, + 0.03959688916802406, + 0.9988158402889876, + 1.397077865080974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9982583255080221, + 0.051117971539497375, + -0.029450255064241832, + 0.05489842874596908 + ], + [ + -0.05223682406332193, + 0.9978898167610168, + -0.03856457414048289, + -0.24076060759458562 + ], + [ + 0.027416766575380818, + 0.04003579542040825, + 0.9988220634448848, + 1.4192254481870097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9982537762519088, + 0.05163772404193878, + -0.02868707873541461, + 0.05896474538491392 + ], + [ + -0.05273947324380609, + 0.9978434443473816, + -0.039077347970684906, + -0.24631896910094106 + ], + [ + 0.026607347399625784, + 0.040522053837776184, + 0.9988243321521755, + 1.44773077991001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9982672377787024, + 0.05179730802774429, + -0.027921525861836948, + 0.061464672650217295 + ], + [ + -0.05287992058069031, + 0.9978177547454834, + -0.03954010320068085, + -0.2502862836939649 + ], + [ + 0.025812528540741, + 0.04094807803630829, + 0.9988278149620939, + 1.4741923933823855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.998283102026147, + 0.051831118762493134, + -0.027284477939893522, + 0.06431612517229408 + ], + [ + -0.05289293486615866, + 0.9978086948394775, + -0.03975082767554786, + -0.25594210941499285 + ], + [ + 0.025164369480878603, + 0.04112573340535164, + 0.9988370251874096, + 1.4941481885355847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9983032760130008, + 0.05181632563471794, + -0.026564549641162536, + 0.06826636246519631 + ], + [ + -0.052861371438885765, + 0.9977893233299255, + -0.04027547927060876, + -0.26192923668971846 + ], + [ + 0.02441889688965915, + 0.04161137714982033, + 0.998835432344869, + 1.518052719269643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9982843017212505, + 0.05267321318387985, + -0.025572666178057493, + 0.07102472604869481 + ], + [ + -0.053695491795472186, + 0.997711718082428, + -0.04108633350092848, + -0.26670290850026285 + ], + [ + 0.023349992076228083, + 0.042388979345560074, + 0.9988283011875141, + 1.5452948222085616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982816872794751, + 0.05306332930922508, + -0.024858731646354878, + 0.07470368581590457 + ], + [ + -0.05406757803677948, + 0.9976688027381897, + -0.041637187148967754, + -0.2730181998727726 + ], + [ + 0.02259137719168455, + 0.04290969297289848, + 0.9988234966784942, + 1.5756691364192186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9982831835013845, + 0.05341807007789612, + -0.02402418364538453, + 0.0755165578246904 + ], + [ + -0.05439976837545166, + 0.9976246953010559, + -0.042256973334981345, + -0.2786846286340696 + ], + [ + 0.021709830980038092, + 0.043491337448358536, + 0.9988178909923336, + 1.6047977201166477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9982634811797859, + 0.05403519049286842, + -0.023456030981385018, + 0.07697420246424289 + ], + [ + -0.055004043905101316, + 0.9975667595863342, + -0.04283859687938255, + -0.2827455399848695 + ], + [ + 0.02108416580865024, + 0.04405438154935837, + 0.9988066443833181, + 1.6261280607713755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9982435315109669, + 0.05464387312531471, + -0.022889488734533028, + 0.07889066662415087 + ], + [ + -0.055604036594157046, + 0.9974981546401978, + -0.043653495359692596, + -0.28649795692339175 + ], + [ + 0.020446830615652525, + 0.044849563390016556, + 0.9987844703355981, + 1.648126160036984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982252095625548, + 0.05520589649677278, + -0.022332927193129192, + 0.07969232881350222 + ], + [ + -0.05615909370343098, + 0.9974260330200198, + -0.044581001041668664, + -0.287144852030243 + ], + [ + 0.01981431212073763, + 0.045756071805953986, + 0.9987561139665665, + 1.6708994869126712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9982174382356336, + 0.05544011294841768, + -0.022098119765726783, + 0.08024732612082178 + ], + [ + -0.05639897828509457, + 0.9973742365837099, + -0.045429392233047684, + -0.2890186644783757 + ], + [ + 0.019521474945344935, + 0.046594724059104926, + 0.9987231309234638, + 1.694294040891265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9982101967050244, + 0.05556797608733177, + -0.022104040985603136, + 0.08106900951969045 + ], + [ + -0.05654122852049312, + 0.997332751750946, + -0.046157576509610804, + -0.2908165919778231 + ], + [ + 0.01948019385788863, + 0.04732475429773331, + 0.998689586207019, + 1.7166892264988427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9981968546871691, + 0.05580789968371391, + -0.0221028998185549, + 0.08065773623874713 + ], + [ + -0.056799432574535236, + 0.9972735047340393, + -0.04711017650778703, + -0.2903003761573454 + ], + [ + 0.01941351588189071, + 0.048280660063028336, + 0.9986451499338735, + 1.7420954194440341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9981730028501878, + 0.05638560280203819, + -0.02171120283321914, + 0.07941563588425847 + ], + [ + -0.05737459098296071, + 0.9971981048583984, + -0.04800065120549444, + -0.28962540860454244 + ], + [ + 0.018943820528902935, + 0.049158621579408646, + 0.9986113255224406, + 1.7638415342074638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9981562495007056, + 0.056514594703912735, + -0.022140735229791816, + 0.08220374063209608 + ], + [ + -0.05753930301607081, + 0.997151792049408, + -0.0487602398490948, + -0.29119557317402545 + ], + [ + 0.019322001184243147, + 0.04994429647922516, + 0.9985651107665178, + 1.791734032022675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9981454525207387, + 0.056692961603403105, + -0.022171143883133876, + 0.08121505982026472 + ], + [ + -0.05773223285123425, + 0.9971069693565371, + -0.049443558633060034, + -0.2931261378233042 + ], + [ + 0.019303903532248756, + 0.0506318509578705, + 0.9985307950281314, + 1.8147597917480331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9981316971198176, + 0.05688622966408731, + -0.022294553565216663, + 0.0809736801400332 + ], + [ + -0.05794456753481158, + 0.9970611929893496, + -0.05011361395844051, + -0.2960288884661698 + ], + [ + 0.01937826148293794, + 0.05131183192133905, + 0.9984946583463012, + 1.837834825809492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998152277893911, + 0.05660528689622879, + -0.022087895131206528, + 0.08149763406989052 + ], + [ + -0.05766295962855994, + 0.9970521926879883, + -0.050615481131842936, + -0.2966308815974598 + ], + [ + 0.01915767734867259, + 0.051795609295368195, + 0.9984739423031893, + 1.8593456278612779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9981388916815449, + 0.056857626885175705, + -0.022045207491819815, + 0.08254605604168538 + ], + [ + -0.0579218639615924, + 0.9970130324363708, + -0.051089085317087474, + -0.2996256353981476 + ], + [ + 0.019074566268429242, + 0.05227090045809746, + 0.9984507329566149, + 1.8805076858581309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981315889803871, + 0.05695373192429544, + -0.022126104038622363, + 0.08284994011160948 + ], + [ + -0.058028958173553115, + 0.9969883561134341, + -0.051447443436603305, + -0.3038690862756087 + ], + [ + 0.019129341888251862, + 0.05263527110219003, + 0.9984305642130092, + 1.9031071639543387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9981209159947144, + 0.057227157056331635, + -0.021901776282655792, + 0.08393512475479586 + ], + [ + -0.0583011175666926, + 0.9969426989555359, + -0.05202168585444368, + -0.30942925138358773 + ], + [ + 0.01885775845256009, + 0.05320082604885101, + 0.9984057696675249, + 1.9257285883349289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9981347221114916, + 0.057410165667533875, + -0.02076497716747501, + 0.08332006430087255 + ], + [ + -0.05843408648263484, + 0.9969033598899841, + -0.05262236355825776, + -0.31689770297439723 + ], + [ + 0.017679613166922813, + 0.0537375882267952, + 0.9983985695065016, + 1.9539267442704322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9981365459013215, + 0.057682946324348464, + -0.019903044285507755, + 0.08255302691645644 + ], + [ + -0.05867002590343712, + 0.9968585371971133, + -0.053205853113568825, + -0.3247292861036911 + ], + [ + 0.016771453735944457, + 0.054274417459964766, + 0.9983851820796571, + 1.9832272284793844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9981408883917249, + 0.05768069997429849, + -0.019688929842048158, + 0.08308679246355825 + ], + [ + -0.05866473005364191, + 0.9968311190605166, + -0.0537233409525284, + -0.3304032300868226 + ], + [ + 0.016527727212197297, + 0.05477851256728174, + 0.9983617393332145, + 2.006981870583049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9981384857374697, + 0.0577319972217083, + -0.019663069401802086, + 0.08320914031212674 + ], + [ + -0.058722831606100034, + 0.9968005418777466, + -0.054225071769055784, + -0.33550609410978843 + ], + [ + 0.016469635844722517, + 0.055278800427913666, + 0.9983351469499182, + 2.0267458023358604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9981415951734371, + 0.05779223889112474, + -0.01932526599805646, + 0.0832704708903836 + ], + [ + -0.05877193909725089, + 0.9967718124389651, + -0.05469740718896081, + -0.34048342614975013 + ], + [ + 0.016101798208816787, + 0.055731538683176055, + 0.998315955086992, + 2.0448700291841546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.998122106044321, + 0.05827495828270912, + -0.018876965848807898, + 0.08484336824183605 + ], + [ + -0.05923883576659316, + 0.9967094659805298, + -0.0553259443673285, + -0.3485733526546973 + ], + [ + 0.015590732535251287, + 0.056340292096138, + 0.9982898759823245, + 2.069046660084661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9981110156172059, + 0.05892390012741089, + -0.017390553679274785, + 0.08433372903989338 + ], + [ + -0.05981996509806655, + 0.9966076612472534, + -0.05652216019019183, + -0.3568669846308977 + ], + [ + 0.014001063626350205, + 0.05745569244027138, + 0.9982498720843317, + 2.1017715981999063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9981251679413559, + 0.05929175019264221, + -0.015187201326024436, + 0.08066929312465579 + ], + [ + -0.06007442700795786, + 0.9965258836746216, + -0.05768217822241953, + -0.3656830343877383 + ], + [ + 0.011714366305950501, + 0.058486394584178925, + 0.9982194948753919, + 2.135974971122187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9981327034444657, + 0.05952466651797296, + -0.013708705604469901, + 0.07925915070455493 + ], + [ + -0.0602315436375238, + 0.9964534640312197, + -0.058759094917335726, + -0.3698254031607256 + ], + [ + 0.01016246830173892, + 0.05947506800293924, + 0.9981780634919107, + 2.1587614198017535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9981510090686876, + 0.05937908962368965, + -0.012986554124760585, + 0.07997711475899226 + ], + [ + -0.06005392176508191, + 0.9963969588279724, + -0.05988803472920158, + -0.3728709593665571 + ], + [ + 0.009383661755532211, + 0.06055719405412674, + 0.9981206211740462, + 2.1790945450241352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.998191970733239, + 0.05880853533744812, + -0.012422385997488548, + 0.08176154993519012 + ], + [ + -0.05946195483741513, + 0.9963517189025879, + -0.06121675046034109, + -0.3735711076889251 + ], + [ + 0.008776995988425513, + 0.061844728887081146, + 0.9980471658256435, + 2.1948788776629273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9982319672121889, + 0.0583397075533867, + -0.011374537598870273, + 0.08317395439070616 + ], + [ + -0.05894220107713986, + 0.9962779283523562, + -0.0628976894796009, + -0.37688949641886094 + ], + [ + 0.007662758362164521, + 0.06345692276954652, + 0.9979551696935887, + 2.217965969639162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9982695407171567, + 0.05792372673749924, + -0.010134707467961348, + 0.08406446144776503 + ], + [ + -0.05845923220966327, + 0.9961984753608704, + -0.06458401002444528, + -0.38050604676978295 + ], + [ + 0.006355234779662365, + 0.06506472080945969, + 0.9978608098763067, + 2.242640835482675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9983167407749577, + 0.05731558427214624, + -0.008865658565602941, + 0.08511676308976832 + ], + [ + -0.05778012210848272, + 0.9961047768592837, + -0.066609117811386, + -0.38380793655984197 + ], + [ + 0.0050133809466888874, + 0.06700925529003145, + 0.9977397786657588, + 2.2640926420188183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9984049450276679, + 0.05588507652282715, + -0.008024591633979188, + 0.0859279405547631 + ], + [ + -0.05630485967658099, + 0.9960540533065796, + -0.06860130484648454, + -0.38679575030190655 + ], + [ + 0.004159131879521575, + 0.06894370913505554, + 0.9976119005489952, + 2.287996094857724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9984658291957793, + 0.0548248253762722, + -0.007762971942890133, + 0.08753369325239135 + ], + [ + -0.0552384720748429, + 0.9959454536437988, + -0.07100281996049079, + -0.38968135297279843 + ], + [ + 0.0038387798833235025, + 0.07132270187139511, + 0.9974458806887265, + 2.3169496255313993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.998526890544208, + 0.053719863295555115, + -0.0076314442980549395, + 0.08961708931219146 + ], + [ + -0.05413556063993688, + 0.9958384037017822, + -0.07331615925545383, + -0.39530230934691113 + ], + [ + 0.0036611601277192307, + 0.07362129539251328, + 0.997279575350472, + 2.338728904399899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9985924217881295, + 0.05248437449336052, + -0.007650858433961513, + 0.09097715788978256 + ], + [ + -0.05291492503473682, + 0.9956997632980347, + -0.07603901932494056, + -0.39848464551138474 + ], + [ + 0.0036270936031547393, + 0.07633683830499649, + 0.9970754858735323, + 2.3565984014738914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9985742141862172, + 0.05237596482038499, + -0.010311290048404627, + 0.09362445359036449 + ], + [ + -0.053025284231056076, + 0.9955052733421328, + -0.07847050148717673, + -0.4058621293532202 + ], + [ + 0.0061549809087049455, + 0.07890537381172182, + 0.996863090935484, + 2.378498284730387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.998477961251546, + 0.05332467332482339, + -0.014078698142116786, + 0.09506076646382791 + ], + [ + -0.05429026468542214, + 0.9952618479728701, + -0.08066220852547905, + -0.41215342619719897 + ], + [ + 0.009710713932871646, + 0.08130376785993577, + 0.996642042350458, + 2.4051423335331137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9983728003328941, + 0.054061491042375565, + -0.018140944397410166, + 0.09584835562992722 + ], + [ + -0.05538155312781259, + 0.9950457811355591, + -0.08256361365812477, + -0.4191196375489907 + ], + [ + 0.013587557781063379, + 0.08343394100666046, + 0.9964206515139797, + 2.4301619809760737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9982487641760218, + 0.054763309657573714, + -0.022368147582132937, + 0.09909714817254267 + ], + [ + -0.05646115090562455, + 0.9948588609695437, + -0.08407119377163161, + -0.4262265252140545 + ], + [ + 0.01764911890843579, + 0.08518689870834352, + 0.9962086451856375, + 2.4566072016621248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9981143412162916, + 0.055392671376466765, + -0.026446912872326766, + 0.10113318698936291 + ], + [ + -0.05746028466293609, + 0.9947085976600649, + -0.08516552625647551, + -0.433967169375043 + ], + [ + 0.021589435852418102, + 0.08652457594871522, + 0.9960157545087366, + 2.484754982399926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9979551258591888, + 0.05654771998524666, + -0.029798666508038245, + 0.09873286503708262 + ], + [ + -0.05893751988598798, + 0.9944988489151001, + -0.08659308973448335, + -0.4406521469999312 + ], + [ + 0.024738092862006362, + 0.08817227184772491, + 0.9957979849840137, + 2.5155799123483007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977928170952525, + 0.05731608718633652, + -0.03353215322601475, + 0.10016286298722091 + ], + [ + -0.06006838343017376, + 0.9943227767944336, + -0.08782956983873368, + -0.44771289554967386 + ], + [ + 0.028307745033197163, + 0.08964993804693222, + 0.995570946736244, + 2.5473012688916947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9976113216365817, + 0.05830130726099016, + -0.03704910649981241, + 0.09856080742324633 + ], + [ + -0.0613961824990732, + 0.9941582679748537, + -0.08876877206026743, + -0.45422409292069693 + ], + [ + 0.03165733957248282, + 0.09083139896392824, + 0.9953629616318653, + 2.5771538115642585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9974646471067725, + 0.05904893577098848, + -0.03971717763494746, + 0.09800378466049128 + ], + [ + -0.06241233801830872, + 0.9940214753150942, + -0.08958827642268781, + -0.4585103438157384 + ], + [ + 0.03418963662980432, + 0.09183997660875322, + 0.9951866851660943, + 2.596305910621364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9973073909365188, + 0.05997278913855553, + -0.0422041992410832, + 0.0957598478991862 + ], + [ + -0.06359085388760781, + 0.9938756823539734, + -0.09037331306374888, + -0.4621746247633523 + ], + [ + 0.036525787553763026, + 0.09281376749277115, + 0.9950132795140203, + 2.6138513666170327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9971393530839917, + 0.060358803719282164, + -0.0454966015523227, + 0.09476709394466007 + ], + [ + -0.0643172427887204, + 0.9937483668327334, + -0.09125493099866248, + -0.4638754689067609 + ], + [ + 0.03970414887200842, + 0.0939200967550278, + 0.9947877175875489, + 2.636065518998966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.997000661541017, + 0.06067194044589996, + -0.048047488035145684, + 0.09185086988623647 + ], + [ + -0.06488943885531583, + 0.9936681389808655, + -0.09172264154007265, + -0.46640589313002534 + ], + [ + 0.04217826291150553, + 0.09456530958414078, + 0.9946247569917582, + 2.6599159246331334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9968752115327645, + 0.060976918786764145, + -0.05021595852582082, + 0.08775881725260828 + ], + [ + -0.06542401322633802, + 0.993581235408783, + -0.09228247149730107, + -0.46745449008860346 + ], + [ + 0.044266526727161824, + 0.09527943283319473, + 0.9944658595560266, + 2.6846683559075104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9967520062795339, + 0.06127164885401726, + -0.05226140421283183, + 0.08388798942054909 + ], + [ + -0.06593815098939505, + 0.9934974312782288, + -0.09281735822191518, + -0.4690368028202866 + ], + [ + 0.04623449674578157, + 0.09596189856529236, + 0.9943106433076548, + 2.708615213549866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.996628449555084, + 0.061485253274440765, + -0.05432638693094669, + 0.08017908912293623 + ], + [ + -0.06636355825339434, + 0.993442714214325, + -0.0930990330475579, + -0.47072557269281584 + ], + [ + 0.048245928247388, + 0.09639042615890503, + 0.9941736638606575, + 2.7344544268547915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.99653062715851, + 0.06129567325115205, + -0.05629886542633261, + 0.07523147518560003 + ], + [ + -0.06637820288407618, + 0.9934178590774538, + -0.09335355935147026, + -0.4716631783155873 + ], + [ + 0.05020611674239464, + 0.0967667028307915, + 0.9940400187590073, + 2.759625261929647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9964279478562303, + 0.06093064695596696, + -0.05847075762553227, + 0.07224739970100841 + ], + [ + -0.06622998205286669, + 0.9934192895889284, + -0.0934437264241569, + -0.47364282537243385 + ], + [ + 0.05239240336887398, + 0.09698244929313662, + 0.9939061617533822, + 2.781671330729149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.996339909080818, + 0.06066565960645676, + -0.06022031060153287, + 0.0674733372389521 + ], + [ + -0.06613456553050276, + 0.9934282898902893, + -0.09341571298130064, + -0.4759654651892184 + ], + [ + 0.05415744498987226, + 0.09705644100904465, + 0.993804301011713, + 2.8037619968696337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.996240759833059, + 0.06033633276820184, + -0.06215967996963585, + 0.06328536677393728 + ], + [ + -0.06601134746791458, + 0.9934094548225405, + -0.09370244812732711, + -0.47701191311479446 + ], + [ + 0.056096346966394525, + 0.09745343774557116, + 0.9936578869199453, + 2.82457979908742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9961453190457888, + 0.059833720326423645, + -0.06414376626086202, + 0.05824801188603829 + ], + [ + -0.06572545075994125, + 0.9933942556381226, + -0.09406410721932615, + -0.48178649247355976 + ], + [ + 0.05809185026185521, + 0.09791740030050278, + 0.9934975983350034, + 2.8501553458846516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9960518590257053, + 0.05969397351145746, + -0.06570607381256592, + 0.050616703040016114 + ], + [ + -0.0657499238248595, + 0.9933764934539797, + -0.09423404907746155, + -0.4884891901287398 + ], + [ + 0.05964565839055653, + 0.09818217158317569, + 0.9933794365028732, + 2.883745926546543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9959873016361922, + 0.059441968798637404, + -0.06690260332330072, + 0.043769717214917486 + ], + [ + -0.0656135033423641, + 0.9933903217315676, + -0.0941837905685996, + -0.49629255462603616 + ], + [ + 0.06086193841864513, + 0.09819556772708896, + 0.9933042927027974, + 2.9144054513389146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9959385229187399, + 0.058851227164268494, + -0.06813928973790234, + 0.03910092840609758 + ], + [ + -0.0651335871343106, + 0.9934410452842712, + -0.09398139173655867, + -0.5026161878020406 + ], + [ + 0.06216143395031058, + 0.09803784638643265, + 0.9932394294111264, + 2.9383317333863217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9958474987845545, + 0.05818653479218483, + -0.070015116470689, + 0.03232900364092328 + ], + [ + -0.06465881721026971, + 0.9934669137001038, + -0.09403576143513113, + -0.5078822123398155 + ], + [ + 0.06408609979816039, + 0.0981723740696907, + 0.9931038166449322, + 2.960371882026277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9957388040457558, + 0.05766924470663072, + -0.07196208795315648, + 0.02762216070118184 + ], + [ + -0.06433627184231469, + 0.9934858679771426, + -0.09405706026622848, + -0.5126706853847665 + ], + [ + 0.0660691245646713, + 0.0982860401272774, + 0.9929626284860873, + 2.981753025302983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9956778781600722, + 0.057415418326854706, + -0.07300062179784944, + 0.02141466078531845 + ], + [ + -0.06418225788551457, + 0.9935004711151123, + -0.09400748839523244, + -0.5172700667805527 + ], + [ + 0.06712869180291413, + 0.09828652441501617, + 0.9928914700158092, + 3.008324663888701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9956025582245669, + 0.05730113014578819, + -0.07410855537270439, + 0.015011007768129053 + ], + [ + -0.06417325813963738, + 0.9935072064399719, + -0.09394298348524982, + -0.5217018338264487 + ], + [ + 0.06824435673690421, + 0.09828566014766693, + 0.9928154919738651, + 3.0346986122938127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.995530263345354, + 0.05694998428225517, + -0.07534086081092205, + 0.009994151820333225 + ], + [ + -0.06392787913353665, + 0.9935455918312073, + -0.09370391908342679, + -0.5256957087416345 + ], + [ + 0.06951813070712654, + 0.09810145944356918, + 0.9927453816307724, + 3.0601615163170046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9954476407132765, + 0.05675526708364488, + -0.07656934857825079, + 0.005139736384795868 + ], + [ + -0.06382666748739042, + 0.9935891628265383, + -0.09331004457065123, + -0.5300482094987675 + ], + [ + 0.0707826513091117, + 0.09777243435382846, + 0.992688439217823, + 3.0843537767327738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953675252671218, + 0.05637229606509209, + -0.0778823623798405, + -0.0007732950668429828 + ], + [ + -0.06355877717008557, + 0.9936253428459167, + -0.09310712545325114, + -0.5319531644356761 + ], + [ + 0.07213722306084597, + 0.09762591868638992, + 0.9926053515001471, + 3.1075704937653432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9952772101805827, + 0.05617370456457138, + -0.07916920489170129, + -0.006071491480783647 + ], + [ + -0.06346153168727063, + 0.9936636686325073, + -0.092763963101539, + -0.5344726533313835 + ], + [ + 0.07345667330792097, + 0.09735006093978882, + 0.9925357002336098, + 3.130314532161304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9952237448901904, + 0.055995550006628036, + -0.07996356225267634, + -0.011196713598247837 + ], + [ + -0.0633354305829299, + 0.9937041401863098, + -0.09241606563376487, + -0.5356525949378226 + ], + [ + 0.07428523400961512, + 0.09703919291496277, + 0.9925044601049926, + 3.1535083758507465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9951455208081159, + 0.05594528466463089, + -0.08096624445782505, + -0.014912405888205443 + ], + [ + -0.06337094862742171, + 0.993716835975647, + -0.09225506459368076, + -0.5359160539835509 + ], + [ + 0.0752962982549992, + 0.0969381183385849, + 0.9924381329085397, + 3.1751359746538514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9950617893920023, + 0.05580248683691025, + -0.08208603541580278, + -0.01934864220161925 + ], + [ + -0.06329949147364114, + 0.9937672019004822, + -0.09176006941434313, + -0.5366354611224643 + ], + [ + 0.07645397875161336, + 0.09650293737649918, + 0.9923920268359698, + 3.2011444162278453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9950104978493557, + 0.05563151091337204, + -0.08282037031990906, + -0.024260124924503773 + ], + [ + -0.06317580441273735, + 0.9938037991523743, + -0.09144831995193659, + -0.5361232219966033 + ], + [ + 0.07721980626949043, + 0.09622427821159363, + 0.9923597902387252, + 3.2280616956206405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9949385789044483, + 0.05556565523147583, + -0.08372418386091815, + -0.02886810766582562 + ], + [ + -0.06318050782587135, + 0.9938234686851501, + -0.09123143758329341, + -0.5364633488900333 + ], + [ + 0.07813772912626392, + 0.0960594043135643, + 0.9923039158916404, + 3.2566914987533773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9949000733030032, + 0.05565092340111734, + -0.08412361715509797, + -0.03507218338656967 + ], + [ + -0.06327246470645338, + 0.9938544631004336, + -0.09082897473639069, + -0.538324189841463 + ], + [ + 0.07855190719429377, + 0.09568846225738528, + 0.9923070682206373, + 3.2892721699030334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9948972499916685, + 0.055478267371654524, + -0.08427142917881576, + -0.03633236805253395 + ], + [ + -0.06307510419540352, + 0.993911921977997, + -0.09033588826568215, + -0.5416000349206784 + ], + [ + 0.07874671132830904, + 0.09519035369157794, + 0.9923395187395931, + 3.3147494856761894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9948859978258658, + 0.0552566796541214, + -0.08454945231970505, + -0.0381480321638574 + ], + [ + -0.0628566257916356, + 0.9939528703689575, + -0.09003771027539616, + -0.545280987312102 + ], + [ + 0.07906298197237704, + 0.0948917493224144, + 0.9923429598417325, + 3.339617580925768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9948438197010732, + 0.05507858842611313, + -0.08515959806028474, + -0.04396821125711417 + ], + [ + -0.06268794673800772, + 0.9940186142921448, + -0.08942705261169741, + -0.5546808894734988 + ], + [ + 0.07972470869790357, + 0.09430443495512009, + 0.992346009980768, + 3.3741305847429377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9948151192493397, + 0.05527655780315399, + -0.08536641742913148, + -0.047290370927905306 + ], + [ + -0.06285620523783626, + 0.9940627813339233, + -0.0888163448802562, + -0.561008199851854 + ], + [ + 0.07995011624819107, + 0.0937216505408287, + 0.9923830988106102, + 3.4035665442668934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9948245620533848, + 0.05503677949309349, + -0.08541101618593863, + -0.04749249835501293 + ], + [ + -0.06257833812182523, + 0.9941272139549255, + -0.08828970944117225, + -0.5668679680627573 + ], + [ + 0.08005023969680398, + 0.09317765384912491, + 0.9924262615612538, + 3.423601647496599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9947584965763746, + 0.05455490201711655, + -0.08648298736868938, + -0.049092917566680744 + ], + [ + -0.06221069043303643, + 0.9941357970237732, + -0.08845242172310601, + -0.5715290517730521 + ], + [ + 0.0811503003864332, + 0.09336896240711212, + 0.9923189295589421, + 3.444419518442211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9946830386089215, + 0.05448383092880249, + -0.0873910619545938, + -0.05317663989642504 + ], + [ + -0.06221221954023432, + 0.9941495060920715, + -0.08829700598185493, + -0.577604927004161 + ], + [ + 0.08206900727339721, + 0.09326431900262833, + 0.9922532432173075, + 3.4715011713208432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9946319855677954, + 0.054300591349601746, + -0.08808360523032333, + -0.057799970257799205 + ], + [ + -0.06208650099943627, + 0.9941655397415161, + -0.0882052910657044, + -0.5820233815081336 + ], + [ + 0.08278006762553354, + 0.09320060163736343, + 0.9922001627677509, + 3.497512057258699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9945571613629313, + 0.05426902323961258, + -0.08894347078393437, + -0.06418660097073758 + ], + [ + -0.062094843187709275, + 0.9942078590393066, + -0.08772066508653072, + -0.5883173144728949 + ], + [ + 0.08366779078804501, + 0.09276615083217621, + 0.9921664088581288, + 3.5240952672393995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9944796058204082, + 0.054245453327894225, + -0.08982059940400322, + -0.06775795931977158 + ], + [ + -0.062109901727136305, + 0.9942517280578616, + -0.08721162759065694, + -0.5933798505557752 + ], + [ + 0.08457345627973273, + 0.0923089385032654, + 0.9921322586807817, + 3.545987121718715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9944546061288585, + 0.054182346910238266, + -0.09013511440842818, + -0.07101669453276199 + ], + [ + -0.06203437549366008, + 0.994299054145813, + -0.08672441297802547, + -0.5967179100114522 + ], + [ + 0.08492234413334918, + 0.09183496236801147, + 0.9921464482058804, + 3.564685821159878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9943979349061071, + 0.05410146713256836, + -0.09080661356975943, + -0.0752402093157501 + ], + [ + -0.06197674828337528, + 0.9943419098854065, + -0.08627337104690233, + -0.5997449625029956 + ], + [ + 0.08562532109097495, + 0.09141796082258224, + 0.9921245221393249, + 3.5835366140902156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9943382561373251, + 0.05412323772907257, + -0.0914448291778022, + -0.080773487516418 + ], + [ + -0.06202122984539229, + 0.9943750500679016, + -0.08585820086073305, + -0.6024069574153433 + ], + [ + 0.08628350852775889, + 0.09104360640048981, + 0.9921019319161059, + 3.6057857602320147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9942875654024772, + 0.05441459268331528, + -0.09182189248231912, + -0.08622697754621234 + ], + [ + -0.062310417411815436, + 0.9943932890892029, + -0.0854368409709739, + -0.6032031656557952 + ], + [ + 0.08665808525794076, + 0.09067025780677795, + 0.9921034695794053, + 3.6278323055326394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9942475948788885, + 0.05442676320672035, + -0.09224654642782275, + -0.09284895574573337 + ], + [ + -0.062300744038609496, + 0.9944530129432678, + -0.08474583482107753, + -0.6048262346383371 + ], + [ + 0.08712240612725536, + 0.09000537544488907, + 0.9921233531609066, + 3.6516260156445317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9942338978620866, + 0.0546671599149704, + -0.09225251661444123, + -0.09709411102826898 + ], + [ + -0.06250241087115874, + 0.9944784045219421, + -0.08429808787917975, + -0.6049118626518041 + ], + [ + 0.08713476959183919, + 0.08957801759243011, + 0.9921609588445418, + 3.670124588971291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9942314886202771, + 0.054780963808298125, + -0.09221045059519259, + -0.10186232103724574 + ], + [ + -0.06256625878052649, + 0.9945188164711001, + -0.08377191278297773, + -0.6058662420585809 + ], + [ + 0.08711592978175377, + 0.08905792981386186, + 0.9922094034082004, + 3.691465894707026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9942218059428565, + 0.054798856377601624, + -0.09230424092522739, + -0.10649224513847133 + ], + [ + -0.06253647039573029, + 0.994574248790741, + -0.08313365661142134, + -0.6069377013814463 + ], + [ + 0.08724780994739798, + 0.08842568099498749, + 0.9922543589063176, + 3.7143341560586305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9942646484171509, + 0.05480252578854562, + -0.09183968850475067, + -0.11016097738154398 + ], + [ + -0.06242930174934101, + 0.9946470260620119, + -0.0823399803064472, + -0.6077723042265619 + ], + [ + 0.08683565655318279, + 0.0876012146472931, + 0.9923636542065791, + 3.7325712398388284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9943176522258348, + 0.05489902198314667, + -0.09120576057545902, + -0.11467054208278357 + ], + [ + -0.06239802923957547, + 0.9947170615196228, + -0.08151319314224006, + -0.6088722670678643 + ], + [ + 0.08624895796949544, + 0.08674106001853943, + 0.9924903307237987, + 3.751044570780395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9943826764091163, + 0.05495430529117584, + -0.09046084864467192, + -0.1174423982161324 + ], + [ + -0.062324396052630265, + 0.9947821497917175, + -0.08077234663457399, + -0.6101550572025597 + ], + [ + 0.08555005130620333, + 0.08595654368400574, + 0.9926190911000645, + 3.7668507271267897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9944716716421279, + 0.05482164025306702, + -0.08955851988884946, + -0.12099997698641998 + ], + [ + -0.06206873857733212, + 0.9948406219482422, + -0.08024705878126746, + -0.6121698782536962 + ], + [ + 0.08469721553370102, + 0.08536221086978912, + 0.9927434880301184, + 3.785143286450932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.994633969977925, + 0.05451071634888649, + -0.08793056369098637, + -0.12529548491070408 + ], + [ + -0.0615534012946979, + 0.9949344396591187, + -0.07947765675025573, + -0.6169886270833471 + ], + [ + 0.08315277646039955, + 0.08446359634399414, + 0.9929508968865439, + 3.8054653626018173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9948835096834255, + 0.05444630980491638, + -0.0851020454386291, + -0.13369575672312758 + ], + [ + -0.06120235462149599, + 0.9950015544891357, + -0.07890592458658381, + -0.6222033626063834 + ], + [ + 0.080380555867326, + 0.08371064811944962, + 0.9932429083120945, + 3.830397401783044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.995157626787826, + 0.05394670367240907, + -0.08216460320879639, + -0.14105783227448296 + ], + [ + -0.0603746604260262, + 0.9951337575912478, + -0.07786953222327443, + -0.6270941659113466 + ], + [ + 0.07756399506038057, + 0.08245311677455903, + 0.9935719980367451, + 3.855178335031233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9953878074415187, + 0.05324147269129753, + -0.07980286326916995, + -0.14499917176609392 + ], + [ + -0.05941903302884129, + 0.9952476024627686, + -0.07714681151148378, + -0.6291571373657229 + ], + [ + 0.07531618035884573, + 0.0815327912569046, + 0.9938208700823808, + 3.872332316386686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9956973865114915, + 0.051856137812137604, + -0.07679622142840672, + -0.1499017543076009 + ], + [ + -0.0577369321348611, + 0.9954005479812622, + -0.07644759111863061, + -0.631010892883545 + ], + [ + 0.07247872670142447, + 0.08055263757705688, + 0.9941117319075367, + 3.8905605816343702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9959923875000017, + 0.0506301149725914, + -0.07372729691958961, + -0.15523563341822638 + ], + [ + -0.05623668937524287, + 0.9955155253410339, + -0.07606751182680425, + -0.6350224840787485 + ], + [ + 0.06954538011567164, + 0.0799088403582573, + 0.994373183437038, + 3.9118429846636706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9962600707478285, + 0.04935877025127412, + -0.07091963910254907, + -0.16039031548950283 + ], + [ + -0.05471828944179501, + 0.9956258535385134, + -0.07573048609731799, + -0.6410810623357907 + ], + [ + 0.06687147125640683, + 0.07932786643505098, + 0.9946031145295642, + 3.934936982539629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9964945379341694, + 0.04836207628250122, + -0.06826254057021482, + -0.16541123565365634 + ], + [ + -0.05349844306811486, + 0.9957066774368286, + -0.07553874710400757, + -0.6469420551082513 + ], + [ + 0.0643162343021947, + 0.07892588526010513, + 0.9948035687046933, + 3.9587130491492806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9967237462912032, + 0.04748312756419182, + -0.06547622042217806, + -0.17268031526327787 + ], + [ + -0.05238625159314988, + 0.9957822561264038, + -0.07532146663711368, + -0.6515028095560943 + ], + [ + 0.0616235678454396, + 0.07850474864244461, + 0.9950073087653147, + 3.984150647063912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9968921790405982, + 0.04646202176809311, + -0.06361842593815711, + -0.17532748931949135 + ], + [ + -0.05119992849716215, + 0.9958690404891968, + -0.07498958955115251, + -0.6538867960339795 + ], + [ + 0.059871469924078366, + 0.07801380008459091, + 0.9951528942208097, + 4.004183353028976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9970163032129264, + 0.045255862176418304, + -0.06253286176908027, + -0.17650601596122736 + ], + [ + -0.0499033053528107, + 0.9959434866905212, + -0.07487465013152589, + -0.654505158462109 + ], + [ + 0.05889069630090122, + 0.07777184993028641, + 0.9952303266388216, + 4.0194034576932385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9971250566768379, + 0.04425545781850815, + -0.061506620101753076, + -0.17756555226661988 + ], + [ + -0.048816913390901114, + 0.996006429195404, + -0.07475375740646988, + -0.6552262384135759 + ], + [ + 0.0579526976470411, + 0.07754141092300415, + 0.995303367924148, + 4.03445979995429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9972221954234962, + 0.043435603380203254, + -0.060507870178593076, + -0.1815518479565672 + ], + [ + -0.047928760376381156, + 0.9960384964942934, + -0.0749008864489706, + -0.6574940321094663 + ], + [ + 0.05701482756661987, + 0.07759288698434831, + 0.9953535300636382, + 4.056321583950118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9972840265953209, + 0.0429566316306591, + -0.059827484444755184, + -0.18665848661899023 + ], + [ + -0.047402762520470314, + 0.9960565567016602, + -0.07499532816715473, + -0.6601303720855597 + ], + [ + 0.056370020977641475, + 0.07762763649225235, + 0.9953875458275604, + 4.080062982932739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9972770194991024, + 0.0428258553147316, + -0.06003725052360908, + -0.19057202337242904 + ], + [ + -0.04729380274098825, + 0.9960547089576721, + -0.07508887267853519, + -0.6632686059875799 + ], + [ + 0.0565846356396984, + 0.07772379368543625, + 0.9953678571380544, + 4.100666512227148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9972318857023352, + 0.042320966720581055, + -0.06113485929057893, + -0.19041115140522485 + ], + [ + -0.046891443216941366, + 0.9960525035858154, + -0.07537009164636738, + -0.6640408532071528 + ], + [ + 0.05770379676796904, + 0.07802816480398178, + 0.9952798097357386, + 4.116216472580937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9971357579613943, + 0.04194816946983338, + -0.06293346479138688, + -0.19182604970048708 + ], + [ + -0.04670765057312387, + 0.9960004687309267, + -0.07616732244398676, + -0.6647680326954514 + ], + [ + 0.059486672228945714, + 0.07888863980770112, + 0.9951069879641122, + 4.1329218663230485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9969913089590452, + 0.042213398963212974, + -0.06501030282781854, + -0.19626711614264306 + ], + [ + -0.04718653844836255, + 0.995916545391083, + -0.076965494952042, + -0.6664497027071578 + ], + [ + 0.061495881215400526, + 0.07980153709650041, + 0.9949120216590631, + 4.152248522518901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9968301173151094, + 0.04263734444975853, + -0.06716994289838292, + -0.20017083355152346 + ], + [ + -0.047820769340483314, + 0.9958407878875732, + -0.07755223983264938, + -0.6708082902150975 + ], + [ + 0.0635839424639556, + 0.08051852881908417, + 0.9947229894899976, + 4.1729378201161555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9966093968591326, + 0.04298488050699235, + -0.07015699363087638, + -0.20194242760225312 + ], + [ + -0.04845751487693158, + 0.9957542419433596, + -0.07826497259482847, + -0.6749250198750297 + ], + [ + 0.06649491909046319, + 0.08139924705028535, + 0.9944609799410503, + 4.190418802525753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9963369017902511, + 0.043729912489652634, + -0.0734877211919595, + -0.2093558652954493 + ], + [ + -0.04953066814328074, + 0.9956384897232056, + -0.07906149055849282, + -0.6810180392507036 + ], + [ + 0.06970988271117838, + 0.08241178095340729, + 0.9941573332139039, + 4.212800876377516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9960014867323312, + 0.0449039600789547, + -0.07723150808248797, + -0.2166874470899257 + ], + [ + -0.05105173006147933, + 0.9955217242240906, + -0.07956243830882706, + -0.6877852761750374 + ], + [ + 0.07331301394714576, + 0.08318710327148438, + 0.9938335299500994, + 4.234594280294189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9956253519483028, + 0.04573626071214676, + -0.08147609404952139, + -0.21960595249739742 + ], + [ + -0.05232445753039021, + 0.9953680634498596, + -0.08065115895913762, + -0.6929207764060695 + ], + [ + 0.07741001031034594, + 0.0845615342259407, + 0.9934067839644841, + 4.249169451759927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.995196868400867, + 0.04690104350447655, + -0.08592745822263781, + -0.22454062078168407 + ], + [ + -0.05394350221458196, + 0.995207667350769, + -0.08155870471468267, + -0.6976985312992702 + ], + [ + 0.08169046410543924, + 0.08580219000577927, + 0.9929575306243196, + 4.2651702985007915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9947028690179714, + 0.047968871891498566, + -0.09091346048740911, + -0.22934984983711043 + ], + [ + -0.055546201136555985, + 0.9950222373008728, + -0.08273667234592601, + -0.7014291267177926 + ], + [ + 0.08649212787730229, + 0.08734829723834991, + 0.9924159659782712, + 4.279937130782538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9941586337307939, + 0.049592241644859314, + -0.09586048401022311, + -0.23796062726844228 + ], + [ + -0.05770250336620963, + 0.9948128461837769, + -0.08377222194718517, + -0.7054103979473624 + ], + [ + 0.09120876611509014, + 0.08881427347660065, + 0.9918633991797701, + 4.298281346767039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9935573523387623, + 0.05142054706811905, + -0.10099341749551283, + -0.2514228365536667 + ], + [ + -0.06008500687623553, + 0.9945921301841736, + -0.0847127898231747, + -0.7108802129497581 + ], + [ + 0.09609127119710185, + 0.09023520350456238, + 0.9912739898284769, + 4.321294682206448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9929258875081588, + 0.05312994867563249, + -0.10618574134057504, + -0.262362159669981 + ], + [ + -0.06236416574401763, + 0.9943738579750063, + -0.08562319201282333, + -0.7146913850865206 + ], + [ + 0.10103914903442393, + 0.09163966774940492, + 0.9906529274251313, + 4.341162492526842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9922897012981198, + 0.05505100637674333, + -0.11104295119043105, + -0.27549205916064123 + ], + [ + -0.06484644358077642, + 0.9941285848617556, + -0.08662126804934712, + -0.7189562524203319 + ], + [ + 0.10562239642318116, + 0.09315413236618043, + 0.9900334300531856, + 4.361463104637454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.991662209521035, + 0.056866105645895004, + -0.11563901898674303, + -0.28306602291017646 + ], + [ + -0.06722099110808373, + 0.9938753843307495, + -0.08770998858655092, + -0.720802309719295 + ], + [ + 0.10994304551168689, + 0.09475204348564148, + 0.9894112299147099, + 4.3728995675229845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9910277739858275, + 0.05871870368719101, + -0.12006712071888519, + -0.28792605491499224 + ], + [ + -0.06965613094326721, + 0.9935908913612366, + -0.08902349743460307, + -0.7208731657042785 + ], + [ + 0.11407024095706313, + 0.09658815711736679, + 0.9887662597538713, + 4.378870749561866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9903753320894891, + 0.06015794724225998, + -0.1246505794430854, + -0.2983971203907002 + ], + [ + -0.07167745431044006, + 0.9933510422706604, + -0.09008883664684782, + -0.7214546243389536 + ], + [ + 0.11840223723446384, + 0.0981564000248909, + 0.9881023548019692, + 4.391302571464724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9898146667367177, + 0.06197079271078111, + -0.12816614678320923, + -0.3100200272168406 + ], + [ + -0.07401203542532336, + 0.9930577278137209, + -0.09142528299498423, + -0.7233864832840016 + ], + [ + 0.12161067632913117, + 0.09997991472482684, + 0.9875296882915501, + 4.403068695437454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9893775453277144, + 0.06338736414909364, + -0.13082094170837982, + -0.32032138290295786 + ], + [ + -0.07589491317708753, + 0.9927743077278139, + -0.09294664935319599, + -0.7223503016951403 + ], + [ + 0.12398403048502654, + 0.10188797116279605, + 0.9870393933158624, + 4.412312829217295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9889667729207189, + 0.0648665502667427, + -0.13318079836108615, + -0.33344434697172404 + ], + [ + -0.07781909475304476, + 0.9924814701080322, + -0.09447046189134792, + -0.7229092344586672 + ], + [ + 0.12605149215215147, + 0.10379215329885483, + 0.9865790492033569, + 4.425047956163536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9887385708567529, + 0.06604807078838348, + -0.13428957698994007, + -0.34680512430643434 + ], + [ + -0.07930502685384318, + 0.9922275543212891, + -0.09589146765772877, + -0.7228671801051267 + ], + [ + 0.12691234907488252, + 0.10546143352985382, + 0.9862916167365571, + 4.436504207652881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9886071362594804, + 0.06692667305469514, + -0.1348211317055094, + -0.35847839745938154 + ], + [ + -0.0804597415408404, + 0.9919714927673342, + -0.09756430251306755, + -0.7232104362182391 + ], + [ + 0.12720906197027956, + 0.10730043798685077, + 0.9860550199063852, + 4.445549788046816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9885571869306893, + 0.06783102452754974, + -0.13473531301594824, + -0.37089718025954777 + ], + [ + -0.08160012428090778, + 0.9916914105415344, + -0.0994464831956408, + -0.7225901471651629 + ], + [ + 0.1268703015379937, + 0.10930296033620834, + 0.9858787091153887, + 4.45470009284332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.988658275706739, + 0.06859689950942993, + -0.13360118645826635, + -0.38416970227588143 + ], + [ + -0.08251700284751291, + 0.9913967847824097, + -0.10160367128840248, + -0.7215594193807289 + ], + [ + 0.12548209533699956, + 0.11147567629814148, + 0.9858130770358143, + 4.462678522684651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9888516310449559, + 0.0688869133591652, + -0.13201139781842203, + -0.3968373158112646 + ], + [ + -0.08289707350117506, + 0.991142809391022, + -0.10374962887821447, + -0.7205409457723166 + ], + [ + 0.12369516383809989, + 0.1135363578796387, + 0.9858037524850338, + 4.470441319438811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9891707964862797, + 0.0688844546675682, + -0.12959982780172102, + -0.40948290799853004 + ], + [ + -0.08287115066920159, + 0.9909260272979736, + -0.10582052358587839, + -0.7191079906786286 + ], + [ + 0.12113445599356047, + 0.11541465669870377, + 0.9859035853842736, + 4.476701300342864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9896524817498377, + 0.06798604130744935, + -0.12635621601478397, + -0.42270459542714645 + ], + [ + -0.08181521222701575, + 0.990812420845032, + -0.10768933545703357, + -0.7187845839388389 + ], + [ + 0.11787394868941044, + 0.11691287159919742, + 0.9861222453633013, + 4.480046704128482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9900368728591072, + 0.06787339597940445, + -0.12337029872515913, + -0.432461848207351 + ], + [ + -0.08158969078470552, + 0.9906037449836731, + -0.1097602661545517, + -0.7217054076777528 + ], + [ + 0.11476125641724208, + 0.11873245239257812, + 0.9862720011459876, + 4.483257041762461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9906396690158076, + 0.06783163547515869, + -0.11845655293186375, + -0.45295752723561156 + ], + [ + -0.08125503874265837, + 0.99033123254776, + -0.11243509348176986, + -0.7244251575795784 + ], + [ + 0.10968459001224441, + 0.12100784480571747, + 0.9865730820987384, + 4.498578330232052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9914333297949331, + 0.06683541089296341, + -0.11221858684130546, + -0.4761588580168401 + ], + [ + -0.07971437680506598, + 0.9902190566062927, + -0.11450674284616857, + -0.7297668640173512 + ], + [ + 0.10346790569799957, + 0.12247122824192047, + 0.9870639190764876, + 4.514707227361764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9922117485823072, + 0.06573132425546646, + -0.10580746119795366, + -0.4947468749620473 + ], + [ + -0.07805221132313381, + 0.9900758266448975, + -0.11686630243517586, + -0.7332343101952105 + ], + [ + 0.09707563281565668, + 0.12421461939811707, + 0.9874953430852794, + 4.526960325151519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9929593411481621, + 0.06427089124917984, + -0.09950371683189999, + -0.5118101205434159 + ], + [ + -0.07597790239058189, + 0.9900158047676086, + -0.11872695616079729, + -0.7369519791800309 + ], + [ + 0.09087952941138808, + 0.12545111775398254, + 0.987928615907877, + 4.537016725632877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9936974377422915, + 0.06275496631860733, + -0.09288250482416735, + -0.5313164935176589 + ], + [ + -0.07379950225751515, + 0.9899424314498901, + -0.12069623365805913, + -0.7410237212332452 + ], + [ + 0.08437405249692397, + 0.12679022550582886, + 0.9883346180491202, + 4.5495314677857746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9943619368695572, + 0.06063211709260942, + -0.08699486783276818, + -0.5510035845221668 + ], + [ + -0.07102342517482009, + 0.9900094270706179, + -0.12180746387859102, + -0.7451198179293896 + ], + [ + 0.0787402883864317, + 0.12729936838150027, + 0.9887339557225764, + 4.562708242049839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9949567056305246, + 0.05876663327217102, + -0.08128731161298491, + -0.5678087005024935 + ], + [ + -0.06852673580225192, + 0.9900352358818054, + -0.12302163920099496, + -0.7464693269998336 + ], + [ + 0.07324776282148732, + 0.1279715597629547, + 0.9890692869584464, + 4.572192545755634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/orbit_right/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fd37a255b503bc5a3ec5a684b99e7fece8619a27 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/orbit_right/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999899966889809, + 0.0022364004980772734, + -0.0038760936075608577, + 0.0024440694373148285 + ], + [ + -0.0022457112961898067, + 0.9999945759773254, + -0.0023994682326745572, + -0.0072436262607701715 + ], + [ + 0.0038707063144105764, + 0.0024081487208604813, + 0.9999895862696159, + 0.023855585281899263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999656008004268, + 0.004063426516950131, + -0.007229319200647896, + 0.005414346090150545 + ], + [ + -0.004095155607494767, + 0.999981999397278, + -0.004379544085268414, + -0.015738373447404832 + ], + [ + 0.007211393418703287, + 0.004408998414874078, + 0.9999642752319046, + 0.05151674568351755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999920358775974, + 0.005368742626160383, + -0.011419371087406701, + 0.007606815041814116 + ], + [ + -0.005442291612834245, + 0.9999645948410034, + -0.006419421037488854, + -0.021795628535211525 + ], + [ + 0.011384502863398153, + 0.0064810579642653465, + 0.9999141729355923, + 0.07002308014640239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998510022561063, + 0.00689054187387228, + -0.01582837078190341, + 0.013221402235022996 + ], + [ + -0.007024524052184384, + 0.9999398589134216, + -0.008424727102514863, + -0.027474606967801428 + ], + [ + 0.015769366918980444, + 0.008534657768905163, + 0.9998392008570681, + 0.09202459289682943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997761831037592, + 0.007960905320942402, + -0.019599823763418855, + 0.016306543623852632 + ], + [ + -0.008163398507208224, + 0.9999139308929443, + -0.010273176852188565, + -0.03199650472669138 + ], + [ + 0.019516352379168565, + 0.010430879890918732, + 0.9997551336423434, + 0.11087272137156128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997169275564313, + 0.009428995661437511, + -0.021844768257832898, + 0.018705789328486027 + ], + [ + -0.009706860713836531, + 0.9998728632926941, + -0.012649069164497177, + -0.037923756353066 + ], + [ + 0.02172272266769933, + 0.012857532128691673, + 0.9996813746106096, + 0.14251754184744803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996766930171019, + 0.00977416057139635, + -0.023473260742267864, + 0.02147642363003132 + ], + [ + -0.010120022664994973, + 0.9998413324356079, + -0.014660961544378907, + -0.04401671062135463 + ], + [ + 0.023326236548117257, + 0.014893772080540657, + 0.9996169571256274, + 0.17461820057055405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996189285746014, + 0.01059537474066019, + -0.025489380728459767, + 0.024140727666841513 + ], + [ + -0.011017625371056787, + 0.9998034238815308, + -0.016482728429800583, + -0.04980229400008415 + ], + [ + 0.0253097304717657, + 0.016757281497120857, + 0.9995392029832625, + 0.20461143034577683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995415582055931, + 0.01089369785040617, + -0.02824995350101221, + 0.029547902915170742 + ], + [ + -0.011406742759439297, + 0.999771773815155, + -0.01806381419483416, + -0.055418591696054016 + ], + [ + 0.028046723939898315, + 0.018377771601080894, + 0.9994376492244952, + 0.228990245353711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9994505693905807, + 0.011148378252983093, + -0.031213705197611682, + 0.03440218830567896 + ], + [ + -0.011766420952191601, + 0.9997369647026062, + -0.019687186435061635, + -0.06077825093431066 + ], + [ + 0.03098601523864451, + 0.020043641328811646, + 0.999318851157859, + 0.254537641407126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993478932305808, + 0.011119464412331581, + -0.03435346224097929, + 0.03835318254733219 + ], + [ + -0.011859196154463913, + 0.9997005462646484, + -0.021404750464478334, + -0.06346703072711912 + ], + [ + 0.034105165900688586, + 0.02179819531738758, + 0.9991805043186474, + 0.2726922731604188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992455325198204, + 0.011200539767742157, + -0.03718784074314345, + 0.04319325574541584 + ], + [ + -0.012054799607167196, + 0.9996667504310608, + -0.02282729002232198, + -0.06891675577095517 + ], + [ + 0.03691976898992129, + 0.023258360102772713, + 0.9990475182785064, + 0.29786240727992697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9991385990264142, + 0.01118478924036026, + -0.03996131364001768, + 0.047483150179682444 + ], + [ + -0.012155864100068922, + 0.9996346831321716, + -0.024140611531955625, + -0.0744017664792663 + ], + [ + 0.039676708997319406, + 0.024605581536889076, + 0.9989095969858467, + 0.32252048356040447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9990234086390014, + 0.011243744753301144, + -0.04272999030553124, + 0.0542477552766508 + ], + [ + -0.012327853995864398, + 0.9996066093444824, + -0.025192896079577167, + -0.08178899959488703 + ], + [ + 0.04242991877529378, + 0.025695061311125755, + 0.9987689841808889, + 0.35103294928802997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.998916062643993, + 0.01170582789927721, + -0.04505148378334701, + 0.05885415929084114 + ], + [ + -0.012928130766199194, + 0.9995535612106323, + -0.026936219238310032, + -0.08760060878623813 + ], + [ + 0.04471606039653815, + 0.02748945541679859, + 0.9986214287004409, + 0.3785048338456329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9987847390830766, + 0.012052183039486408, + -0.047789598422697324, + 0.0629477743008875 + ], + [ + -0.013411080390488462, + 0.9995118379592896, + -0.028217086611427446, + -0.09549838153407061 + ], + [ + 0.04742619085644517, + 0.02882370539009571, + 0.9984587760833177, + 0.40494442132718483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9986734834378421, + 0.012399017810821533, + -0.049975799672370834, + 0.06567274424626837 + ], + [ + -0.013853873758738732, + 0.9994871616363525, + -0.028870718666229832, + -0.09852676521813429 + ], + [ + 0.04959220184478096, + 0.029524778947234154, + 0.998333083684072, + 0.4170061233151178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9984717366064655, + 0.013489429838955402, + -0.0535936812541621, + 0.07301675405189731 + ], + [ + -0.015112935245331813, + 0.999435544013977, + -0.030003967213503464, + -0.10477205799467934 + ], + [ + 0.053158691045914606, + 0.03076806850731373, + 0.9981119367427902, + 0.43878789890865394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.998228613773421, + 0.01389599218964577, + -0.057849359633849365, + 0.08042130364081099 + ], + [ + -0.015722321561933317, + 0.9993883967399599, + -0.031235911086077574, + -0.11466624092005406 + ], + [ + 0.057379924233926474, + 0.03209010511636735, + 0.9978365545604432, + 0.46029752552087694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9978869016463889, + 0.01609275303781033, + -0.06295001447669431, + 0.08511291376261007 + ], + [ + -0.01814199617147755, + 0.99931937456131, + -0.032118515927761104, + -0.12331284692928783 + ], + [ + 0.06239029470351548, + 0.03319268301129342, + 0.997499735324089, + 0.4866725933128103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9974876570971434, + 0.018223222345113754, + -0.06845680848780555, + 0.0908433086378268 + ], + [ + -0.020516164384725193, + 0.9992466568946838, + -0.03294230046051011, + -0.13020753167114557 + ], + [ + 0.06780492229594823, + 0.034264009445905685, + 0.9971100740125888, + 0.5148544334039045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9970769888255239, + 0.020553000271320346, + -0.07358723603883398, + 0.09440739662859102 + ], + [ + -0.023063271236016158, + 0.999175012111664, + -0.033427173063633485, + -0.1377778926471357 + ], + [ + 0.07283949981455214, + 0.035026624798774726, + 0.9967284055220115, + 0.5393526665963831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9966324167448234, + 0.02236338146030903, + -0.07889032245387653, + 0.09793956973930129 + ], + [ + -0.025090167994135337, + 0.999115526676178, + -0.033744002895609755, + -0.14569591188629144 + ], + [ + 0.07806591978889235, + 0.035609740763902664, + 0.9963120419063385, + 0.5620298990452789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9961358198103817, + 0.025196420028805733, + -0.08413394660769152, + 0.10204092355424271 + ], + [ + -0.028176028567820723, + 0.9990102648735046, + -0.03441736678844248, + -0.15088961536672627 + ], + [ + 0.08318348581742398, + 0.03665493428707123, + 0.9958598988037654, + 0.5923501045741202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9955846536777402, + 0.027898434549570084, + -0.08962604915240881, + 0.10373211824246885 + ], + [ + -0.031134201374761274, + 0.9989053606987, + -0.03490990133552919, + -0.15520624687615564 + ], + [ + 0.08855401298152354, + 0.03754619508981705, + 0.9953635043742035, + 0.6240037778014742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99498153367623, + 0.03114611655473709, + -0.09508779754104396, + 0.10570373248424401 + ], + [ + -0.03461570891542813, + 0.9987855553627014, + -0.035059165094751675, + -0.15832100570965701 + ], + [ + 0.09388036327585716, + 0.03817475587129593, + 0.9948513465884578, + 0.6559286343843034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9943867071121125, + 0.033693261444568634, + -0.10029851766371302, + 0.10708861772526813 + ], + [ + -0.037329479517113545, + 0.9987038373947144, + -0.03460021969437238, + -0.16385187968546827 + ], + [ + 0.0990027276854426, + 0.038150086998939514, + 0.994355588408034, + 0.6827230139070296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9937784362219011, + 0.036565959453582764, + -0.10520168926576783, + 0.1079970138298186 + ], + [ + -0.04041420223539192, + 0.9985808730125427, + -0.034682867484925245, + -0.16652239394935464 + ], + [ + 0.1037841810221373, + 0.038718730211257935, + 0.9938458912435019, + 0.7042258528527588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.993195709249946, + 0.03873646631836891, + -0.10982629221495535, + 0.10619281031931388 + ], + [ + -0.04275113338865081, + 0.9984920620918274, + -0.03443789773867868, + -0.1680297352287015 + ], + [ + 0.10832668317731581, + 0.038898766040802, + 0.9933540401208076, + 0.7226831481742395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9925463374932038, + 0.040912825614213943, + -0.11479504904745756, + 0.11099200243787452 + ], + [ + -0.04511575810755736, + 0.998394250869751, + -0.034255370269755364, + -0.16969924362948363 + ], + [ + 0.11320923944809186, + 0.039179109036922455, + 0.9927984213202026, + 0.7498116922219319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9919850943516617, + 0.042488738894462585, + -0.11899672945786402, + 0.11106947278318399 + ], + [ + -0.04682208115672814, + 0.998329222202301, + -0.03385856635940263, + -0.1702525847678235 + ], + [ + 0.11735931569587911, + 0.03915886580944061, + 0.9923171554879673, + 0.7772618421842177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9914609191788271, + 0.044343885034322746, + -0.12263305877144667, + 0.11032086243216904 + ], + [ + -0.048800711767067476, + 0.9982439279556277, + -0.033579747829288895, + -0.17047802472542334 + ], + [ + 0.12092864503791605, + 0.0392775908112526, + 0.9918838610502817, + 0.7994227505030409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9908381601772607, + 0.04596315324306488, + -0.12699244654851538, + 0.11445423852747261 + ], + [ + -0.05058781958383918, + 0.9981598258018494, + -0.03343322266305462, + -0.17022746341474343 + ], + [ + 0.12522206800884883, + 0.03955118730664253, + 0.9913400682806626, + 0.8262696713999151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.990342063418042, + 0.0472993478178978, + -0.13032812951646475, + 0.1132906891300419 + ], + [ + -0.05204079071053726, + 0.9980924129486084, + -0.033216628747834, + -0.17186263465108262 + ], + [ + 0.12850838569749445, + 0.03967820107936859, + 0.9909143453376784, + 0.8468960025626695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9898501720606184, + 0.048210158944129944, + -0.13368790298166786, + 0.11384655949329378 + ], + [ + -0.05306401309498138, + 0.9980462789535522, + -0.03298319880081074, + -0.17226244589939316 + ], + [ + 0.13183658557393338, + 0.03974243998527527, + 0.990474453108946, + 0.8662620389590776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.989392376834415, + 0.04945862293243408, + -0.13658917833844392, + 0.11503005113452526 + ], + [ + -0.054398081270255104, + 0.997984766960144, + -0.03266800425139557, + -0.17343971931859956 + ], + [ + 0.13469820934234938, + 0.03975166380405426, + 0.9900889805597405, + 0.8921670054549072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9887522613108708, + 0.04863566905260086, + -0.14143398284781145, + 0.12730502375141953 + ], + [ + -0.05367517938427762, + 0.9980444312095642, + -0.03203542347561237, + -0.1766963240118755 + ], + [ + 0.13959934147058786, + 0.039266593754291534, + 0.989429207185858, + 0.9261088221777062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9883724536575929, + 0.05051748082041742, + -0.14341505925159984, + 0.12117420712911095 + ], + [ + -0.05563599359918246, + 0.9979412555694582, + -0.0319046557235906, + -0.17743167166068022 + ], + [ + 0.14150805744027126, + 0.03951271995902062, + 0.9891482122611084, + 0.9396752405370317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.987967641311677, + 0.050298336893320084, + -0.14625316480164394, + 0.12271208430849637 + ], + [ + -0.05550807486521669, + 0.9979529976844788, + -0.03175866008898264, + -0.18174728859248207 + ], + [ + 0.14435637823209369, + 0.03949476033449173, + 0.9887372989509549, + 0.96409185002271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.987565961814097, + 0.051648907363414764, + -0.14847838682803685, + 0.11822114131418299 + ], + [ + -0.05695666883077149, + 0.9978727102279663, + -0.03171798584815663, + -0.18565596659825168 + ], + [ + 0.14652433548086974, + 0.03978043794631958, + 0.9884068544041336, + 0.9784400521963584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9872772387900524, + 0.051056209951639175, + -0.1505885507133345, + 0.12387878853106515 + ], + [ + -0.05636084761031589, + 0.9979238510131836, + -0.031168171661923347, + -0.1937123790814933 + ], + [ + 0.14868457905357185, + 0.039258923381567, + 0.9881050468717262, + 1.005548135810462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9870682100212418, + 0.05107952281832695, + -0.15194480324084927, + 0.12326874541027452 + ], + [ + -0.05634705183611682, + 0.9979433417320251, + -0.030563153209692846, + -0.20171356537621546 + ], + [ + 0.15007115424144132, + 0.038729555904865265, + 0.9879163275414931, + 1.0200484735995698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9866630799111713, + 0.05086435005068779, + -0.15462447131737445, + 0.12926282242633558 + ], + [ + -0.0561983999978477, + 0.9979591369628906, + -0.030320861065149713, + -0.20741846459770133 + ], + [ + 0.1527666470676647, + 0.03860612213611603, + 0.9875079283097125, + 1.0457621868483813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9862378052061475, + 0.05030372738838197, + -0.1574944936260426, + 0.13700693148539828 + ], + [ + -0.05573186843742489, + 0.997987747192383, + -0.030238330074441364, + -0.2095346925951831 + ], + [ + 0.15565648004901342, + 0.03859964385628701, + 0.9870567964550053, + 1.0672319800743748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9860811868904117, + 0.049638461321592345, + -0.1586816935742292, + 0.13962447744176382 + ], + [ + -0.055099537797097, + 0.9980240464210512, + -0.03020034028781587, + -0.21559413404260114 + ], + [ + 0.15686905361588793, + 0.03852327913045884, + 0.986867802197941, + 1.0948633174838416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9859455430353162, + 0.0496625155210495, + -0.15951490985183073, + 0.14101329053040046 + ], + [ + -0.055180184371168645, + 0.9980151653289795, + -0.030346476168343007, + -0.22062851286077112 + ], + [ + 0.1576912167353456, + 0.03872203081846237, + 0.9867290023343815, + 1.1246697134502142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9857853410186368, + 0.04925285652279854, + -0.1606283720671794, + 0.14446304980203323 + ], + [ + -0.054748761262711575, + 0.998050332069397, + -0.0299678740150653, + -0.22582901515287482 + ], + [ + 0.1588392042328988, + 0.038336094468832016, + 0.9865599151867855, + 1.1497282049256776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9855975331369151, + 0.04911331832408905, + -0.16181884544290215, + 0.14919447922882662 + ], + [ + -0.0546938607181581, + 0.9980460405349731, + -0.030211473712722536, + -0.22949088657335973 + ], + [ + 0.16001886350747813, + 0.03862684965133667, + 0.9863578886145814, + 1.1798214943332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9853611721547756, + 0.04902191460132599, + -0.16327954204008485, + 0.1521177602007477 + ], + [ + -0.05466563044283599, + 0.9980463981628418, + -0.03025025951437696, + -0.23161138079561552 + ], + [ + 0.1614776340541366, + 0.038733210414648056, + 0.9861159804077736, + 1.2031649946276313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.985108382289009, + 0.04870024323463441, + -0.16489327517171298, + 0.15634629319541452 + ], + [ + -0.05437209756131787, + 0.9980682730674746, + -0.03005725518111364, + -0.23361075569532896 + ], + [ + 0.16311094810594787, + 0.03857524693012238, + 0.9858533003037315, + 1.2265981451910306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9848602530127109, + 0.048615120351314545, + -0.16639383150916312, + 0.15864686590901086 + ], + [ + -0.05431355072756351, + 0.9980771541595459, + -0.02986658084528788, + -0.234774752838183 + ], + [ + 0.16462191310451388, + 0.038451842963695526, + 0.985606932693405, + 1.245309070106474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9846416620011074, + 0.04889291524887085, + -0.16760138125333823, + 0.16189048661049665 + ], + [ + -0.054649904372927056, + 0.9980575442314148, + -0.029908058488388633, + -0.23474262984217267 + ], + [ + 0.16581353772248658, + 0.038608118891716, + 0.9854010714218715, + 1.26723208375891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9844170411547223, + 0.049080960452556624, + -0.16886130471357394, + 0.16617017353815283 + ], + [ + -0.05490604744058055, + 0.9980407953262331, + -0.029998885984069634, + -0.23468763509198998 + ], + [ + 0.167058088010527, + 0.03880291804671288, + 0.9851832128147088, + 1.2904553403598928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9841709897917904, + 0.04949834570288658, + -0.1701687267494227, + 0.17025154498577627 + ], + [ + -0.05537974367022193, + 0.9980149269104004, + -0.02998817773036128, + -0.23638995831483903 + ], + [ + 0.1683465633690472, + 0.03893739730119705, + 0.984958547736184, + 1.3132607655851198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9838943337658913, + 0.049561630934476866, + -0.1717426932683386, + 0.17572114860349447 + ], + [ + -0.05554063813055685, + 0.9980001449584963, + -0.030182398356736428, + -0.2368757131885799 + ], + [ + 0.16990334100715335, + 0.03923499211668969, + 0.9846793683083094, + 1.3388832245130904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9836321237054987, + 0.04986759275197983, + -0.1731502716611242, + 0.18235522265590187 + ], + [ + -0.05590163346411598, + 0.997981071472168, + -0.030145648028935636, + -0.2393905415042495 + ], + [ + 0.1712974044157629, + 0.03933161124587059, + 0.984433958000614, + 1.36533797987145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9833791843548797, + 0.05012756586074829, + -0.17450667155419125, + 0.18865589040971398 + ], + [ + -0.05623668682842906, + 0.9979594945907593, + -0.030237881604597096, + -0.24096085677615584 + ], + [ + 0.17263484371108098, + 0.03954898193478584, + 0.9841916165882612, + 1.389602551622966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9831042817908826, + 0.05076683312654495, + -0.1758654817496469, + 0.19491776991742055 + ], + [ + -0.05691595444631161, + 0.9979252815246582, + -0.030095829222583227, + -0.24491646272864434 + ], + [ + 0.17397273340142358, + 0.03959688916802406, + 0.9839540427959876, + 1.4117836596048694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9827834938171095, + 0.051117971539497375, + -0.17754888411382524, + 0.20144705224774645 + ], + [ + -0.05739016324510243, + 0.9978898167610168, + -0.030369085095862624, + -0.24887032235778503 + ], + [ + 0.17562181796726178, + 0.04003579542040825, + 0.9836433147069218, + 1.434245335597872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9824421314738299, + 0.05163772404193878, + -0.1792791359660292, + 0.2079854300493673 + ], + [ + -0.05804119257105237, + 0.9978434443473816, + -0.030654708078631993, + -0.25465372185269974 + ], + [ + 0.17730957034401934, + 0.040522053837776184, + 0.9833205549053182, + 1.4630727809603958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9821164652910613, + 0.05179730802774429, + -0.1810092214031244, + 0.21295984324510445 + ], + [ + -0.05832844440758046, + 0.9978177547454834, + -0.03094346998532004, + -0.2587934887367863 + ], + [ + 0.17901143213365658, + 0.04094807803630829, + 0.9829945054460247, + 1.4898609937734053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9817706344824374, + 0.051831118762493134, + -0.1828661143988997, + 0.21828434364995541 + ], + [ + -0.05845229457515694, + 0.9978086948394775, + -0.031001937335364774, + -0.26460027171481765 + ], + [ + 0.18085853845132113, + 0.04112573340535164, + 0.9826488881822724, + 1.5101684507714175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9814390996226792, + 0.05181632563471794, + -0.18464127363011926, + 0.2247090091904096 + ], + [ + -0.05858261528438108, + 0.9977893233299255, + -0.031376998060988634, + -0.27073573215052266 + ], + [ + 0.182607250959117, + 0.04161137714982033, + 0.9823049909931352, + 1.5344122814578232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9811100622237118, + 0.05267321318387985, + -0.186141220910156, + 0.2299388274465419 + ], + [ + -0.0596157021029432, + 0.997711718082428, + -0.03189452464734773, + -0.2758000075345332 + ], + [ + 0.18403528954851103, + 0.042388979345560074, + 0.9820051983487109, + 1.561944584516085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.98075036107511, + 0.05306332930922508, + -0.18791756955554334, + 0.23608796362179912 + ], + [ + -0.060153416842649986, + 0.9976688027381897, + -0.032226150725704075, + -0.28233258807796285 + ], + [ + 0.1857694728767027, + 0.04290969297289848, + 0.9816559737441539, + 1.5926603545954308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9804120459779574, + 0.05341807007789612, + -0.1895750404531183, + 0.23937298726744516 + ], + [ + -0.06066530105478997, + 0.9976246953010559, + -0.03262986121128642, + -0.2882132064309561 + ], + [ + 0.18738171643307838, + 0.043491337448358536, + 0.9813238958030872, + 1.622112662749217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9800057938631794, + 0.05403519049286842, + -0.19149101086260883, + 0.24329522962020625 + ], + [ + -0.06144136025843447, + 0.9975667595863342, + -0.0329476778863371, + -0.2925355718437275 + ], + [ + 0.1892447379590011, + 0.04405438154935837, + 0.980941223553654, + 1.6438112547412478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9795956020385722, + 0.05464387312531471, + -0.1934076869328164, + 0.24767566070790656 + ], + [ + -0.06225511788041136, + 0.9974981546401978, + -0.033492340025431847, + -0.2965558308693914 + ], + [ + 0.1910936583160904, + 0.044849563390016556, + 0.9805466357176286, + 1.6661786191916077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9791818535203849, + 0.05520589649677278, + -0.19533362838897803, + 0.2509408504215987 + ], + [ + -0.0630473204707312, + 0.9974260330200198, + -0.03415179118185345, + -0.2974684331353396 + ], + [ + 0.19294546732110543, + 0.045756071805953986, + 0.9801420452111292, + 1.6893250293147883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9787183412725177, + 0.05544011294841768, + -0.19757729968714277, + 0.25395566417214066 + ], + [ + -0.06351907292261245, + 0.9973742365837099, + -0.03478508021147145, + -0.29955555980576276 + ], + [ + 0.1951300117937762, + 0.046594724059104926, + 0.97966997439085, + 1.7131549231759562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9782072636331153, + 0.05556797608733177, + -0.20005682894915106, + 0.2572326185435198 + ], + [ + -0.06387689367089389, + 0.997332751750946, + -0.03531536275906728, + -0.30154979557615497 + ], + [ + 0.19756081437960812, + 0.04732475429773331, + 0.9791476355344753, + 1.7360346978299583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9776851838373593, + 0.05580789968371391, + -0.2025269863318358, + 0.25927460970548555 + ], + [ + -0.0643924832194361, + 0.9972735047340393, + -0.03604375641104385, + -0.3012559497525829 + ], + [ + 0.19996327376505163, + 0.048280660063028336, + 0.9786131560685807, + 1.7619267633774847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9772182427036566, + 0.05638560280203819, + -0.20460993640242228, + 0.2604893724902881 + ], + [ + -0.06521232347919478, + 0.9971981048583984, + -0.036650498946923384, + -0.3008623069711962 + ], + [ + 0.20197007587977478, + 0.049158621579408646, + 0.9781572144839679, + 1.7840915503908155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9766011718218975, + 0.056514594703912735, + -0.20750002836126785, + 0.26572068071326665 + ], + [ + -0.06560800700594974, + 0.997151792049408, + -0.03720109942493257, + -0.30263982312110616 + ], + [ + 0.20480661415425513, + 0.04994429647922516, + 0.9775274272206289, + 1.8125626144234455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9760568470215691, + 0.056692961603403105, + -0.20999746520191623, + 0.2671818986152603 + ], + [ + -0.06602022032547947, + 0.9971069693565371, + -0.037669705447018365, + -0.30478342974102435 + ], + [ + 0.20725433146075897, + 0.0506318509578705, + 0.9769759625506906, + 1.8361012311610008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9754854640129446, + 0.05688622966408731, + -0.21258419840950032, + 0.26938704461625246 + ], + [ + -0.06645173532947916, + 0.9970611929893496, + -0.038119733504745214, + -0.30790450771626365 + ], + [ + 0.20979097405905198, + 0.05131183192133905, + 0.9763989179467336, + 1.8597126993673643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9750048083455872, + 0.05660528689622879, + -0.21485220194151, + 0.2723690500720086 + ], + [ + -0.06636879282978704, + 0.9970521926879883, + -0.038498404923447034, + -0.30862897155494395 + ], + [ + 0.21203964210520312, + 0.051795609295368195, + 0.9758875038833963, + 1.8817102738632634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9744534703083708, + 0.056857626885175705, + -0.21727326679689174, + 0.27586502439089367 + ], + [ + -0.06681267837459376, + 0.9970130324363708, + -0.038744070149313824, + -0.31184993145981177 + ], + [ + 0.21442138394754684, + 0.05227090045809746, + 0.9753415685419898, + 1.9033908709901746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9738775535367855, + 0.05695373192429544, + -0.21981524996606974, + 0.2786141275576939 + ], + [ + -0.0670865635358281, + 0.9969883561134341, + -0.03890491505997374, + -0.31628948429316844 + ], + [ + 0.21693746759354843, + 0.05263527110219003, + 0.9747654376463517, + 1.9265418560887804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9733530540518676, + 0.057227157056331635, + -0.22205603553690142, + 0.28214882934318697 + ], + [ + -0.06756677404371897, + 0.9969426989555359, + -0.03924292489084834, + -0.3220841184849983 + ], + [ + 0.21913137864829935, + 0.05320082604885101, + 0.9742438785288587, + 1.9496562228019674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9730330643169551, + 0.057410165667533875, + -0.22340716977596412, + 0.28400620044460495 + ], + [ + -0.06791822054036982, + 0.9969033598899841, + -0.03963295255399463, + -0.329761730310821 + ], + [ + 0.22044002031735868, + 0.0537375882267952, + 0.9739191289613545, + 1.9781698906494158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9726441361901851, + 0.057682946324348464, + -0.22502462036519622, + 0.28570344746740856 + ], + [ + -0.06836929472493514, + 0.9968585371971133, + -0.03998342511425954, + -0.3378246506192252 + ], + [ + 0.22201135344480324, + 0.054274417459964766, + 0.973532337623283, + 2.007841244711584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9721207038231747, + 0.05768069997429849, + -0.2272756569368624, + 0.28868772492568945 + ], + [ + -0.06857288074456984, + 0.9968311190605166, + -0.04031758849136806, + -0.343680741828275 + ], + [ + 0.2242298938351998, + 0.05477851256728174, + 0.9729955205662034, + 2.0321054336572613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9715458140622028, + 0.0577319972217083, + -0.2297080847223296, + 0.2912541137690713 + ], + [ + -0.06883724293710194, + 0.9968005418777466, + -0.04062220261157734, + -0.3489794371857349 + ], + [ + 0.2266279369357198, + 0.055278800427913666, + 0.9724114832418589, + 2.052422621753926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9710367773502433, + 0.05779223889112474, + -0.23183547389155854, + 0.2937666541170419 + ], + [ + -0.0690885253153977, + 0.9967718124389651, + -0.040898934560567715, + -0.3541511264048355 + ], + [ + 0.2287234249069951, + 0.055731538683176055, + 0.9718948549023319, + 2.0710407284679615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9705249756619, + 0.05827495828270912, + -0.2338489897999911, + 0.2977877509966519 + ], + [ + -0.06978330195330691, + 0.9967094659805298, + -0.04123700463917958, + -0.3625294038605127 + ], + [ + 0.23067641267182082, + 0.056340292096138, + 0.9713980337980156, + 2.0956848552778085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9702440071585414, + 0.05892390012741089, + -0.2348501595201038, + 0.2997521733758803 + ], + [ + -0.07071562424167348, + 0.9966076612472534, + -0.042100870596818406, + -0.3711529103204585 + ], + [ + 0.23157272278323518, + 0.05745569244027138, + 0.9711194112784547, + 2.1286474018155825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9701470724520009, + 0.05929175019264221, + -0.235157733819003, + 0.2985852701617315 + ], + [ + -0.07132615895210644, + 0.9965258836746216, + -0.042997087272933665, + -0.3802309645394175 + ], + [ + 0.23179140285613756, + 0.058486394584178925, + 0.9710057321608437, + 2.162934553497091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9698865300325782, + 0.05952466651797296, + -0.23617142324183163, + 0.29965444368184996 + ], + [ + -0.07182823749013403, + 0.9964534640312197, + -0.043831203309107385, + -0.38461456459626964 + ], + [ + 0.23272479422658307, + 0.05947506800293924, + 0.970722355954904, + 2.1859619717449403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9694668570778302, + 0.05937908962368965, + -0.23792456897199243, + 0.30283534471908297 + ], + [ + -0.07202062876932301, + 0.9963969588279724, + -0.04478927611341799, + -0.3878301143230614 + ], + [ + 0.23440777627545054, + 0.06055719405412674, + 0.970250391364211, + 2.2067070856977034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9690305334274187, + 0.05880853533744812, + -0.2398360927707721, + 0.3070834631783078 + ], + [ + -0.07186048881281046, + 0.9963517189025879, + -0.046035690041471206, + -0.38861252989330114 + ], + [ + 0.23625381179234944, + 0.061844728887081146, + 0.9697212575192756, + 2.222944239001515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9687013464519711, + 0.0583397075533867, + -0.24127606978737598, + 0.31097193261451744 + ], + [ + -0.07185861184582128, + 0.9962779283523562, + -0.047609267094567594, + -0.3920380327352116 + ], + [ + 0.23760050813960343, + 0.06345692276954652, + 0.9692880052469847, + 2.246370835149112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9684134631544894, + 0.05792372673749924, + -0.24252866346111013, + 0.31434342558339384 + ], + [ + -0.07190218209654663, + 0.9961984753608704, + -0.04917979657477274, + -0.39577006816549987 + ], + [ + 0.23875801788922824, + 0.06506472080945969, + 0.9688968953349527, + 2.2713411526204084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.968141676700678, + 0.05731558427214624, + -0.2437552228128367, + 0.3178802376060123 + ], + [ + -0.07184333124531361, + 0.9961047768592837, + -0.05112585297145094, + -0.39915105549553526 + ], + [ + 0.23987543107784223, + 0.06700925529003145, + 0.968488294965785, + 2.293079357552909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9678078483590186, + 0.05588507652282715, + -0.2454074102004251, + 0.3211739658732039 + ], + [ + -0.07101367526148909, + 0.9960540533065796, + -0.053230011982861244, + -0.40202867900336153 + ], + [ + 0.24146427817092667, + 0.06894370913505554, + 0.9679575429027675, + 2.317383519827126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9673060081639848, + 0.0548248253762722, + -0.24761535165425033, + 0.3252391652175948 + ], + [ + -0.0706904315519848, + 0.9959454536437988, + -0.055637686207275196, + -0.40490895411234884 + ], + [ + 0.24356104283083096, + 0.07132270187139511, + 0.9672595512834494, + 2.3468657584745602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.966767761656353, + 0.053719863295555115, + -0.24994856491671266, + 0.3297776091199979 + ], + [ + -0.07032297718371912, + 0.9958384037017822, + -0.05797065648920557, + -0.4105112385040635 + ], + [ + 0.24579421171495583, + 0.07362129539251328, + 0.9665221989132593, + 2.369212542923774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9661911987498311, + 0.05248437449336052, + -0.2524280648933918, + 0.3335884936735718 + ], + [ + -0.06995413353190988, + 0.9956997632980347, + -0.06073171291121487, + -0.41365650775298307 + ], + [ + 0.24815510474952487, + 0.07633683830499649, + 0.9657078876786184, + 2.3876884486579155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9648726857677591, + 0.05237596482038499, + -0.2574441380171527, + 0.3385834652272731 + ], + [ + -0.07081698539815119, + 0.9955052733421328, + -0.06288286690785758, + -0.4213126515791858 + ], + [ + 0.2529934377447435, + 0.07890537381172182, + 0.9642448995548434, + 2.4108295591346525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9631823919621816, + 0.05332467332482339, + -0.26350735978418294, + 0.3423085276854206 + ], + [ + -0.07274903768344507, + 0.9952618479728701, + -0.06450893147428306, + -0.4281654657158634 + ], + [ + 0.2588189153147803, + 0.08130376785993577, + 0.9624980143464499, + 2.4389878203649067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9613844787074061, + 0.054061491042375565, + -0.26984667203555407, + 0.3453666575750575 + ], + [ + -0.07444834237676154, + 0.9950457811355591, + -0.0658886260631477, + -0.43564971268353947 + ], + [ + 0.2649477546576437, + 0.08343394100666046, + 0.9606463572990169, + 2.465625381946574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9595003255895169, + 0.054763309657573714, + -0.2763332307175923, + 0.3508688108817011 + ], + [ + -0.07604329340015249, + 0.9948588609695437, + -0.06688231988076716, + -0.44326694394473765 + ], + [ + 0.27124985672211194, + 0.08518689870834352, + 0.958731803670391, + 2.493760366911808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9576177171808959, + 0.055392671376466765, + -0.28266585411640704, + 0.3551531395857429 + ], + [ + -0.0774595386499119, + 0.9947085976600649, + -0.06748978476948103, + -0.4514912095292599 + ], + [ + 0.277431715271861, + 0.08652457594871522, + 0.9568412252465643, + 2.523593297857185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9558743321179248, + 0.05654771998524666, + -0.28828224876394587, + 0.3550121808453869 + ], + [ + -0.07942764280345278, + 0.9944988489151001, + -0.0682879491474347, + -0.4588011871226388 + ], + [ + 0.28283482646649405, + 0.08817227184772491, + 0.955107355784856, + 2.555923544698015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9540054846957905, + 0.05731608718633652, + -0.294259148230268, + 0.3586808808040408 + ], + [ + -0.08101588614059954, + 0.9943227767944336, + -0.06898311546186342, + -0.4663996756750082 + ], + [ + 0.28863472299972415, + 0.08964993804693222, + 0.9532328336209566, + 2.589280677585029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9521513870686454, + 0.05830130726099016, + -0.30001453540316425, + 0.35931297879684243 + ], + [ + -0.08271928893450911, + 0.9941582679748537, + -0.06933184951172451, + -0.47349742394557365 + ], + [ + 0.2942197771050278, + 0.09083139896392824, + 0.9514117590705053, + 2.6207350973254653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9505347950452074, + 0.05904893577098848, + -0.3049537339261313, + 0.3610229213132572 + ], + [ + -0.08409266338748164, + 0.9940214753150942, + -0.06964038464640505, + -0.4782914680559459 + ], + [ + 0.2990183774794624, + 0.09183997660875322, + 0.9498176032872346, + 2.6412956997867987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9489379708479918, + 0.05997278913855553, + -0.3097094669736188, + 0.3610439528408086 + ], + [ + -0.08561516058894793, + 0.9938756823539734, + -0.06986541840998381, + -0.4825122372656255 + ], + [ + 0.3036226823407559, + 0.09281376749277115, + 0.9482609484387052, + 2.6602155014558653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.947093550200686, + 0.060358803719282164, + -0.31523108569719593, + 0.36227740010508336 + ], + [ + -0.0867305671879232, + 0.9937483668327334, + -0.07029920957432591, + -0.48465839353654583 + ], + [ + 0.3090172143003399, + 0.0939200967550278, + 0.9464076203025594, + 2.684046683431124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9454591601892377, + 0.06067194044589996, + -0.3200403984405318, + 0.3616167493292886 + ], + [ + -0.08758676176429851, + 0.9936681389808655, + -0.07037216359961122, + -0.48758155704550665 + ], + [ + 0.31374432625785353, + 0.09456530958414078, + 0.9447867012316334, + 2.7093459150024546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9439251941972507, + 0.060976918786764145, + -0.32447967211960027, + 0.3597929546973999 + ], + [ + -0.08843325338427198, + 0.993581235408783, + -0.07054017116624674, + -0.4890200404092133 + ], + [ + 0.31809558501187263, + 0.09527943283319473, + 0.9432587502943971, + 2.7354591864424638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9424113679454447, + 0.06127164885401726, + -0.32879572679669794, + 0.358190605761217 + ], + [ + -0.0892545568198961, + 0.9934974312782288, + -0.07068610775873521, + -0.4909894481491492 + ], + [ + 0.3223266391260011, + 0.09596189856529236, + 0.9417519959065416, + 2.760749698552463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9408759051953944, + 0.061485253274440765, + -0.3331248321609917, + 0.35674416715549817 + ], + [ + -0.08992063579234243, + 0.993442714214325, + -0.07061041762475878, + -0.49303403884698954 + ], + [ + 0.3265989342055987, + 0.09639042615890503, + 0.9402351193623554, + 2.7879608865333125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9393755541230208, + 0.06129567325115205, + -0.33736689438842865, + 0.3540648526561836 + ], + [ + -0.09018537630211347, + 0.9934178590774538, + -0.07062259385603342, + -0.4942134196420908 + ], + [ + 0.3308174266688524, + 0.0967667028307915, + 0.9387204287033264, + 2.814505029623161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9377979215182441, + 0.06093064695596696, + -0.3417931291912453, + 0.3533343801441034 + ], + [ + -0.09024759102250828, + 0.9934192895889284, + -0.07052313695086038, + -0.496382573206044 + ], + [ + 0.33524687315472573, + 0.09698244929313662, + 0.9371253685297856, + 2.8380041279812107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9363400779357356, + 0.06066565960645676, + -0.3458134738372966, + 0.35083066717267136 + ], + [ + -0.09032624704845976, + 0.9934282898902893, + -0.07029541438709723, + -0.4989047610837617 + ], + [ + 0.33927636655735044, + 0.09705644100904465, + 0.9356663746511643, + 2.861444776789014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9348019130867832, + 0.06033633276820184, + -0.3500069437253617, + 0.3488969166038063 + ], + [ + -0.09046953134286086, + 0.9934094548225405, + -0.0703769186465797, + -0.5001562728654299 + ], + [ + 0.3434539215805086, + 0.09745343774557116, + 0.9340996735531786, + 2.8836754229361006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9332389237388005, + 0.059833720326423645, + -0.3542386633695003, + 0.3461077977955828 + ], + [ + -0.09048035267315609, + 0.9933942556381226, + -0.07057759506180161, + -0.5050920467208482 + ], + [ + 0.3476757286742253, + 0.09791740030050278, + 0.9324879241336651, + 2.910694955264376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9317874529741668, + 0.05969397351145746, + -0.3580624756719712, + 0.3407389267932348 + ], + [ + -0.09073234370810349, + 0.9933764934539797, + -0.07050354809328983, + -0.5120383433968688 + ], + [ + 0.3514822214483682, + 0.09818217158317569, + 0.9310319851848964, + 2.94561692067109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9304595233605677, + 0.059441968798637404, + -0.36154078433781645, + 0.33617494134320913 + ], + [ + -0.09076518316958823, + 0.9933903217315676, + -0.07026663326870979, + -0.520028452386148 + ], + [ + 0.3549743236404012, + 0.09819556772708896, + 0.9297046966676673, + 2.97752304889225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9291229074397969, + 0.058851227164268494, + -0.3650577038088167, + 0.3337880664739946 + ], + [ + -0.09042403201211634, + 0.9934410452842712, + -0.06998843190410178, + -0.5264288458647908 + ], + [ + 0.3585443985539196, + 0.09803784638643265, + 0.9283504307497826, + 3.0027331056199618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9275400862724235, + 0.05818653479218483, + -0.3691662846572025, + 0.32925138199916687 + ], + [ + -0.09016494636867543, + 0.9934669137001038, + -0.06995548240166634, + -0.5317830841481738 + ], + [ + 0.3626840358644221, + 0.0981723740696907, + 0.9267267714656598, + 3.026254393007261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9259038273209008, + 0.05766924470663072, + -0.37333150220354744, + 0.32676582754492806 + ], + [ + -0.09004106770145634, + 0.9934858679771426, + -0.06984620668064162, + -0.5367027310288944 + ], + [ + 0.3668715920995733, + 0.0982860401272774, + 0.9250649413425339, + 3.0491492577735304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9245781598039117, + 0.057415418326854706, + -0.37664141335470336, + 0.3228328092709398 + ], + [ + -0.09005565810372038, + 0.9935004711151123, + -0.06961859338688396, + -0.541480435681696 + ], + [ + 0.37019625210071044, + 0.09828652441501617, + 0.9237393936732982, + 3.0769705487456873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9232064144899108, + 0.05730113014578819, + -0.3800084843360925, + 0.3186919482434901 + ], + [ + -0.09020285661809872, + 0.9935072064399719, + -0.06933206952270483, + -0.5461342209912015 + ], + [ + 0.3735683655530562, + 0.09828566014766693, + 0.9223809243407844, + 3.1046222497829516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9217874552515466, + 0.05694998428225517, + -0.3834900753410428, + 0.31592856678592096 + ], + [ + -0.09007000971304302, + 0.9935455918312073, + -0.06895354619160499, + -0.5502681901688085 + ], + [ + 0.37708795379168103, + 0.09810145944356918, + 0.9209673383738666, + 3.1314236602256322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9203481986553484, + 0.05675526708364488, + -0.38696002865306556, + 0.31332032739101423 + ], + [ + -0.09002373881258795, + 0.9935891628265383, + -0.06838372869715256, + -0.554797041376229 + ], + [ + 0.3805981510751655, + 0.09777243435382846, + 0.9195572676463551, + 3.156964229051896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.918872774046556, + 0.05637229606509209, + -0.3905060791360948, + 0.309645571064755 + ], + [ + -0.08987789583399461, + 0.9936253428459167, + -0.06804865028769969, + -0.5568349089449773 + ], + [ + 0.38418067436898484, + 0.09762591868638992, + 0.9180818984268522, + 3.181568353055271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9173840294844335, + 0.05617370456457138, + -0.3940190738465995, + 0.30657928438820115 + ], + [ + -0.08984762271651427, + 0.9936636686325073, + -0.06752720597351156, + -0.5595331423914097 + ], + [ + 0.38772919960578794, + 0.09735006093978882, + 0.9166182776187392, + 3.205701703708493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9160773118973184, + 0.055995550006628036, + -0.39707282998006216, + 0.3037194623614249 + ], + [ + -0.08978644930231675, + 0.9937041401863098, + -0.06701118918532914, + -0.560881774139066 + ], + [ + 0.39082058698133615, + 0.09703919291496277, + 0.9153374613287332, + 3.2301416964063465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9146698311093344, + 0.05594528466463089, + -0.4003114292453843, + 0.3022463311691159 + ], + [ + -0.08993687177996379, + 0.993716835975647, + -0.06662006580271353, + -0.5613755386675544 + ], + [ + 0.39406913129214116, + 0.0969381183385849, + 0.913954320491211, + 3.2530824351344836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9132082482448699, + 0.05580248683691025, + -0.403654279372626, + 0.3000403675618446 + ], + [ + -0.08987536620476166, + 0.9937672019004822, + -0.06594811983147526, + -0.5622724858357738 + ], + [ + 0.39745831919107455, + 0.09650293737649918, + 0.9125316598893226, + 3.2804635778607993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9118934729621173, + 0.05563151091337204, + -0.40663915027876735, + 0.29738693431207086 + ], + [ + -0.08982222712836685, + 0.9938037991523743, + -0.06546712914836181, + -0.5619301675310653 + ], + [ + 0.4004775159472432, + 0.09622427821159363, + 0.9112401500063909, + 3.308637299451815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9104936375590826, + 0.05556565523147583, + -0.4097729258016073, + 0.29501705528704814 + ], + [ + -0.08991985974374382, + 0.9938234686851501, + -0.06503361128151192, + -0.5624873328816878 + ], + [ + 0.40362829994391025, + 0.0960594043135643, + 0.9098663427621014, + 3.338582036491925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9092841761992502, + 0.05565092340111734, + -0.4124381477691286, + 0.2910871672788691 + ], + [ + -0.09003594277264411, + 0.9938544631004336, + -0.06439593504821903, + -0.5645837131244675 + ], + [ + 0.4063197986673425, + 0.09568846225738528, + 0.9087067409100846, + 3.3723237132509074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.908185512258861, + 0.055478267371654524, + -0.41487502592941733, + 0.29212479794933044 + ], + [ + -0.08984644504984968, + 0.993911921977997, + -0.06377035196637354, + -0.5679930955284641 + ], + [ + 0.408811371204357, + 0.09519035369157794, + 0.9076409134516605, + 3.3988981886262404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9070281854641286, + 0.0552566796541214, + -0.4174285918946871, + 0.2925940210544278 + ], + [ + -0.08970069746924601, + 0.9939528703689575, + -0.06333663672059554, + -0.5718106397917461 + ], + [ + 0.411404543350232, + 0.0948917493224144, + 0.9064997555303597, + 3.424909671277332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9057210982734303, + 0.05507858842611313, + -0.4202804716871602, + 0.2890256451383373 + ], + [ + -0.08949325431337078, + 0.9940186142921448, + -0.06259340090971997, + -0.5813442275840415 + ], + [ + 0.41431904502000383, + 0.09430443495512009, + 0.9052327665498131, + 3.4606909191060167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9045569457118332, + 0.05527655780315399, + -0.42275439521812475, + 0.2879810085027148 + ], + [ + -0.08959893544160359, + 0.9940627813339233, + -0.06173553614022445, + -0.5879191175492404 + ], + [ + 0.4168318610095313, + 0.0937216505408287, + 0.9041390576345982, + 3.491256987789802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9034781030158433, + 0.05503677949309349, + -0.4250861892857924, + 0.2900768870487407 + ], + [ + -0.08931155966587484, + 0.9941272139549255, + -0.06111109969019527, + -0.5938780863061318 + ], + [ + 0.41922638944857216, + 0.09317765384912491, + 0.903087570450328, + 3.512386490898226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9019637971428361, + 0.05455490201711655, + -0.42835158720235733, + 0.2906818026087227 + ], + [ + -0.0891781498606998, + 0.9941357970237732, + -0.06116582788011501, + -0.5986485204579591 + ], + [ + 0.4225027322796589, + 0.09336896240711212, + 0.9015396111264529, + 3.5346428309462543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9004875735040804, + 0.05448383092880249, + -0.4314552989251171, + 0.28880612480461376 + ], + [ + -0.08927938240217971, + 0.9941495060920715, + -0.060794024405095945, + -0.6049415248440219 + ], + [ + 0.4256187783683843, + 0.09326431900262833, + 0.9000835939679771, + 3.563113225364436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8991005191728121, + 0.054300591349601746, + -0.43436132959563317, + 0.2864090992527457 + ], + [ + -0.08928283349794483, + 0.9941655397415161, + -0.060526709979288426, + -0.6095366114122223 + ], + [ + 0.42854040727948944, + 0.09320060163736343, + 0.8987028551869459, + 3.590450814157132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.897622708014762, + 0.05426902323961258, + -0.43741097639363086, + 0.2822257300068401 + ], + [ + -0.08927079866624152, + 0.9942078590393066, + -0.059844875630423566, + -0.6160286994596664 + ], + [ + 0.43162972775434244, + 0.09276615083217621, + 0.8972682208796319, + 3.618433769320567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8961264836682128, + 0.054245453327894225, + -0.4404710566410161, + 0.2808513662598046 + ], + [ + -0.08925340236670444, + 0.9942517280578616, + -0.059138295930244056, + -0.6212897677252067 + ], + [ + 0.434731134053761, + 0.0923089385032654, + 0.8958169061289591, + 3.641741823881715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.894872620117327, + 0.054182346910238266, + -0.4430206499303092, + 0.27984197845353675 + ], + [ + -0.08915640354499575, + 0.994299054145813, + -0.05848523964380582, + -0.62479488649512 + ], + [ + 0.4373261639652752, + 0.09183496236801147, + 0.8946017021736902, + 3.661670301124537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8934523854429138, + 0.05410146713256836, + -0.44588779862192324, + 0.27782914297732825 + ], + [ + -0.08908649179674315, + 0.9943419098854065, + -0.057860252841878956, + -0.6279970965601706 + ], + [ + 0.4402345959940622, + 0.09141796082258224, + 0.893216806566055, + 3.68188393448995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8920327453397874, + 0.05412323772907257, + -0.44871851493239745, + 0.274503947608499 + ], + [ + -0.08912214449567875, + 0.9943750500679016, + -0.05723204493173663, + -0.6308731659872379 + ], + [ + 0.44309688555747784, + 0.09104360640048981, + 0.8918386833754145, + 3.7054887923867437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.890708972389707, + 0.05441459268331528, + -0.45130538347940435, + 0.2712762875105321 + ], + [ + -0.08938044284129042, + 0.9943932890892029, + -0.05650821489508383, + -0.6319724374992698 + ], + [ + 0.4457001908079569, + 0.09067025780677795, + 0.8905786085494178, + 3.7287979137222713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8893701523605233, + 0.05442676320672035, + -0.45393660057384033, + 0.2668774590010251 + ], + [ + -0.08925817106706385, + 0.9944530129432678, + -0.05564367102419159, + -0.6337704008492231 + ], + [ + 0.44839011072627405, + 0.09000537544488907, + 0.8892948724351913, + 3.7538962336980934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8882041574435084, + 0.0546671599149704, + -0.45618520929530715, + 0.26489188320395796 + ], + [ + -0.08941888014056959, + 0.9944784045219421, + -0.05492706854729736, + -0.6341257745874064 + ], + [ + 0.45066360138757033, + 0.08957801759243011, + 0.8881881302469249, + 3.773541260487661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8870609583500854, + 0.054780963808298125, + -0.45839052818976167, + 0.26238853088771774 + ], + [ + -0.08941936110660625, + 0.9945188164711001, + -0.05418900228272327, + -0.6352932945157281 + ], + [ + 0.45290950198939806, + 0.08905792981386186, + 0.8870973274906828, + 3.7960241859501345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8858542752218164, + 0.054798856377601624, + -0.46071604636292807, + 0.2600084499380858 + ], + [ + -0.089287668517198, + 0.994574248790741, + -0.05338283658541143, + -0.6365341911184562 + ], + [ + 0.45529102399480176, + 0.08842568099498749, + 0.885940729721221, + 3.820096290760468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.884902130018107, + 0.05480252578854562, + -0.46254182488305606, + 0.2586484271963896 + ], + [ + -0.08902186571958824, + 0.9946470260620119, + -0.05246329667091066, + -0.6374964434237008 + ], + [ + 0.45719074825095873, + 0.0876012146472931, + 0.8850438820493511, + 3.839343058462378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8840205233579306, + 0.05489902198314667, + -0.4642130960798225, + 0.2564629412799404 + ], + [ + -0.08880947049368401, + 0.9947170615196228, + -0.05148584912243865, + -0.6387487647167139 + ], + [ + 0.45893419104626115, + 0.08674106001853943, + 0.8842258465006397, + 3.858765173915128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.883189884582703, + 0.05495430529117584, + -0.465785036310596, + 0.25602734142866573 + ], + [ + -0.08858663551729287, + 0.9947821497917175, + -0.05060543777013687, + -0.6401729136843218 + ], + [ + 0.4605736398215743, + 0.08595654368400574, + 0.8834497119793062, + 3.875480708719408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8824399369228756, + 0.05482164025306702, + -0.46721985393058924, + 0.25482680236598776 + ], + [ + -0.08827543002736252, + 0.9948406219482422, + -0.04999567186376853, + -0.642274313871907 + ], + [ + 0.4620684648919884, + 0.08536221086978912, + 0.8827264497553754, + 3.894625898097157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8820382472622221, + 0.05451071634888649, + -0.4680139406381499, + 0.2529734204244595 + ], + [ + -0.08762750859241426, + 0.9949344396591187, + -0.04926397133142995, + -0.6470580760587727 + ], + [ + 0.46295778091317297, + 0.08446359634399414, + 0.8823468484404621, + 3.9155414008315894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8821883970343475, + 0.05444630980491638, + -0.4677383757142634, + 0.2471461843301576 + ], + [ + -0.0872050106685331, + 0.9950015544891357, + -0.04865346092910586, + -0.6523139560585481 + ], + [ + 0.4627514430054966, + 0.08371064811944962, + 0.8825268328329393, + 3.9405942695527867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8824110571263911, + 0.05394670367240907, + -0.4673761337889665, + 0.2423799284900057 + ], + [ + -0.0861588841076731, + 0.9951337575912478, + -0.047805965731800744, + -0.6570192997689009 + ], + [ + 0.4625228349093097, + 0.08245311677455903, + 0.8827650399737814, + 3.9654750642407572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8823728179721354, + 0.05324147269129753, + -0.467529244318582, + 0.2409749790946719 + ], + [ + -0.08511580423646849, + 0.9952476024627686, + -0.047302768223964564, + -0.6588663081344877 + ], + [ + 0.46278886762125254, + 0.0815327912569046, + 0.8827111151679158, + 3.9829399391885842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8826691974746328, + 0.051856137812137604, + -0.46712528615028237, + 0.23869687183823984 + ], + [ + -0.08341377028613024, + 0.9954005479812622, + -0.047116137859968765, + -0.6602123115565268 + ], + [ + 0.4625335046701687, + 0.08055263757705688, + 0.8829349117562363, + 4.001244523658627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8829848581216911, + 0.0506301149725914, + -0.4666629303864192, + 0.2359919969386987 + ], + [ + -0.08200585314314732, + 0.9955155253410339, + -0.04715794352676031, + -0.6638063889663735 + ], + [ + 0.46218260835300157, + 0.0799088403582573, + 0.8831771194783968, + 4.022555704260349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8831781950027956, + 0.04935877025127412, + -0.46643327459402806, + 0.233438539777665 + ], + [ + -0.08059942593892507, + 0.9956258535385134, + -0.04725389150416991, + -0.6694363544019939 + ], + [ + 0.4620606426489025, + 0.07932786643505098, + 0.8832933327127455, + 4.045772615041863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8832869403677062, + 0.04836207628250122, + -0.4663317698308688, + 0.2309971948116309 + ], + [ + -0.07952583674188414, + 0.9957066774368286, + -0.047369051238743735, + -0.6749942231830709 + ], + [ + 0.46203877389972126, + 0.07892588526010513, + 0.8833407551537802, + 4.069710824729745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8834497182731696, + 0.04748312756419182, + -0.4661136740588089, + 0.22632093480715015 + ], + [ + -0.07854124448429205, + 0.9957822561264038, + -0.047422733021255666, + -0.6792876047295514 + ], + [ + 0.4618959638781271, + 0.07850474864244461, + 0.8834529569612023, + 4.095249410838022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.883183142032177, + 0.04646202176809311, + -0.4667213926759009, + 0.22616495131604716 + ], + [ + -0.07744284319663622, + 0.9958690404891968, + -0.047407565396105855, + -0.6813586211244724 + ], + [ + 0.46259074326289423, + 0.07801380008459091, + 0.8831328779036635, + 4.115755813324125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8825603990148121, + 0.045255862176418304, + -0.4680160357981517, + 0.22739330045418912 + ], + [ + -0.0763338235622732, + 0.9959434866905212, + -0.04764137380279895, + -0.6816320589044349 + ], + [ + 0.46396149303412154, + 0.07777184993028641, + 0.8824348418744408, + 4.131758352073671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8818981723087964, + 0.04425545781850815, + -0.46935813261041204, + 0.22872946301326677 + ], + [ + -0.07541533524855058, + 0.996006429195404, + -0.047788518377836486, + -0.6820885691078424 + ], + [ + 0.4653687820885692, + 0.07754141092300415, + 0.8817137891760132, + 4.14761588303276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.881212781405604, + 0.043435603380203254, + -0.47072002643419214, + 0.22713184855098278 + ], + [ + -0.07479001062720625, + 0.9960384964942934, + -0.04810159220275902, + -0.68419347158076 + ], + [ + 0.46676597621153554, + 0.07759288698434831, + 0.880970410299852, + 4.170278509629333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.8803606333950256, + 0.0429566316306591, + -0.4723557057615306, + 0.22437012545927773 + ], + [ + -0.07447347421621972, + 0.9960565567016602, + -0.04821849001822219, + -0.6868098719390952 + ], + [ + 0.4684216980291283, + 0.07762763649225235, + 0.8800880969932167, + 4.194943298942388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8790682473963086, + 0.0428258553147316, + -0.47476830295527334, + 0.22268931837483605 + ], + [ + -0.07453581981672876, + 0.9960547089576721, + -0.04816071160276725, + -0.6901013399044403 + ], + [ + 0.4708326704024156, + 0.07772379368543625, + 0.8787921190451187, + 4.216829132935185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8773585195422455, + 0.042320966720581055, + -0.47796540990803227, + 0.22498057358674234 + ], + [ + -0.07441212626476305, + 0.9960525035858154, + -0.04839724812947958, + -0.6909205912201689 + ], + [ + 0.474030427779571, + 0.07802816480398178, + 0.8770443440146936, + 4.234043810304481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8752934489392771, + 0.04194816946983338, + -0.48176936291121536, + 0.2256028385275383 + ], + [ + -0.07470769362680234, + 0.9960004687309267, + -0.04900842930875388, + -0.6918356900233831 + ], + [ + 0.4777866919523582, + 0.07888863980770112, + 0.8749265447231008, + 4.252698583252155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8730519110859336, + 0.042213398963212974, + -0.4857966345733925, + 0.22314480120374172 + ], + [ + -0.07560604078056209, + 0.995916545391083, + -0.04933541751561025, + -0.6939895320214088 + ], + [ + 0.4817302988841661, + 0.07980153709650041, + 0.8726784020388924, + 4.2740828904662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8707448390012756, + 0.04263734444975853, + -0.4898831588941073, + 0.22120123173864256 + ], + [ + -0.07655567096615293, + 0.9958407878875732, + -0.049400456741801574, + -0.6988707555786391 + ], + [ + 0.4857393005107046, + 0.08051852881908417, + 0.8703873134981627, + 4.296879013812967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8680108330764501, + 0.04298488050699235, + -0.4946811976669158, + 0.2212748385532637 + ], + [ + -0.07756291644823558, + 0.9957542419433596, + -0.049573487625557716, + -0.7035281753964191 + ], + [ + 0.49044999772254333, + 0.08139924705028535, + 0.8676595038516656, + 4.316829908288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.865061956998285, + 0.043729912489652634, + -0.49975541776881305, + 0.21563988126251582 + ], + [ + -0.07900089923864984, + 0.9956384897232056, + -0.04962725355623812, + -0.7103644467537689 + ], + [ + 0.495405558938277, + 0.08241178095340729, + 0.8647436632341636, + 4.341828385920289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8618556978196008, + 0.0449039600789547, + -0.5051617795811544, + 0.21000665983808342 + ], + [ + -0.08071311737632883, + 0.9955217242240906, + -0.049212329911425934, + -0.7180477120444234 + ], + [ + 0.5006897264819357, + 0.08318710327148438, + 0.8616203810626429, + 4.3664255043183795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8583708452617343, + 0.04573626071214676, + -0.5109869737560869, + 0.20870532830566793 + ], + [ + -0.08245915985986886, + 0.9953680634498596, + -0.049426159596981475, + -0.7240585661612834 + ], + [ + 0.5063595299242075, + 0.0845615342259407, + 0.8581662860878669, + 4.38403223079256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8547236974051367, + 0.04690104350447655, + -0.5169600913470866, + 0.20532967613688818 + ], + [ + -0.08443736078998594, + 0.995207667350769, + -0.049315878261804856, + -0.7298544107284521 + ], + [ + 0.5121696557879755, + 0.08580219000577927, + 0.8545877563125599, + 4.403166940510907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8507556189187301, + 0.047968871891498566, + -0.5233678742611051, + 0.2019802799409401 + ], + [ + -0.08652101655316842, + 0.9950222373008728, + -0.04944543564563069, + -0.7346338137068923 + ], + [ + 0.5183908309104737, + 0.08734829723834991, + 0.8506710787027365, + 4.421313513302073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.8467330657849528, + 0.049592241644859314, + -0.5297015543894201, + 0.19479481194070994 + ], + [ + -0.0890376053432766, + 0.9948128461837769, + -0.049190130101787785, + -0.7399059525804117 + ], + [ + 0.5245144520990194, + 0.08881427347660065, + 0.8467565359582119, + 4.443025098830027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8425495171055978, + 0.05142054706811905, + -0.5361587395435781, + 0.18269616546804668 + ], + [ + -0.0917129539637956, + 0.9945921301841736, + -0.04873601221045227, + -0.7467704872935099 + ], + [ + 0.5307532503809609, + 0.09023520350456238, + 0.8427091090766655, + 4.469502350648207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8382850107085806, + 0.05312994867563249, + -0.5426375130501275, + 0.1730831886756853 + ], + [ + -0.09428071758365003, + 0.9943738579750063, + -0.048288367867677394, + -0.7519401180716764 + ], + [ + 0.5370189702286793, + 0.09163966774940492, + 0.8385778186120307, + 4.492886928132739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8341408416277947, + 0.05505100637674333, + -0.5487972709843466, + 0.1612961915394345 + ], + [ + -0.09706758181347223, + 0.9941285848617556, + -0.047814118045160434, + -0.7576777598927517 + ], + [ + 0.5429428554193934, + 0.09315413236618043, + 0.834586927167019, + 4.516566556512143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8300975996454578, + 0.056866105645895004, + -0.5547110018443898, + 0.15508071182593103 + ], + [ + -0.09979802604713418, + 0.9938753843307495, + -0.04745585043491996, + -0.7609716210836039 + ], + [ + 0.5486149659752939, + 0.09475204348564148, + 0.8306886746824294, + 4.5312876497034456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8261005190396304, + 0.05871870368719101, + -0.5604552566721817, + 0.1515781607413977 + ], + [ + -0.10268404361243062, + 0.9935908913612366, + -0.04725618330837577, + -0.7625566470164734 + ], + [ + 0.5540883929085356, + 0.09658815711736679, + 0.8268354063196005, + 4.540476585230306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8219922444979079, + 0.06015794724225998, + -0.5663124714785596, + 0.14242276578495536 + ], + [ + -0.105088076206039, + 0.9933510422706604, + -0.047012255679996846, + -0.7644490820023249 + ], + [ + 0.5597189434104599, + 0.0981564000248909, + 0.8228487453565212, + 4.5562411333364095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.8184347177490842, + 0.06197079271078111, + -0.5712479745708966, + 0.1322619447298165 + ], + [ + -0.10789462403933303, + 0.9930577278137209, + -0.04685204223855403, + -0.7678792599709602 + ], + [ + 0.5643787494854714, + 0.09997991472482684, + 0.8194392405686038, + 4.570855704567344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.815366771995942, + 0.06338736414909364, + -0.5754642240079556, + 0.12356448393181521 + ], + [ + -0.1103869169910149, + 0.9927743077278139, + -0.04705152526074376, + -0.768167246990947 + ], + [ + 0.5683236311020216, + 0.10188797116279605, + 0.8164723229256894, + 4.582589351786232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8124437197040723, + 0.0648665502667427, + -0.5794200594618103, + 0.11208044659377941 + ], + [ + -0.11291856390353693, + 0.9924814701080322, + -0.04722157985615074, + -0.7700824669595622 + ], + [ + 0.5720005613768017, + 0.10379215329885483, + 0.8136599761481496, + 4.5976901708723625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.8102539114289893, + 0.06604807078838348, + -0.5823454739259291, + 0.10057949504527036 + ], + [ + -0.11501648766199514, + 0.9922275543212891, + -0.04749387770797571, + -0.7711922607597476 + ], + [ + 0.5746823347916079, + 0.10546143352985382, + 0.8115529013385281, + 4.610981129414099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.808411875976434, + 0.06692667305469514, + -0.5848000052990661, + 0.09087286117250848 + ], + [ + -0.11694304270355041, + 0.9919714927673342, + -0.04813406171221977, + -0.7725717334297186 + ], + [ + 0.5768834884584806, + 0.10730043798685077, + 0.8097481636125606, + 4.6216107376384645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8069267001803409, + 0.06783102452754974, + -0.5867437404369045, + 0.08052780346337254 + ], + [ + -0.11896005960839788, + 0.9916914105415344, + -0.04895597533097352, + -0.7730154828630359 + ], + [ + 0.5785480072052189, + 0.10930296033620834, + 0.8082914733301574, + 4.632058102474159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8060684106517513, + 0.06859689950942993, + -0.5878334632324349, + 0.06952374335105843 + ], + [ + -0.12091620088908932, + 0.9913967847824097, + -0.050116206368475184, + -0.7729858075097514 + ], + [ + 0.5793384084781774, + 0.11147567629814148, + 0.8074281315181908, + 4.64085185980332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.805508591154528, + 0.0688869133591652, + -0.5885664507517318, + 0.0592241276312753 + ], + [ + -0.12240206458995748, + 0.991142809391022, + -0.05151354066206607, + -0.7727205583701611 + ], + [ + 0.5798048252259319, + 0.1135363578796387, + 0.8068059844939394, + 4.649245562034579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8054551574138329, + 0.0688844546675682, + -0.5886399318624198, + 0.04910939066655198 + ], + [ + -0.12350358985266019, + 0.9909260272979736, + -0.053032764577502875, + -0.7718442538741169 + ], + [ + 0.579645480921329, + 0.11541465669870377, + 0.8066539236561753, + 4.655776099428299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8059502137244489, + 0.06798604130744935, + -0.5880664766475834, + 0.03860428213686079 + ], + [ + -0.12361384024499207, + 0.990812420845032, + -0.05486656926412215, + -0.771561429202968 + ], + [ + 0.5789334102152576, + 0.11691287159919742, + 0.8069494761857925, + 4.659063711300966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8062433287637288, + 0.06787339597940445, + -0.5876775774624695, + 0.03149134844740292 + ], + [ + -0.1245585033746846, + 0.9906037449836731, + -0.05647453324924933, + -0.7749505047280048 + ], + [ + 0.5783224708498305, + 0.11873245239257812, + 0.8071218779893913, + 4.662270544513558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8076728020840672, + 0.06783163547515869, + -0.5857162739193095, + 0.013995991457348284 + ], + [ + -0.12571073627536167, + 0.99033123254776, + -0.058658693749790464, + -0.7781663168312691 + ], + [ + 0.5760742312978826, + 0.12100784480571747, + 0.8083907691472683, + 4.676643877644761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8099313781560562, + 0.06683541089296341, + -0.5827042314409256, + -0.005930792865261908 + ], + [ + -0.125527872797017, + 0.9902190566062927, + -0.06090097846270236, + -0.7833432805485285 + ], + [ + 0.5729345163116397, + 0.12247122824192047, + 0.8103991781035519, + 4.691275248685566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8122821173066157, + 0.06573132425546646, + -0.5795490788309456, + -0.021213270056224198 + ], + [ + -0.1253927498837446, + 0.9900758266448975, + -0.06345501251984585, + -0.7866221480268236 + ], + [ + 0.5696265516615696, + 0.12421461939811707, + 0.8124631208515394, + 4.701915693402974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8145741798194985, + 0.06427089124917984, + -0.5764877695217362, + -0.03498354031799944 + ], + [ + -0.12466670535975999, + 0.9900158047676086, + -0.0657795131148252, + -0.789881942051783 + ], + [ + 0.5665042677269214, + 0.12545111775398254, + 0.8144537762469233, + 4.710434293965026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8170359955683576, + 0.06275496631860733, + -0.5731613554869425, + -0.05114361499252937 + ], + [ + -0.12391665578400847, + 0.9899424314498901, + -0.06825400920096455, + -0.7934543744653714 + ], + [ + 0.5631135119192575, + 0.12679022550582886, + 0.8165950469253498, + 4.721233145070486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.819090816537121, + 0.06063211709260942, + -0.5704507014534829, + -0.06760122104801292 + ], + [ + -0.12223442767335237, + 0.9900094270706179, + -0.0702860574471603, + -0.7966355261005837 + ], + [ + 0.5604899559629971, + 0.12729936838150027, + 0.8183189338385063, + 4.733104416056682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8210141269352176, + 0.05876663327217102, + -0.5678752296774491, + -0.08122078243802941 + ], + [ + -0.12085671364367225, + 0.9900352358818054, + -0.07227649686213923, + -0.7972144693386893 + ], + [ + 0.5579690668530085, + 0.1279715597629547, + 0.8199352471982317, + 4.741326585515849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/pan_right/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5bdc69744bcbb6485dd820d7aa5fdfdcf0708394 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/pan_right/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999966020556381, + 0.0022364004980772734, + -0.0013466465238435427, + 0.001194173120893538 + ], + [ + -0.0022396347530754712, + 0.9999945759773254, + -0.0024051409934275035, + -0.007240426726639271 + ], + [ + 0.0013412602860670532, + 0.0024081487208604813, + 0.9999961780106437, + 0.02368771843612194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999893773352614, + 0.004063426516950131, + -0.0021704969245818833, + 0.0029152745846658945 + ], + [ + -0.0040729475123397795, + 0.999981999397278, + -0.0044002050413737065, + -0.015726715326309204 + ], + [ + 0.0021525780779452167, + 0.004408998414874078, + 0.9999879610988953, + 0.05117582529783249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999782231780019, + 0.005368742626160383, + -0.003831331422725777, + 0.003859743243083358 + ], + [ + -0.005393422329732611, + 0.9999645948410034, + -0.006460534035884502, + -0.021772125735878944 + ], + [ + 0.003796511142738666, + 0.0064810579642653465, + 0.9999717729246458, + 0.06950080394744873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999599712280031, + 0.00689054187387228, + -0.005711390009555077, + 0.008227568119764328 + ], + [ + -0.006938925824842325, + 0.9999398589134216, + -0.008495367755953928, + -0.02743411809206009 + ], + [ + 0.005652508569502424, + 0.008534657768905163, + 0.9999475734509273, + 0.09131264686584473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999441033072435, + 0.007960905320942402, + -0.00695411059383537, + 0.010066553018987179 + ], + [ + -0.008032821005863123, + 0.9999139308929443, + -0.010375597549615952, + -0.0319373793900013 + ], + [ + 0.006870912097348146, + 0.010430879890918732, + 0.9999219998686689, + 0.10996730625629425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999333155303816, + 0.009428995661437511, + -0.006670354977647818, + 0.011218965984880924 + ], + [ + -0.009513778101591272, + 0.9998728632926941, + -0.012794925630098, + -0.03783909231424332 + ], + [ + 0.006548863001286333, + 0.012857532128691673, + 0.9998959144915265, + 0.1414240151643753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999355937883483, + 0.00977416057139635, + -0.005769991908737919, + 0.012742291204631329 + ], + [ + -0.009858859415663277, + 0.9998413324356079, + -0.01483784159397709, + -0.04391228035092354 + ], + [ + 0.005624048403521239, + 0.014893772080540657, + 0.9998732641510882, + 0.17333948612213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999300320708145, + 0.01059537474066019, + -0.00525755241670114, + 0.01416004914790392 + ], + [ + -0.010681852870245786, + 0.9998034238815308, + -0.016702288003921272, + -0.04967191070318222 + ], + [ + 0.005079552133834908, + 0.016757281497120857, + 0.9998466877012138, + 0.2031428962945938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999256211171299, + 0.01089369785040617, + -0.005489871254994828, + 0.018322164192795753 + ], + [ + -0.010992596922926555, + 0.999771773815155, + -0.018318787529080043, + -0.055265601724386215 + ], + [ + 0.005289059654436664, + 0.018377771601080894, + 0.9998171129057143, + 0.22732163965702057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999203079665623, + 0.011148378252983093, + -0.005925686742887607, + 0.02193235605955124 + ], + [ + -0.011264730034725749, + 0.9997369647026062, + -0.019978484151651644, + -0.060601606965065 + ], + [ + 0.005701401028389663, + 0.020043641328811646, + 0.9997828731510388, + 0.2526627779006958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999168111116559, + 0.011119464412331581, + -0.006537807632521699, + 0.024640263989567757 + ], + [ + -0.011259115024574093, + 0.9997005462646484, + -0.021726394195541215, + -0.0632689818739891 + ], + [ + 0.006294264242199898, + 0.02179819531738758, + 0.9997425792618965, + 0.27060452103614807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999913856097064, + 0.011200539767742157, + -0.0068447165797468675, + 0.028237326070666313 + ], + [ + -0.011356463813437329, + 0.9996667504310608, + -0.023182624807951482, + -0.06869565695524216 + ], + [ + 0.00658277782212132, + 0.023258360102772713, + 0.9997077973872447, + 0.29556170105934143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999122787506965, + 0.01118478924036026, + -0.0070909418197489344, + 0.03128468245267868 + ], + [ + -0.011355619630535078, + 0.9996346831321716, + -0.024527210602976027, + -0.07415857911109924 + ], + [ + 0.0068140199541544995, + 0.024605581536889076, + 0.9996740435358663, + 0.3200038969516754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999099232371745, + 0.011243744753301144, + -0.007332700186692381, + 0.03680737316608429 + ], + [ + -0.011428168555756159, + 0.9996066093444824, + -0.02561356985039279, + -0.08152249455451965 + ], + [ + 0.007041824705601706, + 0.025695061311125755, + 0.9996450342365625, + 0.3482968211174011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999060643056101, + 0.01170582789927721, + -0.007127339203660537, + 0.04017125815153122 + ], + [ + -0.011897059047691578, + 0.9995535612106323, + -0.027407233679778587, + -0.08730066567659378 + ], + [ + 0.006803333525589401, + 0.02748945541679859, + 0.9995989188519744, + 0.37555423378944397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999004629024921, + 0.012052183039486408, + -0.007339279939753545, + 0.043024107813835144 + ], + [ + -0.012258425295967114, + 0.9995118379592896, + -0.028736597977842396, + -0.09516654908657074 + ], + [ + 0.006989358530649743, + 0.02882370539009571, + 0.9995600632199542, + 0.4017683267593384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998986553231184, + 0.012399017810821533, + -0.006999011200629402, + 0.04450707510113716 + ], + [ + -0.012599983974760665, + 0.9994871616363525, + -0.02943957571473196, + -0.09816394746303558 + ], + [ + 0.0066304009423877215, + 0.029524778947234154, + 0.9995420802774164, + 0.413612425327301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998762889511654, + 0.013489429838955402, + -0.00809309987267224, + 0.05061492323875427 + ], + [ + -0.013731654772140582, + 0.999435544013977, + -0.030660732500991102, + -0.10435748845338821 + ], + [ + 0.0076749366028042425, + 0.03076806850731373, + 0.9994970635526158, + 0.43514296412467957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998551676072179, + 0.01389599218964577, + -0.009826371415445258, + 0.056786734610795975 + ], + [ + -0.01420355426081745, + 0.9993883967399599, + -0.03195516520117196, + -0.11421182751655579 + ], + [ + 0.009376313080062789, + 0.03209010511636735, + 0.9994410088020063, + 0.45638012886047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999793477712589, + 0.01609275303781033, + -0.01240865518146974, + 0.06025134027004242 + ], + [ + -0.016494627199749364, + 0.99931937456131, + -0.03299482329137464, + -0.12277241796255112 + ], + [ + 0.011869229595137764, + 0.03319268301129342, + 0.9993785029875502, + 0.48245570063591003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997153613423124, + 0.018223222345113754, + -0.015399902132610036, + 0.06475876271724701 + ], + [ + -0.018738197071503017, + 0.9992466568946838, + -0.033985116318781476, + -0.12957628071308136 + ], + [ + 0.014768982703021362, + 0.034264009445905685, + 0.999303699750415, + 0.5103181600570679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.99962643564877, + 0.020553000271320346, + -0.018016439863208885, + 0.06710069626569748 + ], + [ + -0.021168368811754473, + 0.999175012111664, + -0.03465819587026559, + -0.1370459794998169 + ], + [ + 0.017289249120911107, + 0.035026624798774726, + 0.999236803251622, + 0.534497082233429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995333367357405, + 0.02236338146030903, + -0.020807831156094154, + 0.0694136917591095 + ], + [ + -0.023085680125822138, + 0.999115526676178, + -0.03514577690877061, + -0.14487244188785553 + ], + [ + 0.020003451390110803, + 0.035609740763902664, + 0.9991655691688675, + 0.5568401217460632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994052193194777, + 0.025196420028805733, + -0.023543578276758015, + 0.0722988173365593 + ], + [ + -0.026036029645550424, + 0.9990102648735046, + -0.03606340087680102, + -0.14993655681610107 + ], + [ + 0.02261160841897443, + 0.03665493428707123, + 0.9990721423014908, + 0.586819589138031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992585804803025, + 0.027898434549570084, + -0.02653150319500975, + 0.07277791202068329 + ], + [ + -0.028865860097773702, + 0.9989053606987, + -0.03680763273176265, + -0.15412038564682007 + ], + [ + 0.025475585177185178, + 0.03754619508981705, + 0.9989701264878279, + 0.6181150674819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990796165972224, + 0.03114611655473709, + -0.02949341109224676, + 0.07354079931974411 + ], + [ + -0.03223683610590279, + 0.9987855553627014, + -0.03725827101114418, + -0.15707893669605255 + ], + [ + 0.028297142782971914, + 0.03817475587129593, + 0.998870360020756, + 0.6496729254722595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9989131750862453, + 0.033693261444568634, + -0.03220534995811334, + 0.07371770590543747 + ], + [ + -0.03488125338947032, + 0.9987038373947144, + -0.03706701236810163, + -0.1624729335308075 + ], + [ + 0.030914704380829966, + 0.038150086998939514, + 0.9987937010917175, + 0.6760969758033752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9987316723431221, + 0.036565959453582764, + -0.03461245993466812, + 0.07341931015253067 + ], + [ + -0.037858522841498245, + 0.9985808730125427, + -0.037455857853742947, + -0.1649850457906723 + ], + [ + 0.03319373193358433, + 0.038718730211257935, + 0.9986986472066275, + 0.6972318291664124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9985737991673339, + 0.03873646631836891, + -0.03674097100928463, + 0.07040812075138092 + ], + [ + -0.04011225874705806, + 0.9984920620918274, + -0.03747845921169876, + -0.16635465621948242 + ], + [ + 0.03523379090808724, + 0.038898766040802, + 0.9986217999276678, + 0.7153209447860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983927232526255, + 0.040912825614213943, + -0.03921868831548543, + 0.0740055963397026 + ], + [ + -0.042388987565975214, + 0.998394250869751, + -0.03757706421567903, + -0.16787941753864288 + ], + [ + 0.03761833161390237, + 0.039179109036922455, + 0.998523859704358, + 0.7420604825019836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982583431086189, + 0.042488738894462585, + -0.04092590196413819, + 0.07287690043449402 + ], + [ + -0.04402596506773682, + 0.998329222202301, + -0.037422242044213815, + -0.1683085709810257 + ], + [ + 0.03926750821845144, + 0.03915886580944061, + 0.9984611203520393, + 0.7691407799720764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9981302244441739, + 0.044343885034322746, + -0.04206752207569392, + 0.0709199383854866 + ], + [ + -0.045925862293413125, + 0.9982439279556277, + -0.03741555967585524, + -0.1683942973613739 + ], + [ + 0.040334491998454416, + 0.0392775908112526, + 0.9984139721367823, + 0.7909477353096008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9979763143258247, + 0.04596315324306488, + -0.04393878911029825, + 0.07385289669036865 + ], + [ + -0.04762417628832806, + 0.9981598258018494, + -0.03753459338720354, + -0.16800661385059357 + ], + [ + 0.04213272787935246, + 0.03955118730664253, + 0.9983288689287544, + 0.8174052834510803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978765208756528, + 0.0472993478178978, + -0.04478027471407671, + 0.0714811384677887 + ], + [ + -0.048995287314275396, + 0.9980924129486084, + -0.03756394739828307, + -0.16951480507850647 + ], + [ + 0.042918099844416656, + 0.03967820107936859, + 0.9982903794469425, + 0.8376771807670593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9977936899007652, + 0.048210158944129944, + -0.04564614908496884, + 0.07082971185445786 + ], + [ + -0.04993996802969068, + 0.9980462789535522, + -0.03754571189991783, + -0.16980305314064026 + ], + [ + 0.0437468858639026, + 0.03974243998527527, + 0.99825184073683, + 0.8566818833351135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9977138865441724, + 0.04945862293243408, + -0.04605300830723867, + 0.07080356031656265 + ], + [ + -0.05120204098506439, + 0.997984766960144, + -0.03747933759577755, + -0.17085255682468414 + ], + [ + 0.04410652832961664, + 0.03975166380405426, + 0.9982356491252805, + 0.8822411894798279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976426340498612, + 0.04863566905260086, + -0.04841260659797502, + 0.08188579976558685 + ], + [ + -0.050446453412951946, + 0.9980444312095642, + -0.03691136108640626, + -0.17407503724098206 + ], + [ + 0.04652273127463865, + 0.039266593754291534, + 0.9981451636140933, + 0.9157395362854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975739729229809, + 0.05051748082041742, + -0.04789733725302577, + 0.07453989237546921 + ], + [ + -0.05231723944608932, + 0.9979412555694582, + -0.03709686371311825, + -0.17464807629585266 + ], + [ + 0.04592468720397691, + 0.03951271995902062, + 0.998163132581585, + 0.9289947152137756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.997568614310549, + 0.050298336893320084, + -0.048238037231903175, + 0.07486782968044281 + ], + [ + -0.05211031921830996, + 0.9979529976844788, + -0.037071194974749255, + -0.17889899015426636 + ], + [ + 0.0462746696929305, + 0.03949476033449173, + 0.9981477171330541, + 0.9530528783798218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975125746505392, + 0.051648907363414764, + -0.04796898688643502, + 0.06916491687297821 + ], + [ + -0.05346167634457826, + 0.9978727102279663, + -0.0373087377565846, + -0.182663694024086 + ], + [ + 0.0459399937407304, + 0.03978043794631958, + 0.9981517959189805, + 0.9670724868774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975619961336064, + 0.051056209951639175, + -0.04757438080298054, + 0.07360483705997467 + ], + [ + -0.05283143235249291, + 0.9979238510131836, + -0.03683530675431301, + -0.19068002700805664 + ], + [ + 0.04559494241683883, + 0.039258923381567, + 0.9981882532507178, + 0.9938499331474304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976151059557552, + 0.05107952281832695, + -0.04642170651027254, + 0.07176998257637024 + ], + [ + -0.05278852667908137, + 0.9979433417320251, + -0.03636575361233572, + -0.1986122578382492 + ], + [ + 0.04446868850245376, + 0.038729555904865265, + 0.9982597644407495, + 1.008057713508606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9976174851118051, + 0.05086435005068779, + -0.04660594156514043, + 0.07655530422925949 + ], + [ + -0.052574900107711334, + 0.9979591369628906, + -0.03624216683249464, + -0.204254150390625 + ], + [ + 0.044667385275575906, + 0.03860612213611603, + 0.9982556694672362, + 1.0334086418151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9976283019959736, + 0.05030372738838197, + -0.04698185816879514, + 0.08309309184551239 + ], + [ + -0.0520285801457451, + 0.997987747192383, + -0.03624120049384513, + -0.2063247710466385 + ], + [ + 0.04506425379122313, + 0.03859964385628701, + 0.9982380839456622, + 1.0545014142990112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9977231868031445, + 0.049638461321592345, + -0.045655553114228135, + 0.08448261767625809 + ], + [ + -0.05131281919925477, + 0.9980240464210512, + -0.03626312458652986, + -0.212349072098732 + ], + [ + 0.04376529913939602, + 0.03852327913045884, + 0.9982988318076796, + 1.0818454027175903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.997797482718508, + 0.0496625155210495, + -0.043975035836834014, + 0.0846405029296875 + ], + [ + -0.05128406485290238, + 0.9980151653289795, + -0.03654731255831647, + -0.21730796992778778 + ], + [ + 0.042072719807664055, + 0.03872203081846237, + 0.9983639266977065, + 1.1113868951797485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978785146079328, + 0.04925285652279854, + -0.04257560996683437, + 0.08686169981956482 + ], + [ + -0.05080798197569907, + 0.998050332069397, + -0.036249817935284194, + -0.2224653661251068 + ], + [ + 0.04070720263248473, + 0.038336094468832016, + 0.9984354173949038, + 1.1361624002456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9979407758258454, + 0.04911331832408905, + -0.04125583607389468, + 0.09036635607481003 + ], + [ + -0.05063212673512099, + 0.9980460405349731, + -0.036613375785775996, + -0.2260599434375763 + ], + [ + 0.03937701367467408, + 0.03862684965133667, + 0.9984775269902195, + 1.1659711599349976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9979879714195062, + 0.04902191460132599, + -0.04021016464815734, + 0.09206686913967133 + ], + [ + -0.05050654401795402, + 0.9980463981628418, + -0.036776328851074076, + -0.22811259329319 + ], + [ + 0.03832876507783651, + 0.038733210414648056, + 0.9985142256787903, + 1.1890132427215576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9980392681809347, + 0.04870024323463441, + -0.03931839546302514, + 0.09507430344820023 + ], + [ + -0.050146514617946954, + 0.9980682730674746, + -0.03667547755533776, + -0.23006196320056915 + ], + [ + 0.03745634281579079, + 0.03857524693012238, + 0.9985534204511277, + 1.212133526802063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9980825013844816, + 0.048615120351314545, + -0.038313777661005494, + 0.09615301340818405 + ], + [ + -0.05002005400873817, + 0.9980771541595459, + -0.03660558210145891, + -0.2311616986989975 + ], + [ + 0.036460525985775954, + 0.038451842963695526, + 0.9985950280731088, + 1.2305383682250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9981178926665804, + 0.04889291524887085, + -0.03701483331253118, + 0.09817158430814743 + ], + [ + -0.050255309976439726, + 0.9980575442314148, + -0.03681722191701739, + -0.23103871941566467 + ], + [ + 0.035142834038199275, + 0.038608118891716, + 0.9986362611417544, + 1.2521753311157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9981541235329042, + 0.049080960452556624, + -0.03576865694499353, + 0.10122676193714142 + ], + [ + -0.0504037262324376, + 0.9980407953262331, + -0.03706847161292159, + -0.23089724779129028 + ], + [ + 0.03387921339215628, + 0.03880291804671288, + 0.9986724019825387, + 1.2751091718673706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981756733858357, + 0.04949834570288658, + -0.03457250022786528, + 0.10408520698547363 + ], + [ + -0.05078054407513734, + 0.9980149269104004, + -0.03724974034809178, + -0.2324981838464737 + ], + [ + 0.03266006944928803, + 0.03893739730119705, + 0.998707778091424, + 1.2976222038269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9982042120815827, + 0.049561630934476866, + -0.03364466808093508, + 0.10833510756492615 + ], + [ + -0.050818566865253566, + 0.9980001449584963, + -0.037592724246533996, + -0.23290222883224487 + ], + [ + 0.031714224600482566, + 0.03923499211668969, + 0.9987265950276053, + 1.3229337930679321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.998225254966484, + 0.04986759275197983, + -0.03255014145604497, + 0.11374779045581818 + ], + [ + -0.05108588304413105, + 0.997981071472168, + -0.037735729390621385, + -0.23532190918922424 + ], + [ + 0.03060263144728663, + 0.03933161124587059, + 0.9987574767544088, + 1.349088191986084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9982489689791921, + 0.05012756586074829, + -0.03140373499077184, + 0.11882618069648743 + ], + [ + -0.05130859334426329, + 0.9979594945907593, + -0.03800424553132792, + -0.23679757118225098 + ], + [ + 0.02943459839753193, + 0.03954898193478584, + 0.9987840266258469, + 1.3730560541152954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9982518956618156, + 0.05076683312654495, + -0.03026300305974696, + 0.12386736273765564 + ], + [ + -0.051905035263363535, + 0.9979252815246582, + -0.038092678055480694, + -0.24063362181186676 + ], + [ + 0.028266366755112897, + 0.03959688916802406, + 0.9988158402889876, + 1.3949401378631592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9982583255080221, + 0.051117971539497375, + -0.029450255064241832, + 0.12918072938919067 + ], + [ + -0.05223682406332193, + 0.9978898167610168, + -0.03856457414048289, + -0.24447979032993317 + ], + [ + 0.027416766575380818, + 0.04003579542040825, + 0.9988220634448848, + 1.4170817136764526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9982537762519088, + 0.05163772404193878, + -0.02868707873541461, + 0.13450504839420319 + ], + [ + -0.05273947324380609, + 0.9978434443473816, + -0.039077347970684906, + -0.2501409947872162 + ], + [ + 0.026607347399625784, + 0.040522053837776184, + 0.9988243321521755, + 1.4455851316452026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9982672377787024, + 0.05179730802774429, + -0.027921525861836948, + 0.13826434314250946 + ], + [ + -0.05287992058069031, + 0.9978177547454834, + -0.03954010320068085, + -0.2541849613189697 + ], + [ + 0.025812528540741, + 0.04094807803630829, + 0.9988278149620939, + 1.4720470905303955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.998283102026147, + 0.051831118762493134, + -0.027284477939893522, + 0.1423759162425995 + ], + [ + -0.05289293486615866, + 0.9978086948394775, + -0.03975082767554786, + -0.2599090337753296 + ], + [ + 0.025164369480878603, + 0.04112573340535164, + 0.9988370251874096, + 1.4920158386230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9983032760130008, + 0.05181632563471794, + -0.026564549641162536, + 0.14758631587028503 + ], + [ + -0.052861371438885765, + 0.9977893233299255, + -0.04027547927060876, + -0.265959769487381 + ], + [ + 0.02441889688965915, + 0.04161137714982033, + 0.998835432344869, + 1.5159271955490112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9982843017212505, + 0.05267321318387985, + -0.025572666178057493, + 0.151600643992424 + ], + [ + -0.053695491795472186, + 0.997711718082428, + -0.04108633350092848, + -0.2708657681941986 + ], + [ + 0.023349992076228083, + 0.042388979345560074, + 0.9988283011875141, + 1.5431513786315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982816872794751, + 0.05306332930922508, + -0.024858731646354878, + 0.1565379947423935 + ], + [ + -0.05406757803677948, + 0.9976688027381897, + -0.041637187148967754, + -0.2772789001464844 + ], + [ + 0.02259137719168455, + 0.04290969297289848, + 0.9988234966784942, + 1.5735336542129517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9982831835013845, + 0.05341807007789612, + -0.02402418364538453, + 0.15860912203788757 + ], + [ + -0.05439976837545166, + 0.9976246953010559, + -0.042256973334981345, + -0.28304070234298706 + ], + [ + 0.021709830980038092, + 0.043491337448358536, + 0.9988178909923336, + 1.6026612520217896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9982634811797859, + 0.05403519049286842, + -0.023456030981385018, + 0.16132429242134094 + ], + [ + -0.055004043905101316, + 0.9975667595863342, + -0.04283859687938255, + -0.28722113370895386 + ], + [ + 0.02108416580865024, + 0.04405438154935837, + 0.9988066443833181, + 1.6240131855010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9982435315109669, + 0.05464387312531471, + -0.022889488734533028, + 0.1644982099533081 + ], + [ + -0.055604036594157046, + 0.9974981546401978, + -0.043653495359692596, + -0.29109352827072144 + ], + [ + 0.020446830615652525, + 0.044849563390016556, + 0.9987844703355981, + 1.646033525466919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982252095625548, + 0.05520589649677278, + -0.022332927193129192, + 0.1665574461221695 + ], + [ + -0.05615909370343098, + 0.9974260330200198, + -0.044581001041668664, + -0.2918578088283539 + ], + [ + 0.01981431212073763, + 0.045756071805953986, + 0.9987561139665665, + 1.6688311100006104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9982174382356336, + 0.05544011294841768, + -0.022098119765726783, + 0.16837209463119507 + ], + [ + -0.05639897828509457, + 0.9973742365837099, + -0.045429392233047684, + -0.29382315278053284 + ], + [ + 0.019521474945344935, + 0.046594724059104926, + 0.9987231309234638, + 1.6922814846038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9982101967050244, + 0.05556797608733177, + -0.022104040985603136, + 0.17045429348945618 + ], + [ + -0.05654122852049312, + 0.997332751750946, + -0.046157576509610804, + -0.2957051694393158 + ], + [ + 0.01948019385788863, + 0.04732475429773331, + 0.998689586207019, + 1.7147574424743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9981968546871691, + 0.05580789968371391, + -0.0221028998185549, + 0.17130285501480103 + ], + [ + -0.056799432574535236, + 0.9972735047340393, + -0.04711017650778703, + -0.29528334736824036 + ], + [ + 0.01941351588189071, + 0.048280660063028336, + 0.9986451499338735, + 1.7402452230453491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9981730028501878, + 0.05638560280203819, + -0.02171120283321914, + 0.17131811380386353 + ], + [ + -0.05737459098296071, + 0.9971981048583984, + -0.04800065120549444, + -0.29473307728767395 + ], + [ + 0.018943820528902935, + 0.049158621579408646, + 0.9986113255224406, + 1.7620388269424438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9981562495007056, + 0.056514594703912735, + -0.022140735229791816, + 0.17536699771881104 + ], + [ + -0.05753930301607081, + 0.997151792049408, + -0.0487602398490948, + -0.2963918447494507 + ], + [ + 0.019322001184243147, + 0.04994429647922516, + 0.9985651107665178, + 1.7900599241256714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9981454525207387, + 0.056692961603403105, + -0.022171143883133876, + 0.1756380945444107 + ], + [ + -0.05773223285123425, + 0.9971069693565371, + -0.049443558633060034, + -0.2984146177768707 + ], + [ + 0.019303903532248756, + 0.0506318509578705, + 0.9985307950281314, + 1.813180923461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9981316971198176, + 0.05688622966408731, + -0.022294553565216663, + 0.17665638029575348 + ], + [ + -0.05794456753481158, + 0.9970611929893496, + -0.05011361395844051, + -0.3014122247695923 + ], + [ + 0.01937826148293794, + 0.05131183192133905, + 0.9984946583463012, + 1.8363631963729858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998152277893911, + 0.05660528689622879, + -0.022087895131206528, + 0.1784420907497406 + ], + [ + -0.05766295962855994, + 0.9970521926879883, + -0.050615481131842936, + -0.3020624816417694 + ], + [ + 0.01915767734867259, + 0.051795609295368195, + 0.9984739423031893, + 1.8579559326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9981388916815449, + 0.056857626885175705, + -0.022045207491819815, + 0.18074941635131836 + ], + [ + -0.0579218639615924, + 0.9970130324363708, + -0.051089085317087474, + -0.30515825748443604 + ], + [ + 0.019074566268429242, + 0.05227090045809746, + 0.9984507329566149, + 1.8792160749435425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981315889803871, + 0.05695373192429544, + -0.022126104038622363, + 0.18231303989887238 + ], + [ + -0.058028958173553115, + 0.9969883561134341, + -0.051447443436603305, + -0.30948886275291443 + ], + [ + 0.019129341888251862, + 0.05263527110219003, + 0.9984305642130092, + 1.901930332183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9981209159947144, + 0.057227157056331635, + -0.021901776282655792, + 0.1846565455198288 + ], + [ + -0.0583011175666926, + 0.9969426989555359, + -0.05202168585444368, + -0.31515267491340637 + ], + [ + 0.01885775845256009, + 0.05320082604885101, + 0.9984057696675249, + 1.924636960029602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9981347221114916, + 0.057410165667533875, + -0.02076497716747501, + 0.18529953062534332 + ], + [ + -0.05843408648263484, + 0.9969033598899841, + -0.05262236355825776, + -0.32271143794059753 + ], + [ + 0.017679613166922813, + 0.0537375882267952, + 0.9983985695065016, + 1.952830195426941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9981365459013215, + 0.057682946324348464, + -0.019903044285507755, + 0.18579018115997314 + ], + [ + -0.05867002590343712, + 0.9968585371971133, + -0.053205853113568825, + -0.3306446373462677 + ], + [ + 0.016771453735944457, + 0.054274417459964766, + 0.9983851820796571, + 1.9821538925170898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9981408883917249, + 0.05768069997429849, + -0.019688929842048158, + 0.18758368492126465 + ], + [ + -0.05866473005364191, + 0.9968311190605166, + -0.0537233409525284, + -0.3363960087299347 + ], + [ + 0.016527727212197297, + 0.05477851256728174, + 0.9983617393332145, + 2.006002187728882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9981384857374697, + 0.0577319972217083, + -0.019663069401802086, + 0.18896545469760895 + ], + [ + -0.058722831606100034, + 0.9968005418777466, + -0.054225071769055784, + -0.3415833115577698 + ], + [ + 0.016469635844722517, + 0.055278800427913666, + 0.9983351469499182, + 2.0258820056915283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9981415951734371, + 0.05779223889112474, + -0.01932526599805646, + 0.19028586149215698 + ], + [ + -0.05877193909725089, + 0.9967718124389651, + -0.05469740718896081, + -0.3466446101665497 + ], + [ + 0.016101798208816787, + 0.055731538683176055, + 0.998315955086992, + 2.0440919399261475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.998122106044321, + 0.05827495828270912, + -0.018876965848807898, + 0.19311504065990448 + ], + [ + -0.05923883576659316, + 0.9967094659805298, + -0.0553259443673285, + -0.35486382246017456 + ], + [ + 0.015590732535251287, + 0.056340292096138, + 0.9982898759823245, + 2.068341016769409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9981110156172059, + 0.05892390012741089, + -0.017390553679274785, + 0.19386011362075806 + ], + [ + -0.05981996509806655, + 0.9966076612472534, + -0.05652216019019183, + -0.3632994592189789 + ], + [ + 0.014001063626350205, + 0.05745569244027138, + 0.9982498720843317, + 2.1010220050811768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9981251679413559, + 0.05929175019264221, + -0.015187201326024436, + 0.1914517730474472 + ], + [ + -0.06007442700795786, + 0.9965258836746216, + -0.05768217822241953, + -0.37222325801849365 + ], + [ + 0.011714366305950501, + 0.058486394584178925, + 0.9982194948753919, + 2.135103225708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9981327034444657, + 0.05952466651797296, + -0.013708705604469901, + 0.19129885733127594 + ], + [ + -0.0602315436375238, + 0.9964534640312197, + -0.058759094917335726, + -0.37646371126174927 + ], + [ + 0.01016246830173892, + 0.05947506800293924, + 0.9981780634919107, + 2.1578474044799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9981510090686876, + 0.05937908962368965, + -0.012986554124760585, + 0.19327694177627563 + ], + [ + -0.06005392176508191, + 0.9963969588279724, + -0.05988803472920158, + -0.3795700967311859 + ], + [ + 0.009383661755532211, + 0.06055719405412674, + 0.9981206211740462, + 2.17822527885437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.998191970733239, + 0.05880853533744812, + -0.012422385997488548, + 0.1963244378566742 + ], + [ + -0.05946195483741513, + 0.9963517189025879, + -0.06121675046034109, + -0.3802831768989563 + ], + [ + 0.008776995988425513, + 0.061844728887081146, + 0.9980471658256435, + 2.194075345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9982319672121889, + 0.0583397075533867, + -0.011374537598870273, + 0.1989990472793579 + ], + [ + -0.05894220107713986, + 0.9962779283523562, + -0.0628976894796009, + -0.38362130522727966 + ], + [ + 0.007662758362164521, + 0.06345692276954652, + 0.9979551696935887, + 2.2171709537506104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9982695407171567, + 0.05792372673749924, + -0.010134707467961348, + 0.20115137100219727 + ], + [ + -0.05845923220966327, + 0.9961984753608704, + -0.06458401002444528, + -0.38726121187210083 + ], + [ + 0.006355234779662365, + 0.06506472080945969, + 0.9978608098763067, + 2.2418320178985596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9983167407749577, + 0.05731558427214624, + -0.008865658565602941, + 0.20346683263778687 + ], + [ + -0.05778012210848272, + 0.9961047768592837, + -0.066609117811386, + -0.39056214690208435 + ], + [ + 0.0050133809466888874, + 0.06700925529003145, + 0.9977397786657588, + 2.26326584815979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9984049450276679, + 0.05588507652282715, + -0.008024591633979188, + 0.20554691553115845 + ], + [ + -0.05630485967658099, + 0.9960540533065796, + -0.06860130484648454, + -0.3934527039527893 + ], + [ + 0.004159131879521575, + 0.06894370913505554, + 0.9976119005489952, + 2.2872095108032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9984658291957793, + 0.0548248253762722, + -0.007762971942890133, + 0.20841920375823975 + ], + [ + -0.0552384720748429, + 0.9959454536437988, + -0.07100281996049079, + -0.39628711342811584 + ], + [ + 0.0038387798833235025, + 0.07132270187139511, + 0.9974458806887265, + 2.3162689208984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.998526890544208, + 0.053719863295555115, + -0.0076314442980549395, + 0.21176932752132416 + ], + [ + -0.05413556063993688, + 0.9958384037017822, + -0.07331615925545383, + -0.40185070037841797 + ], + [ + 0.0036611601277192307, + 0.07362129539251328, + 0.997279575350472, + 2.3381738662719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9985924217881295, + 0.05248437449336052, + -0.007650858433961513, + 0.21439680457115173 + ], + [ + -0.05291492503473682, + 0.9956997632980347, + -0.07603901932494056, + -0.4049588739871979 + ], + [ + 0.0036270936031547393, + 0.07633683830499649, + 0.9970754858735323, + 2.356189489364624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9985742141862172, + 0.05237596482038499, + -0.010311290048404627, + 0.2183028906583786 + ], + [ + -0.053025284231056076, + 0.9955052733421328, + -0.07847050148717673, + -0.41242653131484985 + ], + [ + 0.0061549809087049455, + 0.07890537381172182, + 0.996863090935484, + 2.378558397293091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.998477961251546, + 0.05332467332482339, + -0.014078698142116786, + 0.2209877073764801 + ], + [ + -0.05429026468542214, + 0.9952618479728701, + -0.08066220852547905, + -0.418954998254776 + ], + [ + 0.009710713932871646, + 0.08130376785993577, + 0.996642042350458, + 2.405810594558716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9983728003328941, + 0.054061491042375565, + -0.018140944397410166, + 0.22302114963531494 + ], + [ + -0.05538155312781259, + 0.9950457811355591, + -0.08256361365812477, + -0.4261404871940613 + ], + [ + 0.013587557781063379, + 0.08343394100666046, + 0.9964206515139797, + 2.4314913749694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9982487641760218, + 0.054763309657573714, + -0.022368147582132937, + 0.22751161456108093 + ], + [ + -0.05646115090562455, + 0.9948588609695437, + -0.08407119377163161, + -0.43346884846687317 + ], + [ + 0.01764911890843579, + 0.08518689870834352, + 0.9962086451856375, + 2.458634376525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9981143412162916, + 0.055392671376466765, + -0.026446912872326766, + 0.2307860255241394 + ], + [ + -0.05746028466293609, + 0.9947085976600649, + -0.08516552625647551, + -0.44142401218414307 + ], + [ + 0.021589435852418102, + 0.08652457594871522, + 0.9960157545087366, + 2.4874775409698486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9979551258591888, + 0.05654771998524666, + -0.029798666508038245, + 0.22961892187595367 + ], + [ + -0.05893751988598798, + 0.9944988489151001, + -0.08659308973448335, + -0.4483893811702728 + ], + [ + 0.024738092862006362, + 0.08817227184772491, + 0.9957979849840137, + 2.518907070159912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977928170952525, + 0.05731608718633652, + -0.03353215322601475, + 0.23227980732917786 + ], + [ + -0.06006838343017376, + 0.9943227767944336, + -0.08782956983873368, + -0.45568907260894775 + ], + [ + 0.028307745033197163, + 0.08964993804693222, + 0.995570946736244, + 2.551299810409546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9976113216365817, + 0.05830130726099016, + -0.03704910649981241, + 0.23190416395664215 + ], + [ + -0.0613961824990732, + 0.9941582679748537, + -0.08876877206026743, + -0.4624689519405365 + ], + [ + 0.03165733957248282, + 0.09083139896392824, + 0.9953629616318653, + 2.5818064212799072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9974646471067725, + 0.05904893577098848, + -0.03971717763494746, + 0.23257674276828766 + ], + [ + -0.06241233801830872, + 0.9940214753150942, + -0.08958827642268781, + -0.46698570251464844 + ], + [ + 0.03418963662980432, + 0.09183997660875322, + 0.9951866851660943, + 2.6015138626098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9973073909365188, + 0.05997278913855553, + -0.0422041992410832, + 0.23155944049358368 + ], + [ + -0.06359085388760781, + 0.9938756823539734, + -0.09037331306374888, + -0.47090569138526917 + ], + [ + 0.036525787553763026, + 0.09281376749277115, + 0.9950132795140203, + 2.6195974349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9971393530839917, + 0.060358803719282164, + -0.0454966015523227, + 0.23178941011428833 + ], + [ + -0.0643172427887204, + 0.9937483668327334, + -0.09125493099866248, + -0.4728037118911743 + ], + [ + 0.03970414887200842, + 0.0939200967550278, + 0.9947877175875489, + 2.642474412918091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.997000661541017, + 0.06067194044589996, + -0.048047488035145684, + 0.23009881377220154 + ], + [ + -0.06488943885531583, + 0.9936681389808655, + -0.09172264154007265, + -0.4755118787288666 + ], + [ + 0.04217826291150553, + 0.09456530958414078, + 0.9946247569917582, + 2.666901111602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9968752115327645, + 0.060976918786764145, + -0.05021595852582082, + 0.22723305225372314 + ], + [ + -0.06542401322633802, + 0.993581235408783, + -0.09228247149730107, + -0.4767349660396576 + ], + [ + 0.044266526727161824, + 0.09527943283319473, + 0.9944658595560266, + 2.692185163497925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9967520062795339, + 0.06127164885401726, + -0.05226140421283183, + 0.22458747029304504 + ], + [ + -0.06593815098939505, + 0.9934974312782288, + -0.09281735822191518, + -0.4784906804561615 + ], + [ + 0.04623449674578157, + 0.09596189856529236, + 0.9943106433076548, + 2.7166550159454346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.996628449555084, + 0.061485253274440765, + -0.05432638693094669, + 0.22210220992565155 + ], + [ + -0.06636355825339434, + 0.993442714214325, + -0.0930990330475579, + -0.4803415536880493 + ], + [ + 0.048245928247388, + 0.09639042615890503, + 0.9941736638606575, + 2.7430315017700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.99653062715851, + 0.06129567325115205, + -0.05629886542633261, + 0.21838055551052094 + ], + [ + -0.06637820288407618, + 0.9934178590774538, + -0.09335355935147026, + -0.48138362169265747 + ], + [ + 0.05020611674239464, + 0.0967667028307915, + 0.9940400187590073, + 2.76874041557312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9964279478562303, + 0.06093064695596696, + -0.05847075762553227, + 0.2166198343038559 + ], + [ + -0.06622998205286669, + 0.9934192895889284, + -0.0934437264241569, + -0.4834441840648651 + ], + [ + 0.05239240336887398, + 0.09698244929313662, + 0.9939061617533822, + 2.791365385055542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.996339909080818, + 0.06066565960645676, + -0.06022031060153287, + 0.21307064592838287 + ], + [ + -0.06613456553050276, + 0.9934282898902893, + -0.09341571298130064, + -0.4858551323413849 + ], + [ + 0.05415744498987226, + 0.09705644100904465, + 0.993804301011713, + 2.8139820098876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.996240759833059, + 0.06033633276820184, + -0.06215967996963585, + 0.21010401844978333 + ], + [ + -0.06601134746791458, + 0.9934094548225405, + -0.09370244812732711, + -0.48698660731315613 + ], + [ + 0.056096346966394525, + 0.09745343774557116, + 0.9936578869199453, + 2.8353588581085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9961453190457888, + 0.059833720326423645, + -0.06414376626086202, + 0.20628689229488373 + ], + [ + -0.06572545075994125, + 0.9933942556381226, + -0.09406410721932615, + -0.4918223023414612 + ], + [ + 0.05809185026185521, + 0.09791740030050278, + 0.9934975983350034, + 2.8615097999572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9960518590257053, + 0.05969397351145746, + -0.06570607381256592, + 0.19987577199935913 + ], + [ + -0.0657499238248595, + 0.9933764934539797, + -0.09423404907746155, + -0.4986318349838257 + ], + [ + 0.05964565839055653, + 0.09818217158317569, + 0.9933794365028732, + 2.895617723464966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9959873016361922, + 0.059441968798637404, + -0.06690260332330072, + 0.1942530870437622 + ], + [ + -0.0656135033423641, + 0.9933903217315676, + -0.0941837905685996, + -0.5065174102783203 + ], + [ + 0.06086193841864513, + 0.09819556772708896, + 0.9933042927027974, + 2.926750659942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9959385229187399, + 0.058851227164268494, + -0.06813928973790234, + 0.19080966711044312 + ], + [ + -0.0651335871343106, + 0.9934410452842712, + -0.09398139173655867, + -0.5128702521324158 + ], + [ + 0.06216143395031058, + 0.09803784638643265, + 0.9932394294111264, + 2.95116925239563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9958474987845545, + 0.05818653479218483, + -0.070015116470689, + 0.1852531135082245 + ], + [ + -0.06465881721026971, + 0.9934669137001038, + -0.09403576143513113, + -0.518166184425354 + ], + [ + 0.06408609979816039, + 0.0981723740696907, + 0.9931038166449322, + 2.973803997039795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9957388040457558, + 0.05766924470663072, + -0.07196208795315648, + 0.18175701797008514 + ], + [ + -0.06433627184231469, + 0.9934858679771426, + -0.09405706026622848, + -0.5230071544647217 + ], + [ + 0.0660691245646713, + 0.0982860401272774, + 0.9929626284860873, + 2.9957966804504395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9956778781600722, + 0.057415418326854706, + -0.07300062179784944, + 0.1767697036266327 + ], + [ + -0.06418225788551457, + 0.9935004711151123, + -0.09400748839523244, + -0.5276845693588257 + ], + [ + 0.06712869180291413, + 0.09828652441501617, + 0.9928914700158092, + 3.022843837738037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9956025582245669, + 0.05730113014578819, + -0.07410855537270439, + 0.17158247530460358 + ], + [ + -0.06417325813963738, + 0.9935072064399719, + -0.09394298348524982, + -0.5322170257568359 + ], + [ + 0.06824435673690421, + 0.09828566014766693, + 0.9928154919738651, + 3.0497078895568848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.995530263345354, + 0.05694998428225517, + -0.07534086081092205, + 0.16778068244457245 + ], + [ + -0.06392787913353665, + 0.9935455918312073, + -0.09370391908342679, + -0.5362734794616699 + ], + [ + 0.06951813070712654, + 0.09810145944356918, + 0.9927453816307724, + 3.0756919384002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9954476407132765, + 0.05675526708364488, + -0.07656934857825079, + 0.16413834691047668 + ], + [ + -0.06382666748739042, + 0.9935891628265383, + -0.09331004457065123, + -0.54071044921875 + ], + [ + 0.0707826513091117, + 0.09777243435382846, + 0.992688439217823, + 3.100410223007202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953675252671218, + 0.05637229606509209, + -0.0778823623798405, + 0.15943598747253418 + ], + [ + -0.06355877717008557, + 0.9936253428459167, + -0.09310712545325114, + -0.5426737666130066 + ], + [ + 0.07213722306084597, + 0.09762591868638992, + 0.9926053515001471, + 3.124173641204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9952772101805827, + 0.05617370456457138, + -0.07916920489170129, + 0.15534549951553345 + ], + [ + -0.06346153168727063, + 0.9936636686325073, + -0.092763963101539, + -0.5452781319618225 + ], + [ + 0.07345667330792097, + 0.09735006093978882, + 0.9925357002336098, + 3.147465229034424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9952237448901904, + 0.055995550006628036, + -0.07996356225267634, + 0.1514352560043335 + ], + [ + -0.0633354305829299, + 0.9937041401863098, + -0.09241606563376487, + -0.5465380549430847 + ], + [ + 0.07428523400961512, + 0.09703919291496277, + 0.9925044601049926, + 3.171132802963257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9951455208081159, + 0.05594528466463089, + -0.08096624445782505, + 0.14892810583114624 + ], + [ + -0.06337094862742171, + 0.993716835975647, + -0.09225506459368076, + -0.5469090342521667 + ], + [ + 0.0752962982549992, + 0.0969381183385849, + 0.9924381329085397, + 3.1932692527770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9950617893920023, + 0.05580248683691025, + -0.08208603541580278, + 0.1456974595785141 + ], + [ + -0.06329949147364114, + 0.9937672019004822, + -0.09176006941434313, + -0.5477164387702942 + ], + [ + 0.07645397875161336, + 0.09650293737649918, + 0.9923920268359698, + 3.2198166847229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9950104978493557, + 0.05563151091337204, + -0.08282037031990906, + 0.14199799299240112 + ], + [ + -0.06317580441273735, + 0.9938037991523743, + -0.09144831995193659, + -0.5472844243049622 + ], + [ + 0.07721980626949043, + 0.09622427821159363, + 0.9923597902387252, + 3.247213363647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9949385789044483, + 0.05556565523147583, + -0.08372418386091815, + 0.1385962814092636 + ], + [ + -0.06318050782587135, + 0.9938234686851501, + -0.09123143758329341, + -0.5477268695831299 + ], + [ + 0.07813772912626392, + 0.0960594043135643, + 0.9923039158916404, + 3.276353120803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9949000733030032, + 0.05565092340111734, + -0.08412361715509797, + 0.13360626995563507 + ], + [ + -0.06327246470645338, + 0.9938544631004336, + -0.09082897473639069, + -0.5497037768363953 + ], + [ + 0.07855190719429377, + 0.09568846225738528, + 0.9923070682206373, + 3.309363842010498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9948972499916685, + 0.055478267371654524, + -0.08427142917881576, + 0.13356706500053406 + ], + [ + -0.06307510419540352, + 0.993911921977997, + -0.09033588826568215, + -0.5530457496643066 + ], + [ + 0.07874671132830904, + 0.09519035369157794, + 0.9923395187395931, + 3.335237979888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9948859978258658, + 0.0552566796541214, + -0.08454945231970505, + 0.1329692155122757 + ], + [ + -0.0628566257916356, + 0.9939528703689575, + -0.09003771027539616, + -0.5567901134490967 + ], + [ + 0.07906298197237704, + 0.0948917493224144, + 0.9923429598417325, + 3.360527276992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9948438197010732, + 0.05507858842611313, + -0.08515959806028474, + 0.12835809588432312 + ], + [ + -0.06268794673800772, + 0.9940186142921448, + -0.08942705261169741, + -0.5662592649459839 + ], + [ + 0.07972470869790357, + 0.09430443495512009, + 0.992346009980768, + 3.3955254554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9948151192493397, + 0.05527655780315399, + -0.08536641742913148, + 0.12624940276145935 + ], + [ + -0.06285620523783626, + 0.9940627813339233, + -0.0888163448802562, + -0.5727143287658691 + ], + [ + 0.07995011624819107, + 0.0937216505408287, + 0.9923830988106102, + 3.42537522315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9948245620533848, + 0.05503677949309349, + -0.08541101618593863, + 0.12726791203022003 + ], + [ + -0.06257833812182523, + 0.9941272139549255, + -0.08828970944117225, + -0.5786241888999939 + ], + [ + 0.08005023969680398, + 0.09317765384912491, + 0.9924262615612538, + 3.445805788040161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9947584965763746, + 0.05455490201711655, + -0.08648298736868938, + 0.12686535716056824 + ], + [ + -0.06221069043303643, + 0.9941357970237732, + -0.08845242172310601, + -0.5833244919776917 + ], + [ + 0.0811503003864332, + 0.09336896240711212, + 0.9923189295589421, + 3.4671988487243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9946830386089215, + 0.05448383092880249, + -0.0873910619545938, + 0.12397776544094086 + ], + [ + -0.06221221954023432, + 0.9941495060920715, + -0.08829700598185493, + -0.5895022749900818 + ], + [ + 0.08206900727339721, + 0.09326431900262833, + 0.9922532432173075, + 3.4948294162750244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9946319855677954, + 0.054300591349601746, + -0.08808360523032333, + 0.12055547535419464 + ], + [ + -0.06208650099943627, + 0.9941655397415161, + -0.0882052910657044, + -0.5940004587173462 + ], + [ + 0.08278006762553354, + 0.09320060163736343, + 0.9922001627677509, + 3.521357297897339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9945571613629313, + 0.05426902323961258, + -0.08894347078393437, + 0.11536276340484619 + ], + [ + -0.062094843187709275, + 0.9942078590393066, + -0.08772066508653072, + -0.6003946661949158 + ], + [ + 0.08366779078804501, + 0.09276615083217621, + 0.9921664088581288, + 3.548494577407837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9944796058204082, + 0.054245453327894225, + -0.08982059940400322, + 0.11298323422670364 + ], + [ + -0.062109901727136305, + 0.9942517280578616, + -0.08721162759065694, + -0.605558454990387 + ], + [ + 0.08457345627973273, + 0.0923089385032654, + 0.9921322586807817, + 3.570949077606201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9944546061288585, + 0.054182346910238266, + -0.09013511440842818, + 0.11093010008335114 + ], + [ + -0.06203437549366008, + 0.994299054145813, + -0.08672441297802547, + -0.6089813113212585 + ], + [ + 0.08492234413334918, + 0.09183496236801147, + 0.9921464482058804, + 3.590113878250122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9943979349061071, + 0.05410146713256836, + -0.09080661356975943, + 0.1079016849398613 + ], + [ + -0.06197674828337528, + 0.9943419098854065, + -0.08627337104690233, + -0.6120966076850891 + ], + [ + 0.08562532109097495, + 0.09141796082258224, + 0.9921245221393249, + 3.609499931335449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9943382561373251, + 0.05412323772907257, + -0.0914448291778022, + 0.10356198996305466 + ], + [ + -0.06202122984539229, + 0.9943750500679016, + -0.08585820086073305, + -0.6148660778999329 + ], + [ + 0.08628350852775889, + 0.09104360640048981, + 0.9921019319161059, + 3.6322808265686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9942875654024772, + 0.05441459268331528, + -0.09182189248231912, + 0.09930528700351715 + ], + [ + -0.062310417411815436, + 0.9943932890892029, + -0.0854368409709739, + -0.6158156991004944 + ], + [ + 0.08665808525794076, + 0.09067025780677795, + 0.9921034695794053, + 3.654810905456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9942475948788885, + 0.05442676320672035, + -0.09224654642782275, + 0.09388045966625214 + ], + [ + -0.062300744038609496, + 0.9944530129432678, + -0.08474583482107753, + -0.6175334453582764 + ], + [ + 0.08712240612725536, + 0.09000537544488907, + 0.9921233531609066, + 3.6791093349456787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9942338978620866, + 0.0546671599149704, + -0.09225251661444123, + 0.09084109216928482 + ], + [ + -0.06250241087115874, + 0.9944784045219421, + -0.08429808787917975, + -0.6177564859390259 + ], + [ + 0.08713476959183919, + 0.08957801759243011, + 0.9921609588445418, + 3.698031187057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9942314886202771, + 0.054780963808298125, + -0.09221045059519259, + 0.08728057146072388 + ], + [ + -0.06256625878052649, + 0.9945188164711001, + -0.08377191278297773, + -0.6188214421272278 + ], + [ + 0.08711592978175377, + 0.08905792981386186, + 0.9922094034082004, + 3.7197930812835693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9942218059428565, + 0.054798856377601624, + -0.09230424092522739, + 0.08385452628135681 + ], + [ + -0.06253647039573029, + 0.994574248790741, + -0.08313365661142134, + -0.6199841499328613 + ], + [ + 0.08724780994739798, + 0.08842568099498749, + 0.9922543589063176, + 3.7431139945983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9942646484171509, + 0.05480252578854562, + -0.09183968850475067, + 0.0814058929681778 + ], + [ + -0.06242930174934101, + 0.9946470260620119, + -0.0823399803064472, + -0.6208928227424622 + ], + [ + 0.08683565655318279, + 0.0876012146472931, + 0.9923636542065791, + 3.761702537536621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9943176522258348, + 0.05489902198314667, + -0.09120576057545902, + 0.0781201720237732 + ], + [ + -0.06239802923957547, + 0.9947170615196228, + -0.08151319314224006, + -0.6220806837081909 + ], + [ + 0.08624895796949544, + 0.08674106001853943, + 0.9924903307237987, + 3.7804956436157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9943826764091163, + 0.05495430529117584, + -0.09046084864467192, + 0.07657571136951447 + ], + [ + -0.062324396052630265, + 0.9947821497917175, + -0.08077234663457399, + -0.6234437823295593 + ], + [ + 0.08555005130620333, + 0.08595654368400574, + 0.9926190911000645, + 3.7966012954711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9944716716421279, + 0.05482164025306702, + -0.08955851988884946, + 0.07425221800804138 + ], + [ + -0.06206873857733212, + 0.9948406219482422, + -0.08024705878126746, + -0.6255053877830505 + ], + [ + 0.08469721553370102, + 0.08536221086978912, + 0.9927434880301184, + 3.81516432762146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.994633969977925, + 0.05451071634888649, + -0.08793056369098637, + 0.07121533900499344 + ], + [ + -0.0615534012946979, + 0.9949344396591187, + -0.07947765675025573, + -0.6303151845932007 + ], + [ + 0.08315277646039955, + 0.08446359634399414, + 0.9929508968865439, + 3.8356215953826904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9948835096834255, + 0.05444630980491638, + -0.0851020454386291, + 0.0641087219119072 + ], + [ + -0.06120235462149599, + 0.9950015544891357, + -0.07890592458658381, + -0.6355550289154053 + ], + [ + 0.080380555867326, + 0.08371064811944962, + 0.9932429083120945, + 3.8604438304901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.995157626787826, + 0.05394670367240907, + -0.08216460320879639, + 0.0580485574901104 + ], + [ + -0.0603746604260262, + 0.9951337575912478, + -0.07786953222327443, + -0.6403672695159912 + ], + [ + 0.07756399506038057, + 0.08245311677455903, + 0.9935719980367451, + 3.8851029872894287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9953878074415187, + 0.05324147269129753, + -0.07980286326916995, + 0.05539363622665405 + ], + [ + -0.05941903302884129, + 0.9952476024627686, + -0.07714681151148378, + -0.6423278450965881 + ], + [ + 0.07531618035884573, + 0.0815327912569046, + 0.9938208700823808, + 3.90224552154541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9956973865114915, + 0.051856137812137604, + -0.07679622142840672, + 0.0518047958612442 + ], + [ + -0.0577369321348611, + 0.9954005479812622, + -0.07644759111863061, + -0.6439288854598999 + ], + [ + 0.07247872670142447, + 0.08055263757705688, + 0.9941117319075367, + 3.9203405380249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9959923875000017, + 0.0506301149725914, + -0.07372729691958961, + 0.0477847084403038 + ], + [ + -0.05623668937524287, + 0.9955155253410339, + -0.07606751182680425, + -0.647725522518158 + ], + [ + 0.06954538011567164, + 0.0799088403582573, + 0.994373183437038, + 3.9414658546447754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9962600707478285, + 0.04935877025127412, + -0.07091963910254907, + 0.04393615946173668 + ], + [ + -0.05471828944179501, + 0.9956258535385134, + -0.07573048609731799, + -0.6535623073577881 + ], + [ + 0.06687147125640683, + 0.07932786643505098, + 0.9946031145295642, + 3.964451789855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9964945379341694, + 0.04836207628250122, + -0.06826254057021482, + 0.040213920176029205 + ], + [ + -0.05349844306811486, + 0.9957066774368286, + -0.07553874710400757, + -0.6592620015144348 + ], + [ + 0.0643162343021947, + 0.07892588526010513, + 0.9948035687046933, + 3.98814058303833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9967237462912032, + 0.04748312756419182, + -0.06547622042217806, + 0.03424626216292381 + ], + [ + -0.05238625159314988, + 0.9957822561264038, + -0.07532146663711368, + -0.6636805534362793 + ], + [ + 0.0616235678454396, + 0.07850474864244461, + 0.9950073087653147, + 4.013459205627441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9968921790405982, + 0.04646202176809311, + -0.06361842593815711, + 0.032873865216970444 + ], + [ + -0.05119992849716215, + 0.9958690404891968, + -0.07498958955115251, + -0.6659021377563477 + ], + [ + 0.059871469924078366, + 0.07801380008459091, + 0.9951528942208097, + 4.033565998077393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9970163032129264, + 0.045255862176418304, + -0.06253286176908027, + 0.032948415726423264 + ], + [ + -0.0499033053528107, + 0.9959434866905212, + -0.07487465013152589, + -0.6663355827331543 + ], + [ + 0.05889069630090122, + 0.07777184993028641, + 0.9952303266388216, + 4.049020767211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9971250566768379, + 0.04425545781850815, + -0.061506620101753076, + 0.033137962222099304 + ], + [ + -0.048816913390901114, + 0.996006429195404, + -0.07475375740646988, + -0.6669132113456726 + ], + [ + 0.0579526976470411, + 0.07754141092300415, + 0.995303367924148, + 4.064321517944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9972221954234962, + 0.043435603380203254, + -0.060507870178593076, + 0.030398011207580566 + ], + [ + -0.047928760376381156, + 0.9960384964942934, + -0.0749008864489706, + -0.6690821647644043 + ], + [ + 0.05701482756661987, + 0.07759288698434831, + 0.9953535300636382, + 4.086428165435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9972840265953209, + 0.0429566316306591, + -0.059827484444755184, + 0.026524469256401062 + ], + [ + -0.047402762520470314, + 0.9960565567016602, + -0.07499532816715473, + -0.6716946363449097 + ], + [ + 0.056370020977641475, + 0.07762763649225235, + 0.9953875458275604, + 4.110477924346924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9972770194991024, + 0.0428258553147316, + -0.06003725052360908, + 0.02381231263279915 + ], + [ + -0.04729380274098825, + 0.9960547089576721, + -0.07508887267853519, + -0.674898087978363 + ], + [ + 0.0565846356396984, + 0.07772379368543625, + 0.9953678571380544, + 4.131576061248779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9972318857023352, + 0.042320966720581055, + -0.06113485929057893, + 0.025148287415504456 + ], + [ + -0.046891443216941366, + 0.9960525035858154, + -0.07537009164636738, + -0.6756753921508789 + ], + [ + 0.05770379676796904, + 0.07802816480398178, + 0.9952798097357386, + 4.147819519042969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9971357579613943, + 0.04194816946983338, + -0.06293346479138688, + 0.024881873279809952 + ], + [ + -0.04670765057312387, + 0.9960004687309267, + -0.07616732244398676, + -0.6764649152755737 + ], + [ + 0.059486672228945714, + 0.07888863980770112, + 0.9951069879641122, + 4.165367603302002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9969913089590452, + 0.042213398963212974, + -0.06501030282781854, + 0.021570660173892975 + ], + [ + -0.04718653844836255, + 0.995916545391083, + -0.076965494952042, + -0.6783549785614014 + ], + [ + 0.061495881215400526, + 0.07980153709650041, + 0.9949120216590631, + 4.185593605041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9968301173151094, + 0.04263734444975853, + -0.06716994289838292, + 0.018788587301969528 + ], + [ + -0.047820769340483314, + 0.9958407878875732, + -0.07755223983264938, + -0.6829540133476257 + ], + [ + 0.0635839424639556, + 0.08051852881908417, + 0.9947229894899976, + 4.207207679748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9966093968591326, + 0.04298488050699235, + -0.07015699363087638, + 0.01810530573129654 + ], + [ + -0.04845751487693158, + 0.9957542419433596, + -0.07826497259482847, + -0.6873165965080261 + ], + [ + 0.06649491909046319, + 0.08139924705028535, + 0.9944609799410503, + 4.225802898406982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9963369017902511, + 0.043729912489652634, + -0.0734877211919595, + 0.011757560074329376 + ], + [ + -0.04953066814328074, + 0.9956384897232056, + -0.07906149055849282, + -0.6937571167945862 + ], + [ + 0.06970988271117838, + 0.08241178095340729, + 0.9941573332139039, + 4.24937629699707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9960014867323312, + 0.0449039600789547, + -0.07723150808248797, + 0.005464412271976471 + ], + [ + -0.05105173006147933, + 0.9955217242240906, + -0.07956243830882706, + -0.7009696364402771 + ], + [ + 0.07331301394714576, + 0.08318710327148438, + 0.9938335299500994, + 4.272458553314209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9956253519483028, + 0.04573626071214676, + -0.08147609404952139, + 0.003559403121471405 + ], + [ + -0.05232445753039021, + 0.9953680634498596, + -0.08065115895913762, + -0.7065115571022034 + ], + [ + 0.07741001031034594, + 0.0845615342259407, + 0.9934067839644841, + 4.288443565368652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.995196868400867, + 0.04690104350447655, + -0.08592745822263781, + -0.00038358569145202637 + ], + [ + -0.05394350221458196, + 0.995207667350769, + -0.08155870471468267, + -0.7117745876312256 + ], + [ + 0.08169046410543924, + 0.08580219000577927, + 0.9929575306243196, + 4.305908203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9947028690179714, + 0.047968871891498566, + -0.09091346048740911, + -0.004233911633491516 + ], + [ + -0.055546201136555985, + 0.9950222373008728, + -0.08273667234592601, + -0.7159978151321411 + ], + [ + 0.08649212787730229, + 0.08734829723834991, + 0.9924159659782712, + 4.322268962860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9941586337307939, + 0.049592241644859314, + -0.09586048401022311, + -0.011902719736099243 + ], + [ + -0.05770250336620963, + 0.9948128461837769, + -0.08377222194718517, + -0.7206006646156311 + ], + [ + 0.09120876611509014, + 0.08881427347660065, + 0.9918633991797701, + 4.3422017097473145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9935573523387623, + 0.05142054706811905, + -0.10099341749551283, + -0.02444695681333542 + ], + [ + -0.06008500687623553, + 0.9945921301841736, + -0.0847127898231747, + -0.7267484068870544 + ], + [ + 0.09609127119710185, + 0.09023520350456238, + 0.9912739898284769, + 4.366855144500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9929258875081588, + 0.05312994867563249, + -0.10618574134057504, + -0.03448352962732315 + ], + [ + -0.06236416574401763, + 0.9943738579750063, + -0.08562319201282333, + -0.7312196493148804 + ], + [ + 0.10103914903442393, + 0.09163966774940492, + 0.9906529274251313, + 4.388391971588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9922897012981198, + 0.05505100637674333, + -0.11104295119043105, + -0.04671056196093559 + ], + [ + -0.06484644358077642, + 0.9941285848617556, + -0.08662126804934712, + -0.7362006902694702 + ], + [ + 0.10562239642318116, + 0.09315413236618043, + 0.9900334300531856, + 4.4102911949157715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.991662209521035, + 0.056866105645895004, + -0.11563901898674303, + -0.05337987467646599 + ], + [ + -0.06722099110808373, + 0.9938753843307495, + -0.08770998858655092, + -0.7387470602989197 + ], + [ + 0.10994304551168689, + 0.09475204348564148, + 0.9894112299147099, + 4.423278331756592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9910277739858275, + 0.05871870368719101, + -0.12006712071888519, + -0.05733919516205788 + ], + [ + -0.06965613094326721, + 0.9935908913612366, + -0.08902349743460307, + -0.7395451664924622 + ], + [ + 0.11407024095706313, + 0.09658815711736679, + 0.9887662597538713, + 4.430767059326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9903753320894891, + 0.06015794724225998, + -0.1246505794430854, + -0.06692428141832352 + ], + [ + -0.07167745431044006, + 0.9933510422706604, + -0.09008883664684782, + -0.7407567501068115 + ], + [ + 0.11840223723446384, + 0.0981564000248909, + 0.9881023548019692, + 4.444777011871338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9898146667367177, + 0.06197079271078111, + -0.12816614678320923, + -0.07761810719966888 + ], + [ + -0.07401203542532336, + 0.9930577278137209, + -0.09142528299498423, + -0.7434065341949463 + ], + [ + 0.12161067632913117, + 0.09997991472482684, + 0.9875296882915501, + 4.457869052886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9893775453277144, + 0.06338736414909364, + -0.13082094170837982, + -0.08694348484277725 + ], + [ + -0.07589491317708753, + 0.9927743077278139, + -0.09294664935319599, + -0.7429921627044678 + ], + [ + 0.12398403048502654, + 0.10188797116279605, + 0.9870393933158624, + 4.468251705169678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9889667729207189, + 0.0648665502667427, + -0.13318079836108615, + -0.09908070415258408 + ], + [ + -0.07781909475304476, + 0.9924814701080322, + -0.09447046189134792, + -0.7441890835762024 + ], + [ + 0.12605149215215147, + 0.10379215329885483, + 0.9865790492033569, + 4.48206090927124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9887385708567529, + 0.06604807078838348, + -0.13428957698994007, + -0.11138144135475159 + ], + [ + -0.07930502685384318, + 0.9922275543212891, + -0.09589146765772877, + -0.7446824908256531 + ], + [ + 0.12691234907488252, + 0.10546143352985382, + 0.9862916167365571, + 4.494311809539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9886071362594804, + 0.06692667305469514, + -0.1348211317055094, + -0.12195773422718048 + ], + [ + -0.0804597415408404, + 0.9919714927673342, + -0.09756430251306755, + -0.7454928755760193 + ], + [ + 0.12720906197027956, + 0.10730043798685077, + 0.9860550199063852, + 4.504021167755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9885571869306893, + 0.06783102452754974, + -0.13473531301594824, + -0.13324406743049622 + ], + [ + -0.08160012428090778, + 0.9916914105415344, + -0.0994464831956408, + -0.74534672498703 + ], + [ + 0.1268703015379937, + 0.10930296033620834, + 0.9858787091153887, + 4.51368522644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.988658275706739, + 0.06859689950942993, + -0.13360118645826635, + -0.14531803131103516 + ], + [ + -0.08251700284751291, + 0.9913967847824097, + -0.10160367128840248, + -0.7447479367256165 + ], + [ + 0.12548209533699956, + 0.11147567629814148, + 0.9858130770358143, + 4.52192497253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9888516310449559, + 0.0688869133591652, + -0.13201139781842203, + -0.1567508578300476 + ], + [ + -0.08289707350117506, + 0.991142809391022, + -0.10374962887821447, + -0.7440330982208252 + ], + [ + 0.12369516383809989, + 0.1135363578796387, + 0.9858037524850338, + 4.529851913452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9891707964862797, + 0.0688844546675682, + -0.12959982780172102, + -0.16810524463653564 + ], + [ + -0.08287115066920159, + 0.9909260272979736, + -0.10582052358587839, + -0.7428040504455566 + ], + [ + 0.12113445599356047, + 0.11541465669870377, + 0.9859035853842736, + 4.536086082458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9896524817498377, + 0.06798604130744935, + -0.12635621601478397, + -0.1799682378768921 + ], + [ + -0.08181521222701575, + 0.990812420845032, + -0.10768933545703357, + -0.742423951625824 + ], + [ + 0.11787394868941044, + 0.11691287159919742, + 0.9861222453633013, + 4.539231777191162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9900368728591072, + 0.06787339597940445, + -0.12337029872515913, + -0.18839603662490845 + ], + [ + -0.08158969078470552, + 0.9906037449836731, + -0.1097602661545517, + -0.7455016374588013 + ], + [ + 0.11476125641724208, + 0.11873245239257812, + 0.9862720011459876, + 4.542272567749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9906396690158076, + 0.06783163547515869, + -0.11845655293186375, + -0.20744463801383972 + ], + [ + -0.08125503874265837, + 0.99033123254776, + -0.11243509348176986, + -0.7483713030815125 + ], + [ + 0.10968459001224441, + 0.12100784480571747, + 0.9865730820987384, + 4.5569305419921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9914333297949331, + 0.06683541089296341, + -0.11221858684130546, + -0.22910377383232117 + ], + [ + -0.07971437680506598, + 0.9902190566062927, + -0.11450674284616857, + -0.7535409927368164 + ], + [ + 0.10346790569799957, + 0.12247122824192047, + 0.9870639190764876, + 4.5721049308776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9922117485823072, + 0.06573132425546646, + -0.10580746119795366, + -0.24614118039608002 + ], + [ + -0.07805221132313381, + 0.9900758266448975, + -0.11686630243517586, + -0.7568133473396301 + ], + [ + 0.09707563281565668, + 0.12421461939811707, + 0.9874953430852794, + 4.583345413208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9929593411481621, + 0.06427089124917984, + -0.09950371683189999, + -0.26165828108787537 + ], + [ + -0.07597790239058189, + 0.9900158047676086, + -0.11872695616079729, + -0.7602130174636841 + ], + [ + 0.09087952941138808, + 0.12545111775398254, + 0.987928615907877, + 4.5924272537231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9936974377422915, + 0.06275496631860733, + -0.09288250482416735, + -0.27960366010665894 + ], + [ + -0.07379950225751515, + 0.9899424314498901, + -0.12069623365805913, + -0.7639407515525818 + ], + [ + 0.08437405249692397, + 0.12679022550582886, + 0.9883346180491202, + 4.603875637054443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9943619368695572, + 0.06063211709260942, + -0.08699486783276818, + -0.29776623845100403 + ], + [ + -0.07102342517482009, + 0.9900094270706179, + -0.12180746387859102, + -0.767507016658783 + ], + [ + 0.0787402883864317, + 0.12729936838150027, + 0.9887339557225764, + 4.6161980628967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9949567056305246, + 0.05876663327217102, + -0.08128731161298491, + -0.3130647540092468 + ], + [ + -0.06852673580225192, + 0.9900352358818054, + -0.12302163920099496, + -0.7683972120285034 + ], + [ + 0.07324776282148732, + 0.1279715597629547, + 0.9890692869584464, + 4.624852180480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/pull_out/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5de73828b5393f7ec96196dca16117570b036530 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/pull_out/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.0022364004980772734, + -0.0026113721542060375, + 0.0011954346533351835 + ], + [ + -0.002242674818262458, + 0.9999945759773254, + -0.0024023065343499184, + -0.007239266192081614 + ], + [ + 0.0026059853844344616, + 0.0024081487208604813, + 0.9999936819076538, + 0.023204629700900852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999806880950928, + 0.0040634265169501305, + -0.004699923098087311, + 0.002919815573166462 + ], + [ + -0.0040840646252036095, + 0.9999819993972778, + -0.004389888606965542, + -0.015722473888041606 + ], + [ + 0.0046820007264614105, + 0.004408998414874077, + 0.9999793171882629, + 0.05020966170634625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.005368742626160383, + -0.007625406142324209, + 0.003870794556333103 + ], + [ + -0.005417895969003439, + 0.9999645948410034, + -0.0064400238916277885, + -0.021762792367920062 + ], + [ + 0.007590561639517546, + 0.0064810579642653465, + 0.9999501705169678, + 0.06805160080177197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.00689054187387228, + -0.010770018212497234, + 0.008248379749160458 + ], + [ + -0.006981814280152321, + 0.9999398589134216, + -0.008460155688226223, + -0.027417769965126317 + ], + [ + 0.01071107480674982, + 0.008534657768905163, + 0.9999061822891235, + 0.08938046100634883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.007960905320942402, + -0.013277232646942139, + 0.010098623629245494 + ], + [ + -0.008098271675407887, + 0.9999139308929443, + -0.010324593633413315, + -0.03191244075803653 + ], + [ + 0.013193896040320396, + 0.010430879890918732, + 0.999858558177948, + 0.10755218896600935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.009428995661437511, + -0.014257972128689289, + 0.0112602934403264 + ], + [ + -0.009610596112906933, + 0.9998728632926941, + -0.012722363695502281, + -0.037802215897734616 + ], + [ + 0.014136199839413166, + 0.012857532128691673, + 0.999817430973053, + 0.13852599362532297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.00977416057139635, + -0.014622199349105358, + 0.012791738255570333 + ], + [ + -0.009989832527935505, + 0.9998413324356079, + -0.014749979600310326, + -0.04386240119285486 + ], + [ + 0.01447570975869894, + 0.014893772080540657, + 0.9997842907905579, + 0.16995857306148696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.01059537474066019, + -0.015374253503978252, + 0.014219466552750212 + ], + [ + -0.01085029449313879, + 0.9998034238815308, + -0.016593357548117638, + -0.04960778178512186 + ], + [ + 0.015195419080555439, + 0.016757281497120857, + 0.9997441172599792, + 0.1992791509138789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.01089369785040617, + -0.016871005296707153, + 0.018395516389737958 + ], + [ + -0.011200395412743092, + 0.999771773815155, + -0.018192479386925697, + -0.05518650398792132 + ], + [ + 0.01666897162795067, + 0.018377771601080894, + 0.9996921420097351, + 0.2229751520830652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.011148378252983093, + -0.01857118122279644, + 0.022022071910869096 + ], + [ + -0.011516496539115906, + 0.9997369647026062, + -0.019834421575069427, + -0.06050578850334969 + ], + [ + 0.018345175310969353, + 0.020043641328811646, + 0.9996308088302612, + 0.2478336435585206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.011119464412331581, + -0.020447613671422005, + 0.02474892280617918 + ], + [ + -0.011560274288058281, + 0.9997005462646484, + -0.021567659452557564, + -0.06315437112327503 + ], + [ + 0.02020167000591755, + 0.02179819531738758, + 0.9995582699775696, + 0.26529285873191943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.011200539767742157, + -0.022018814459443092, + 0.028364971371880477 + ], + [ + -0.01170697994530201, + 0.9996667504310608, + -0.023007607087492943, + -0.06856227952285089 + ], + [ + 0.02175377868115902, + 0.023258360102772713, + 0.9994927644729614, + 0.28976754010587497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.01118478924036026, + -0.023529307916760445, + 0.031432451053122104 + ], + [ + -0.01175733096897602, + 0.9996346831321716, + -0.024337200447916985, + -0.07400573678944566 + ], + [ + 0.02324850670993328, + 0.024605581536889076, + 0.9994269013404846, + 0.3137273028852859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.011243744753301144, + -0.025035269558429718, + 0.03697669382976449 + ], + [ + -0.01187987346202135, + 0.9996066093444824, + -0.0254072155803442, + -0.08135065831387965 + ], + [ + 0.02473974972963333, + 0.025695061311125755, + 0.9993636608123779, + 0.34153783983654445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.01170582789927721, + -0.0260941069573164, + 0.040360345883105976 + ], + [ + -0.01241482887417078, + 0.9995535612106323, + -0.027176616713404655, + -0.08710373367142418 + ], + [ + 0.025764333084225655, + 0.02748945541679859, + 0.9992899894714355, + 0.36831300198167993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.012052183039486408, + -0.027570083737373352, + 0.04323720991035591 + ], + [ + -0.012837381102144718, + 0.9995118379592896, + -0.028482673689723015, + -0.0949463931546695 + ], + [ + 0.02721334621310234, + 0.02882370539009571, + 0.9992139935493469, + 0.39404493357248355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.012399017810821533, + -0.028493991121649742, + 0.04474108372387535 + ], + [ + -0.013229986652731895, + 0.9994871616363525, + -0.029161887243390083, + -0.09792445370306571 + ], + [ + 0.028117800131440163, + 0.029524778947234154, + 0.9991685152053833, + 0.4054066935599138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.013489429838955402, + -0.03085138462483883, + 0.05088319614853548 + ], + [ + -0.01442603301256895, + 0.999435544013977, + -0.03034021146595478, + -0.1040936605275973 + ], + [ + 0.0304246973246336, + 0.03076806850731373, + 0.9990633726119995, + 0.42645545653674916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205933, + 0.013895992189645767, + -0.033847637474536896, + 0.057097413408871436 + ], + [ + -0.014967259019613266, + 0.9993883967399597, + -0.03160466253757477, + -0.11392173641113844 + ], + [ + 0.03338775783777237, + 0.03209010511636734, + 0.9989271759986877, + 0.4472112320759446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272461, + 0.016092753037810326, + -0.0376913920044899, + 0.06061550830873314 + ], + [ + -0.017323853448033333, + 0.9993193745613098, + -0.032567087560892105, + -0.12245776011172124 + ], + [ + 0.03714164346456528, + 0.03319268301129341, + 0.9987586140632629, + 0.4728058589541394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.018223222345113754, + -0.04194314777851105, + 0.06518427291210147 + ], + [ + -0.019634105265140533, + 0.9992466568946838, + -0.03347551450133324, + -0.12923667404422726 + ], + [ + 0.04130151867866516, + 0.034264009445905685, + 0.9985590577125549, + 0.500187850775926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793945, + 0.020553000271320343, + -0.04581957310438156, + 0.06758766757405323 + ], + [ + -0.022124383598566055, + 0.9991750121116638, + -0.03405586630105972, + -0.13668403309468485 + ], + [ + 0.04508182406425476, + 0.03502662479877472, + 0.998369038105011, + 0.5238863968042936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.02236338146030903, + -0.04987017437815666, + 0.06996780480775568 + ], + [ + -0.024098118767142296, + 0.999115526676178, + -0.034459467977285385, + -0.14448955891033013 + ], + [ + 0.04905543848872185, + 0.035609740763902664, + 0.9981610774993896, + 0.5457494431071811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.025196420028805733, + -0.05386357381939888, + 0.07292332254026247 + ], + [ + -0.027118520811200142, + 0.9990102648735046, + -0.03525662422180176, + -0.14952778436135555 + ], + [ + 0.052921924740076065, + 0.03665493428707123, + 0.9979256987571716, + 0.5752494361089624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.027898434549570084, + -0.05810781940817833, + 0.07347969727923617 + ], + [ + -0.03001503273844719, + 0.9989053606987, + -0.03587669879198074, + -0.1536870921831488 + ], + [ + 0.05704331025481224, + 0.03754619508981705, + 0.9976654648780823, + 0.6060659676646265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.03114611655473709, + -0.062324296683073044, + 0.07432361657276822 + ], + [ + -0.0334443524479866, + 0.9987855553627014, + -0.03617827594280243, + -0.15662452356826856 + ], + [ + 0.06112179532647133, + 0.03817475587129593, + 0.9974000453948975, + 0.637145195433483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.033693261444568634, + -0.06629057973623276, + 0.07458236564112747 + ], + [ + -0.036126427352428436, + 0.9987038373947144, + -0.0358545184135437, + -0.16200526589932648 + ], + [ + 0.06499660760164261, + 0.038150086998939514, + 0.9971559643745422, + 0.6630905936593595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.036565959453582764, + -0.06995093077421188, + 0.07436550631759248 + ], + [ + -0.03916091471910477, + 0.9985808730125427, + -0.036091990768909454, + -0.1644968449493537 + ], + [ + 0.06853192299604416, + 0.038718730211257935, + 0.996897280216217, + 0.6837472282745988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.03873646631836891, + -0.07333295047283173, + 0.07143549058892301 + ], + [ + -0.0414595790207386, + 0.9984920620918274, + -0.03598237782716751, + -0.16585055527407766 + ], + [ + 0.07182854413986206, + 0.038898766040802, + 0.996658205986023, + 0.7013581003543835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.040912825614213943, + -0.07706233114004135, + 0.07512244171854379 + ], + [ + -0.04378388449549675, + 0.998394250869751, + -0.03594208508729935, + -0.16735851775476898 + ], + [ + 0.07546810060739517, + 0.039179109036922455, + 0.9963782429695129, + 0.7276202181111211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.042488738894462585, + -0.08002281188964844, + 0.07407530969467715 + ], + [ + -0.04545895755290985, + 0.998329222202301, + -0.03566781431436539, + -0.16777441530771878 + ], + [ + 0.07837364077568054, + 0.03915886580944061, + 0.9961546659469604, + 0.754222521689779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9956108331680298, + 0.04434388503432274, + -0.08241777867078781, + 0.07219402964996255 + ], + [ + -0.04740210250020027, + 0.9982439279556274, + -0.03552674502134323, + -0.1678450916412372 + ], + [ + 0.08069764822721481, + 0.039277590811252594, + 0.9959644675254822, + 0.7755511831546176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.04596315324306488, + -0.08554010838270187, + 0.07521657957762912 + ], + [ + -0.0491487979888916, + 0.9981598258018494, + -0.03551483526825905, + -0.16744043531733147 + ], + [ + 0.08375032991170883, + 0.03955118730664253, + 0.9957015514373779, + 0.8015317804571511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.0472993478178978, + -0.08763521164655685, + 0.07292055740304615 + ], + [ + -0.050564780831336975, + 0.9980924129486084, + -0.03542303293943405, + -0.1689329774843322 + ], + [ + 0.08579254895448685, + 0.03967820107936859, + 0.9955226182937622, + 0.821325601529384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.048210158944129944, + -0.08975494652986526, + 0.07234730756873094 + ], + [ + -0.05155248939990997, + 0.9980462789535522, + -0.03529903292655945, + -0.1692062095887419 + ], + [ + 0.08787781745195389, + 0.03974243998527527, + 0.9953381419181824, + 0.8398524944621008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.04945862293243408, + -0.09141582995653152, + 0.07239340083754581 + ], + [ + -0.052854835987091064, + 0.997984766960144, + -0.03511005640029907, + -0.1702419471481572 + ], + [ + 0.08949511498212814, + 0.03975166380405426, + 0.9951936602592468, + 0.8649334736492322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.04863566905260086, + -0.09502732008695602, + 0.08358435572849379 + ], + [ + -0.05211786925792694, + 0.9980444312095642, + -0.03451117128133774, + -0.17345817089440743 + ], + [ + 0.09316302090883255, + 0.039266593754291534, + 0.9948762655258179, + 0.8979567238098182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765137, + 0.050517480820417404, + -0.09576677531003952, + 0.07629792979661969 + ], + [ + -0.054039012640714645, + 0.997941255569458, + -0.03454064205288887, + -0.17401399687652427 + ], + [ + 0.09382470697164536, + 0.039512719959020615, + 0.994804322719574, + 0.910732606873996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.050298336893320084, + -0.09736401587724686, + 0.0767022241824779 + ], + [ + -0.05387471988797188, + 0.9979529976844788, + -0.03445683419704437, + -0.1782498034230177 + ], + [ + 0.09543158859014511, + 0.03949476033449173, + 0.9946522116661072, + 0.9343130541020546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.051648907363414764, + -0.09834951162338257, + 0.07106539052753633 + ], + [ + -0.055279895663261414, + 0.9978727102279663, + -0.03455757349729538, + -0.18199591482607064 + ], + [ + 0.09635543823242188, + 0.03978043794631958, + 0.9945517182350159, + 0.9478540961869097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.051056209951639175, + -0.0992148220539093, + 0.07556996155476224 + ], + [ + -0.05466962233185768, + 0.9979238510131836, + -0.034047503024339676, + -0.1900056561752074 + ], + [ + 0.09727050364017487, + 0.039258923381567, + 0.9944833517074585, + 0.9741524368092633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.05107952281832695, + -0.0993233472108841, + 0.07378523889659108 + ], + [ + -0.0546448640525341, + 0.9979433417320251, + -0.03351172059774399, + -0.19793230988409208 + ], + [ + 0.09740731120109558, + 0.038729555904865265, + 0.9944907426834106, + 0.9878796404686527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.05086435005068779, + -0.10076417773962021, + 0.07864847313882647 + ], + [ + -0.05446717515587807, + 0.9979591369628906, + -0.03333079069852829, + -0.2035617716466459 + ], + [ + 0.09886317700147629, + 0.03860612213611603, + 0.994351863861084, + 1.0127530233871533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113037, + 0.05030372738838196, + -0.10239668190479279, + 0.08526963967344035 + ], + [ + -0.053963758051395416, + 0.9979877471923828, + -0.033291298896074295, + -0.2056171299106833 + ], + [ + 0.10051596164703369, + 0.038599643856287, + 0.9941864013671875, + 1.0333689497288874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186584, + 0.04963846132159233, + -0.10233431309461594, + 0.08670727665657582 + ], + [ + -0.05329246446490288, + 0.998024046421051, + -0.03328562527894974, + -0.21162547154918962 + ], + [ + 0.1004798635840416, + 0.03852327913045883, + 0.9941930174827576, + 1.0602325110331825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.0496625155210495, + -0.10191740095615387, + 0.08690533406204648 + ], + [ + -0.053322337567806244, + 0.9980151653289795, + -0.03350357711315155, + -0.21656344599193997 + ], + [ + 0.10005123913288116, + 0.03872203081846237, + 0.9942285418510437, + 1.0892929275830587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.04925285652279854, + -0.10178175568580627, + 0.08917268654286574 + ], + [ + -0.05287175253033638, + 0.998050332069397, + -0.03316742554306984, + -0.22171228931325934 + ], + [ + 0.09994973242282867, + 0.038336094468832016, + 0.9942536950111389, + 1.113587557895172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.04911331832408905, + -0.10172472894191742, + 0.09272519036911536 + ], + [ + -0.052760183811187744, + 0.9980460405349731, + -0.033474087715148926, + -0.22528373270794966 + ], + [ + 0.09988193213939667, + 0.03862684965133667, + 0.9942492246627808, + 1.1429161054500636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.04902191460132599, + -0.10194054245948792, + 0.0944799544442679 + ], + [ + -0.052687227725982666, + 0.9980463981628418, + -0.033577751368284225, + -0.22731775763278134 + ], + [ + 0.10009534657001495, + 0.038733210414648056, + 0.9942236542701721, + 1.1654784798910076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.993559718132019, + 0.0487002432346344, + -0.10231032967567444, + 0.09754556745002811 + ], + [ + -0.05236396938562393, + 0.9980682730674744, + -0.03343319147825241, + -0.22925439818901716 + ], + [ + 0.10048449039459229, + 0.038575246930122375, + 0.994190514087677, + 1.1881192631767568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.048615120351314545, + -0.10256709158420563, + 0.09868002870808477 + ], + [ + -0.052275508642196655, + 0.9980771541595459, + -0.0333053395152092, + -0.23034113236311554 + ], + [ + 0.10075072944164276, + 0.038451842963695526, + 0.9941683411598206, + 1.2060443656168123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.04889291524887085, + -0.10252975672483444, + 0.10074721104712878 + ], + [ + -0.05256624519824982, + 0.9980575442314148, + -0.0334349200129509, + -0.2301988083815229 + ], + [ + 0.10069587081670761, + 0.038608118891716, + 0.9941678643226624, + 1.2272010659250083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993516743183136, + 0.04908096045255661, + -0.10254526883363724, + 0.10385231712950024 + ], + [ + -0.05277340114116669, + 0.9980407953262329, + -0.03360915556550026, + -0.2300367235183572 + ], + [ + 0.10069478303194046, + 0.038802918046712875, + 0.9941604137420654, + 1.2496548231097235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.04949834570288658, + -0.10260982066392899, + 0.106761984915837 + ], + [ + -0.05320417508482933, + 0.9980149269104004, + -0.03369751572608948, + -0.23161911821883657 + ], + [ + 0.10073816031217575, + 0.03893739730119705, + 0.9941507577896118, + 1.2716878362323927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9934517741203308, + 0.04956163093447685, + -0.10294263064861298, + 0.11107029823433374 + ], + [ + -0.05330852046608925, + 0.9980001449584961, + -0.033969711512327194, + -0.23199965195631347 + ], + [ + 0.1010531634092331, + 0.03923499211668968, + 0.9941070675849915, + 1.296520320257703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.04986759275197983, + -0.10310870409011841, + 0.11653720467274892 + ], + [ + -0.05362820625305176, + 0.997981071472168, + -0.03402599319815636, + -0.23440139922830794 + ], + [ + 0.10120373964309692, + 0.03933161124587059, + 0.9940879344940186, + 1.3221949918258593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.05012756586074829, + -0.10322330892086029, + 0.12166856166677198 + ], + [ + -0.05391266942024231, + 0.9979594945907593, + -0.03420991823077202, + -0.23585555894111376 + ], + [ + 0.10129782557487488, + 0.03954898193478584, + 0.9940697550773621, + 1.3456831188305565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.05076683312654495, + -0.10334215313196182, + 0.12676293997516955 + ], + [ + -0.05455721169710159, + 0.9979252815246582, + -0.034186188131570816, + -0.23967574794151356 + ], + [ + 0.1013922169804573, + 0.03959688916802406, + 0.9940581917762756, + 1.367087299639476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.051117971539497375, + -0.10378838330507278, + 0.13213894900996329 + ], + [ + -0.05496644973754883, + 0.9978898167610168, + -0.034563008695840836, + -0.24349466109657344 + ], + [ + 0.10180258005857468, + 0.04003579542040825, + 0.9939987063407898, + 1.3887503495826814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.05163772404193878, + -0.10428321361541748, + 0.13752775023812833 + ], + [ + -0.05555019527673721, + 0.9978434443473816, + -0.03496665507555008, + -0.24912746855314227 + ], + [ + 0.10225272178649902, + 0.040522053837776184, + 0.9939327836036682, + 1.416775485743647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.05179730802774429, + -0.104777030646801, + 0.14135197544659395 + ], + [ + -0.05577006936073303, + 0.9978177547454834, + -0.035346925258636475, + -0.2531433369514447 + ], + [ + 0.10271751135587692, + 0.04094807803630829, + 0.9938673973083496, + 1.442759210706333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.051831118762493134, + -0.10539916157722473, + 0.14553279934298013 + ], + [ + -0.05584421008825302, + 0.9978086948394775, + -0.03548542037606239, + -0.2588461854355635 + ], + [ + 0.10332895815372467, + 0.04112573340535164, + 0.9937966465950012, + 1.4622499487250324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.05181632563471794, + -0.10593901574611664, + 0.15081054678429728 + ], + [ + -0.05589934065937996, + 0.9977893233299255, + -0.0359402634203434, + -0.26486593538328357 + ], + [ + 0.10384252667427063, + 0.04161137714982033, + 0.9937229156494141, + 1.485683454637942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.05267321318387985, + -0.10620466619729996, + 0.1548842665221956 + ], + [ + -0.05684170126914978, + 0.997711718082428, + -0.03661029413342476, + -0.26973385571857583 + ], + [ + 0.10403325408697128, + 0.042388979345560074, + 0.9936701059341431, + 1.5124292111051256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.05306332930922508, + -0.10674865543842316, + 0.15989000566195752 + ], + [ + -0.0573040209710598, + 0.9976688027381897, + -0.037056814879179, + -0.2761152803555923 + ], + [ + 0.10453344881534576, + 0.04290969297289848, + 0.9935952425003052, + 1.5423338036030387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.05341807007789612, + -0.10717276483774185, + 0.16202622468488803 + ], + [ + -0.057733550667762756, + 0.9976246953010559, + -0.03757424280047417, + -0.2818426830073198 + ], + [ + 0.10491105169057846, + 0.043491337448358536, + 0.9935301542282104, + 1.5709834789884263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.05403519049286842, + -0.10786052793264389, + 0.16481543028196274 + ], + [ + -0.058432359248399734, + 0.9975667595863342, + -0.038029588758945465, + -0.2859902243143406 + ], + [ + 0.10554314404726028, + 0.04405438154935837, + 0.9934384226799011, + 1.5918584152984159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.05464387312531471, + -0.10854977369308472, + 0.16806409623887802 + ], + [ + -0.05914818122982979, + 0.9974981546401978, + -0.03871600702404976, + -0.2898216980882889 + ], + [ + 0.10616260766983032, + 0.044849563390016556, + 0.9933367967605591, + 1.6134021717569103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104919, + 0.055205896496772766, + -0.10924900323152542, + 0.17019907956322033 + ], + [ + -0.05983088165521622, + 0.9974260330200195, + -0.03951676934957504, + -0.29054058318336806 + ], + [ + 0.10678624361753464, + 0.04575607180595398, + 0.9932286143302917, + 1.635723489522934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960815, + 0.055440112948417664, + -0.11026956140995026, + 0.17210101699771513 + ], + [ + -0.06019476801156998, + 0.9973742365837097, + -0.040264926850795746, + -0.2924615368966895 + ], + [ + 0.10774771869182587, + 0.04659472405910492, + 0.9930858016014099, + 1.658698872955525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.05556797608733177, + -0.11152978241443634, + 0.1742797111471494 + ], + [ + -0.060452621430158615, + 0.997332751750946, + -0.04090125858783722, + -0.2943022760288151 + ], + [ + 0.10895949602127075, + 0.04732475429773331, + 0.9929190278053284, + 1.6807007994916705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.05580789968371391, + -0.11278221756219864, + 0.17522571475609489 + ], + [ + -0.06084806099534035, + 0.9972735047340393, + -0.04174994304776192, + -0.2938311754361443 + ], + [ + 0.11014474183320999, + 0.048280660063028336, + 0.9927422404289246, + 1.7057150581608649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.05638560280203819, + -0.11364457756280899, + 0.17532586943772105 + ], + [ + -0.06155562028288841, + 0.9971981048583984, + -0.04250660911202431, + -0.29323405194217744 + ], + [ + 0.11092939227819443, + 0.049158621579408646, + 0.9926117658615112, + 1.727033677711579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.056514594703912735, + -0.11532508581876755, + 0.17948973025532736 + ], + [ + -0.06184430792927742, + 0.997151792049408, + -0.043169595301151276, + -0.2948485838546269 + ], + [ + 0.11255689710378647, + 0.04994429647922516, + 0.9923893213272095, + 1.7545832044260514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883301, + 0.05669296160340309, + -0.11660850048065186, + 0.17986304021399954 + ], + [ + -0.06215563789010048, + 0.9971069693565369, + -0.04375331848859787, + -0.29682935261424037 + ], + [ + 0.11379064619541168, + 0.05063185095787048, + 0.9922137260437012, + 1.7772311507791714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.991384744644165, + 0.056886229664087296, + -0.11798398196697235, + 0.18098815934381624 + ], + [ + -0.06248658522963524, + 0.9970611929893494, + -0.04432125762104988, + -0.2997849708665972 + ], + [ + 0.11511598527431488, + 0.051311831921339035, + 0.9920259118080139, + 1.7999409889829332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.05660528689622879, + -0.119034044444561, + 0.18286992718560108 + ], + [ + -0.06231111288070679, + 0.9970521926879883, + -0.04476906359195709, + -0.3003971589864164 + ], + [ + 0.11614898592233658, + 0.051795609295368195, + 0.9918803572654724, + 1.8210599000039307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.056857626885175705, + -0.1202438473701477, + 0.18528034393338189 + ], + [ + -0.0626719743013382, + 0.9970130324363708, + -0.04513602331280708, + -0.30345747979438825 + ], + [ + 0.11731836199760437, + 0.05227090045809746, + 0.9917177557945251, + 1.841847000087517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050659, + 0.056953731924295425, + -0.12157700955867767, + 0.18695293543275426 + ], + [ + -0.06287131458520889, + 0.9969883561134338, + -0.045402612537145615, + -0.3077561060425596 + ], + [ + 0.11862501502037048, + 0.05263527110219002, + 0.9915430545806885, + 1.864088833965541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.057227157056331635, + -0.12260593473911285, + 0.18939493913293462 + ], + [ + -0.06325745582580566, + 0.9969426989555359, + -0.04586687684059143, + -0.31338004199203084 + ], + [ + 0.11960625648498535, + 0.05320082604885101, + 0.9913949966430664, + 1.886322177550643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.057410165667533875, + -0.12272951006889343, + 0.19010198971499567 + ], + [ + -0.06350911408662796, + 0.9969033598899841, + -0.046370767056941986, + -0.3208969296644563 + ], + [ + 0.11968730390071869, + 0.0537375882267952, + 0.9913562536239624, + 1.914037994198177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207703, + 0.05768294632434845, + -0.12312536686658859, + 0.1906676111517897 + ], + [ + -0.06386278569698334, + 0.996858537197113, + -0.046846337616443634, + -0.3287888887063893 + ], + [ + 0.12003634124994278, + 0.05427441745996475, + 0.9912847876548767, + 1.9428856062428388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090942, + 0.05768069997429848, + -0.12416577339172363, + 0.1925623125500149 + ], + [ + -0.06397093832492828, + 0.9968311190605164, + -0.047280725091695786, + -0.33450021154026766 + ], + [ + 0.12104511260986328, + 0.05477851256728172, + 0.9911344051361084, + 1.9662610497451636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.0577319972217083, + -0.12539252638816833, + 0.194053847072781 + ], + [ + -0.0641416609287262, + 0.9968005418777466, + -0.047692522406578064, + -0.33964796282243037 + ], + [ + 0.12223795056343079, + 0.055278800427913666, + 0.9909602403640747, + 1.9856691263724064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.99030601978302, + 0.057792238891124725, + -0.12630952894687653, + 0.19547248466147316 + ], + [ + -0.06430143117904663, + 0.9967718124389648, + -0.04807570204138756, + -0.3446704871358647 + ], + [ + 0.12312337756156921, + 0.05573153868317604, + 0.9908252358436584, + 2.0034058795171084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.05827495828270912, + -0.12711413204669952, + 0.19839611088020215 + ], + [ + -0.06489454954862595, + 0.9967094659805298, + -0.0485684797167778, + -0.3528460015637287 + ], + [ + 0.1238655298948288, + 0.056340292096138, + 0.9906982779502869, + 2.0271815714052908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.05892390012741089, + -0.12688769400119781, + 0.1991930746729823 + ], + [ + -0.06566489487886429, + 0.9966076612472534, + -0.04961153492331505, + -0.3612143367366946 + ], + [ + 0.1235339492559433, + 0.05745569244027138, + 0.9906756281852722, + 2.0593849134617956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.05929175019264221, + -0.12595173716545105, + 0.19680624303322483 + ], + [ + -0.0661093145608902, + 0.9965258836746216, + -0.05065302550792694, + -0.370069892682891 + ], + [ + 0.1225108653306961, + 0.058486394584178925, + 0.9907423853874207, + 2.0929847088412963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745667, + 0.059524666517972946, + -0.12573575973510742, + 0.1967048875807564 + ], + [ + -0.06645040959119797, + 0.9964534640312195, + -0.051621828228235245, + -0.37424422202874785 + ], + [ + 0.12221705913543701, + 0.059475068002939224, + 0.9907197952270508, + 2.1152512393711844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.05937908962368965, + -0.12627269327640533, + 0.19876705887524979 + ], + [ + -0.06646739691495895, + 0.9963969588279724, + -0.052679553627967834, + -0.3772796813560569 + ], + [ + 0.12268966436386108, + 0.06055719405412674, + 0.990595817565918, + 2.135155895481939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.05880853533744812, + -0.12696921825408936, + 0.20190617643692643 + ], + [ + -0.06609850376844406, + 0.9963517189025879, + -0.053983353078365326, + -0.37790999567667066 + ], + [ + 0.12333131581544876, + 0.061844728887081146, + 0.9904365539550781, + 2.150534415360234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426636, + 0.05833970755338669, + -0.12718528509140015, + 0.20465172661675346 + ], + [ + -0.06584563106298447, + 0.996277928352356, + -0.05562962591648102, + -0.3811488774087694 + ], + [ + 0.12346646934747696, + 0.06345692276954651, + 0.9903177618980408, + 2.173156830999586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.05792372673749924, + -0.1272106170654297, + 0.20686663060948468 + ], + [ + -0.06563419103622437, + 0.9961984753608704, + -0.05727764964103699, + -0.384687868192576 + ], + [ + 0.12340929359197617, + 0.06506472080945969, + 0.9902205467224121, + 2.1973438484081322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737793, + 0.057315584272146225, + -0.12720833718776703, + 0.20924344311877724 + ], + [ + -0.06527245044708252, + 0.9961047768592834, + -0.059285953640937805, + -0.38786993451452484 + ], + [ + 0.12331482023000717, + 0.06700925529003143, + 0.9901026487350464, + 2.218304665077136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.05588507652282715, + -0.1276361644268036, + 0.21140461389857212 + ], + [ + -0.0641215369105339, + 0.9960540533065796, + -0.0613580048084259, + -0.3906367568722094 + ], + [ + 0.12370351701974869, + 0.06894370913505554, + 0.9899213314056396, + 2.2417783385889543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.0548248253762722, + -0.12863613665103912, + 0.21438493763191113 + ], + [ + -0.06343141198158264, + 0.9959454536437988, + -0.06378985196352005, + -0.3933287434819816 + ], + [ + 0.12461730092763901, + 0.07132270187139511, + 0.989638090133667, + 2.2703726616458617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.053719863295555115, + -0.12976527214050293, + 0.21785011563612067 + ], + [ + -0.06270050257444382, + 0.9958384037017822, + -0.06614049524068832, + -0.3987513631618253 + ], + [ + 0.12567219138145447, + 0.07362129539251328, + 0.989336371421814, + 2.291813659495202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.05248437449336052, + -0.13104473054409027, + 0.22060085461623427 + ], + [ + -0.061909448355436325, + 0.9956997632980347, + -0.0689140185713768, + -0.4016962779388911 + ], + [ + 0.12686429917812347, + 0.07633683830499649, + 0.9889783263206482, + 2.3093682932392987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843079, + 0.05237596482038498, + -0.13493402302265167, + 0.22475625697685325 + ], + [ + -0.06240969896316528, + 0.9955052733421326, + -0.071234330534935, + -0.40901967202839645 + ], + [ + 0.1305965632200241, + 0.0789053738117218, + 0.9882906675338745, + 2.331292321889297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522095, + 0.05332467332482338, + -0.1399105042219162, + 0.22774666893309442 + ], + [ + -0.06403107196092606, + 0.9952618479728699, + -0.07316998392343521, + -0.415420216422726 + ], + [ + 0.13534583151340485, + 0.08130376785993576, + 0.9874569177627563, + 2.3581073618165536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.054061491042375565, + -0.14517661929130554, + 0.23010464651861054 + ], + [ + -0.06544817984104156, + 0.9950457811355591, + -0.07483583688735962, + -0.4224890767952094 + ], + [ + 0.1404116451740265, + 0.08343394100666046, + 0.9865714907646179, + 2.3833543118935276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.987076461315155, + 0.0547633096575737, + -0.1506020873785019, + 0.2349325869826303 + ], + [ + -0.0668073445558548, + 0.9948588609695435, + -0.07610917091369629, + -0.4297185414943142 + ], + [ + 0.14565981924533844, + 0.0851868987083435, + 0.9856603741645813, + 2.4100656044655953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369446, + 0.05539267137646675, + -0.15587709844112396, + 0.2385422289731422 + ], + [ + -0.06803636997938156, + 0.9947085976600647, + -0.07697989046573639, + -0.4375936118372972 + ], + [ + 0.15078817307949066, + 0.08652457594871521, + 0.984772264957428, + 2.438476795418827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.05654771998524666, + -0.16042619943618774, + 0.23767898213748195 + ], + [ + -0.06978537887334824, + 0.9944988489151001, + -0.07811526954174042, + -0.4444647492705912 + ], + [ + 0.1551264226436615, + 0.08817227184772491, + 0.9839519262313843, + 2.469471804300944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.05731608718633652, + -0.1653514951467514, + 0.24066720201053482 + ], + [ + -0.07116874307394028, + 0.9943227767944336, + -0.07910280674695969, + -0.45167661139714543 + ], + [ + 0.1598788946866989, + 0.08964993804693222, + 0.9830572605133057, + 2.5014345870501753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203186, + 0.05830130726099014, + -0.17005771398544312, + 0.2406124333684571 + ], + [ + -0.07271014899015427, + 0.9941582679748535, + -0.07976603507995605, + -0.45838431439537936 + ], + [ + 0.16441380977630615, + 0.09083139896392822, + 0.9822004437446594, + 2.531510166672693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231812, + 0.059048935770988464, + -0.17392559349536896, + 0.24156709953350722 + ], + [ + -0.07392840087413788, + 0.994021475315094, + -0.08034893125295639, + -0.46283240027113814 + ], + [ + 0.16814126074314117, + 0.0918399766087532, + 0.9814754128456116, + 2.550780592477264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.05997278913855553, + -0.1776111125946045, + 0.24082610723765 + ], + [ + -0.07530439645051956, + 0.9938756823539734, + -0.08087261766195297, + -0.466686250463776 + ], + [ + 0.17167320847511292, + 0.09281376749277115, + 0.980772078037262, + 2.568426717882571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9814273118972778, + 0.06035880371928215, + -0.1820913553237915, + 0.2413777954912416 + ], + [ + -0.07624726742506027, + 0.9937483668327332, + -0.08155074715614319, + -0.4685094938042083 + ], + [ + 0.176030695438385, + 0.09392009675502777, + 0.9798939824104309, + 2.5908761307525174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.06067194044589996, + -0.1858394593000412, + 0.23997434059490905 + ], + [ + -0.07698187232017517, + 0.9936681389808655, + -0.08183809369802475, + -0.47116299452269134 + ], + [ + 0.17969746887683868, + 0.09456530958414078, + 0.9791660904884338, + 2.6148681309488087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.060976918786764145, + -0.1892092227935791, + 0.23737905405569767 + ], + [ + -0.07769296318292618, + 0.993581235408783, + -0.08222018927335739, + -0.47232605733949207 + ], + [ + 0.1829811930656433, + 0.09527943283319473, + 0.9784885048866272, + 2.6397154900474824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.06127164885401726, + -0.19245612621307373, + 0.23500055538283454 + ], + [ + -0.07838138937950134, + 0.9934974312782288, + -0.08257880806922913, + -0.47402264832874424 + ], + [ + 0.18614491820335388, + 0.09596189856529236, + 0.9778248071670532, + 2.6637485529489564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.061485253274440765, + -0.19572097063064575, + 0.2327864947958269 + ], + [ + -0.07894695550203323, + 0.993442714214325, + -0.08269782364368439, + -0.47582713143117183 + ], + [ + 0.1893528699874878, + 0.09639042615890503, + 0.9771665334701538, + 2.6896885943873494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466797, + 0.06129567325115204, + -0.1988966017961502, + 0.2293342814065408 + ], + [ + -0.0791025459766388, + 0.9934178590774536, + -0.08284769207239151, + -0.4768209951727287 + ], + [ + 0.1925092190504074, + 0.09676670283079147, + 0.9765123724937439, + 2.7149614733198413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369446, + 0.06093064695596695, + -0.20226755738258362, + 0.22785692082511055 + ], + [ + -0.07907367497682571, + 0.9934192895889282, + -0.08285827934741974, + -0.4788409463233418 + ], + [ + 0.19588789343833923, + 0.0969824492931366, + 0.9758188128471375, + 2.7371532287862568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.06066565960645676, + -0.20522147417068481, + 0.22457097974664347 + ], + [ + -0.07907991856336594, + 0.9934282898902893, + -0.08274444192647934, + -0.48121824574067396 + ], + [ + 0.19885307550430298, + 0.09705644100904465, + 0.975211501121521, + 2.7593324764915135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144165, + 0.06033633276820183, + -0.20836029946804047, + 0.22188090494145518 + ], + [ + -0.07910490781068802, + 0.9934094548225403, + -0.08294612914323807, + -0.48229834783984266 + ], + [ + 0.20198242366313934, + 0.09745343774557114, + 0.9745285511016846, + 2.7802768095679906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.059833720326423645, + -0.21154259145259857, + 0.2183458419525681 + ], + [ + -0.07898080348968506, + 0.9933942556381226, + -0.08324616402387619, + -0.48707686883671847 + ], + [ + 0.20516426861286163, + 0.09791740030050278, + 0.9738171100616455, + 2.8059975202532783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110168, + 0.05969397351145744, + -0.21430684626102448, + 0.2121958274124325 + ], + [ + -0.0791357010602951, + 0.9933764934539795, + -0.0833105593919754, + -0.49384248398496333 + ], + [ + 0.20791424810886383, + 0.09818217158317566, + 0.9732070565223694, + 2.839670071423342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593933, + 0.05944196879863739, + -0.21671272814273834, + 0.20681614374768906 + ], + [ + -0.07909855246543884, + 0.9933903217315674, + -0.08318135142326355, + -0.5016953029494354 + ], + [ + 0.2103358656167984, + 0.09819556772708893, + 0.9726851582527161, + 2.8703631145366724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.058851227164268494, + -0.21915973722934723, + 0.2036204536827866 + ], + [ + -0.07869853079319, + 0.9934410452842712, + -0.08295436948537827, + -0.5080212286021111 + ], + [ + 0.21284030377864838, + 0.09803784638643265, + 0.9721561670303345, + 2.8943427324870936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.05818653479218483, + -0.22223085165023804, + 0.1983507772286733 + ], + [ + -0.07834260910749435, + 0.9934669137001038, + -0.08298145979642868, + -0.5132754896933905 + ], + [ + 0.215950608253479, + 0.0981723740696907, + 0.9714564085006714, + 2.9165490782779195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213623, + 0.05766924470663071, + -0.2253682017326355, + 0.19514846184115478 + ], + [ + -0.07813214510679245, + 0.9934858679771423, + -0.0829533264040947, + -0.5180780437653479 + ], + [ + 0.21911627054214478, + 0.09828604012727737, + 0.9707357883453369, + 2.9381152785342675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.057415418326854706, + -0.22761432826519012, + 0.1904045716000064 + ], + [ + -0.07807713001966476, + 0.9935004711151123, + -0.0828295350074768, + -0.522722800112001 + ], + [ + 0.22137926518917084, + 0.09828652441501617, + 0.9702221155166626, + 2.964724252074237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.05730113014578819, + -0.22992579638957977, + 0.18546688329914343 + ], + [ + -0.078162781894207, + 0.9935072064399719, + -0.08266843855381012, + -0.5272249702886107 + ], + [ + 0.22369594871997833, + 0.09828566014766693, + 0.9696906805038452, + 2.9911516890433676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.05694998428225517, + -0.23235954344272614, + 0.18192430682804273 + ], + [ + -0.07798706740140915, + 0.9935455918312073, + -0.08237241953611374, + -0.5312595060986022 + ], + [ + 0.2261686772108078, + 0.09810145944356918, + 0.9691356420516968, + 3.0167010732319044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895203, + 0.05675526708364487, + -0.23478682339191437, + 0.17854314235529462 + ], + [ + -0.07792828232049942, + 0.9935891628265381, + -0.08190110325813293, + -0.5356855989222365 + ], + [ + 0.2286333292722702, + 0.09777243435382843, + 0.9685903787612915, + 3.0409846297208816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.05637229606509209, + -0.23729684948921204, + 0.17410941584674633 + ], + [ + -0.07773470878601074, + 0.9936253428459167, + -0.08164539188146591, + -0.5376251626705778 + ], + [ + 0.23118162155151367, + 0.09762591868638992, + 0.9680001139640808, + 3.064316629326862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.05617370456457138, + -0.2397782802581787, + 0.17028820393741995 + ], + [ + -0.07768621295690536, + 0.9936636686325073, + -0.08122420310974121, + -0.5402163337970125 + ], + [ + 0.23369631171226501, + 0.09735006093978882, + 0.9674239158630371, + 3.0871764922487563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.055995550006628036, + -0.24177876114845276, + 0.16661942940979188 + ], + [ + -0.07760753482580185, + 0.9937041401863098, + -0.08080331981182098, + -0.5414634503172215 + ], + [ + 0.23573192954063416, + 0.09703919291496277, + 0.966961145401001, + 3.1104057745081217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.05594528466463089, + -0.2439797818660736, + 0.16436837221977216 + ], + [ + -0.07771814614534378, + 0.993716835975647, + -0.08054044842720032, + -0.5418120300280299 + ], + [ + 0.2379409670829773, + 0.0969381183385849, + 0.9664300680160522, + 3.132108702578982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.05580248683691025, + -0.24629436433315277, + 0.16140318715917892 + ], + [ + -0.0776672288775444, + 0.9937672019004822, + -0.07996585220098495, + -0.5426171670357386 + ], + [ + 0.24029697477817535, + 0.09650293737649918, + 0.9658905267715454, + 3.158223665624425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.05563151091337204, + -0.24823328852653503, + 0.15794728157888865 + ], + [ + -0.07759416848421097, + 0.9938037991523743, + -0.07958091795444489, + -0.5421712542141693 + ], + [ + 0.24226799607276917, + 0.09622427821159363, + 0.9654258489608765, + 3.1851835868784772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.05556565523147583, + -0.2503349483013153, + 0.15480153893215068 + ], + [ + -0.07766281068325043, + 0.9938234686851501, + -0.07926815003156662, + -0.5425955014168352 + ], + [ + 0.24438415467739105, + 0.0960594043135643, + 0.96490877866745, + 3.2138904269190802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331543, + 0.055650923401117325, + -0.25194427371025085, + 0.1500374182410862 + ], + [ + -0.07778523862361908, + 0.9938544631004333, + -0.0787576287984848, + -0.544567409740842 + ], + [ + 0.24601300060749054, + 0.09568846225738525, + 0.964531660079956, + 3.2464596033096313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9657927751541138, + 0.05547826737165451, + -0.2533111274242401, + 0.15020972844483196 + ], + [ + -0.07760594040155411, + 0.9939119219779968, + -0.07820715755224228, + -0.5479075016318888 + ], + [ + 0.24743016064167023, + 0.09519035369157791, + 0.9642183780670166, + 3.271888366643933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.0552566796541214, + -0.2548043131828308, + 0.14983307585336159 + ], + [ + -0.07743817567825317, + 0.9939528703689575, + -0.07785289734601974, + -0.5516375303880316 + ], + [ + 0.24896156787872314, + 0.0948917493224144, + 0.9638535380363464, + 3.2967360041855613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.05507858842611313, + -0.2566186487674713, + 0.14546600580215455 + ], + [ + -0.07726442068815231, + 0.9940186142921448, + -0.07718280702829361, + -0.561113744477431 + ], + [ + 0.25083258748054504, + 0.09430443495512009, + 0.9634259939193726, + 3.3312970558802286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.05527655780315399, + -0.2580374479293823, + 0.1435765550620314 + ], + [ + -0.07742083072662354, + 0.9940627813339233, + -0.07645430415868759, + -0.5675804407088365 + ], + [ + 0.25227928161621094, + 0.0937216505408287, + 0.9631050825119019, + 3.3607029495031937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.05503677949309349, + -0.25930270552635193, + 0.14480529308031148 + ], + [ + -0.07715117931365967, + 0.9941272139549255, + -0.07588686794042587, + -0.5734917437252791 + ], + [ + 0.2536033093929291, + 0.09317765384912491, + 0.9628100991249084, + 3.380688196794998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.05455490201711655, + -0.261565238237381, + 0.14468211976514347 + ], + [ + -0.07691413909196854, + 0.9941357970237732, + -0.07601457834243774, + -0.5781466873659604 + ], + [ + 0.2558843791484833, + 0.09336896240711212, + 0.9621878266334534, + 3.4016585185044055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.05448383092880249, + -0.26366376876831055, + 0.14206484523084428 + ], + [ + -0.07698395848274231, + 0.9941495060920715, + -0.07576405256986618, + -0.5843049341857721 + ], + [ + 0.25799328088760376, + 0.09326431900262833, + 0.9616346955299377, + 3.4288622052773183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.054300591349601746, + -0.26555365324020386, + 0.13890048618189954 + ], + [ + -0.07693955302238464, + 0.9941655397415161, + -0.07559902220964432, + -0.5887779175695301 + ], + [ + 0.25989919900894165, + 0.09320060163736343, + 0.961127519607544, + 3.4549605658664797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.05426902323961258, + -0.26760292053222656, + 0.13397861874621847 + ], + [ + -0.07695553451776505, + 0.9942078590393066, + -0.07502353191375732, + -0.5951756378878718 + ], + [ + 0.2619814872741699, + 0.09276615083217621, + 0.9606040716171265, + 3.4816699463388194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385254, + 0.05424545332789421, + -0.2696676552295685, + 0.1318729975157314 + ], + [ + -0.07697233557701111, + 0.9942517280578613, + -0.07442289590835571, + -0.6003452569678209 + ], + [ + 0.2640804350376129, + 0.09230893850326538, + 0.9600732326507568, + 3.503697570971245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.054182346910238266, + -0.271187961101532, + 0.13005736690500508 + ], + [ + -0.07690270245075226, + 0.994299054145813, + -0.07386042177677155, + -0.6037718322973896 + ], + [ + 0.2656400203704834, + 0.09183496236801147, + 0.9596883654594421, + 3.522425713343321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.05410146713256836, + -0.2730526030063629, + 0.1272923770374146 + ], + [ + -0.07685604691505432, + 0.9943419098854065, + -0.07333048433065414, + -0.6068890805369702 + ], + [ + 0.2675403654575348, + 0.09141796082258224, + 0.9592001438140869, + 3.5413828196732893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.05412323772907257, + -0.27488309144973755, + 0.12321546703289096 + ], + [ + -0.07691517472267151, + 0.9943750500679016, + -0.07281702756881714, + -0.6096598363153024 + ], + [ + 0.26939576864242554, + 0.09104360640048981, + 0.9587163329124451, + 3.5637349245052983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.05441459268331528, + -0.27645784616470337, + 0.11920490974677357 + ], + [ + -0.07721234112977982, + 0.9943932890892029, + -0.07225161790847778, + -0.6106149787776136 + ], + [ + 0.27097630500793457, + 0.09067025780677795, + 0.9583061933517456, + 3.5858313775292916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.05442676320672035, + -0.27808061242103577, + 0.11403122868226923 + ], + [ + -0.07716385275125504, + 0.9944530129432678, + -0.07147712260484695, + -0.612353943720244 + ], + [ + 0.27264782786369324, + 0.09000537544488907, + 0.9578946828842163, + 3.609696676765663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.0546671599149704, + -0.27929654717445374, + 0.11121489826751792 + ], + [ + -0.07736720144748688, + 0.9944784045219421, + -0.07090158760547638, + -0.6125844377610419 + ], + [ + 0.2738783657550812, + 0.08957801759243011, + 0.9575836658477783, + 3.6281784655391305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036621, + 0.05478096380829811, + -0.2804670035839081, + 0.10787524998475964 + ], + [ + -0.07741895318031311, + 0.9945188164710999, + -0.07027500122785568, + -0.6136611521819939 + ], + [ + 0.27507999539375305, + 0.08905792981386185, + 0.9572876691818237, + 3.6494994939813292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + 0.054798856377601624, + -0.28176894783973694, + 0.10468092677385911 + ], + [ + -0.07735580205917358, + 0.994574248790741, + -0.06955641508102417, + -0.6148430236007856 + ], + [ + 0.27642855048179626, + 0.08842568099498749, + 0.9569577574729919, + 3.6723823342634283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957690954208374, + 0.05480252578854561, + -0.2825327515602112, + 0.10242523777024182 + ], + [ + -0.07718496024608612, + 0.9946470260620117, + -0.06870059669017792, + -0.6157817638582653 + ], + [ + 0.27725541591644287, + 0.08760121464729309, + 0.9567943811416626, + 3.690520733335744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + 0.05489902198314667, + -0.28313228487968445, + 0.09932089866935342 + ], + [ + -0.07708007097244263, + 0.9947170615196228, + -0.06779806315898895, + -0.6170040171431459 + ], + [ + 0.27791449427604675, + 0.08674106001853943, + 0.956681489944458, + 3.708860073112635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + 0.05495430529117584, + -0.2836253345012665, + 0.09795037425946498 + ], + [ + -0.07694832980632782, + 0.9947821497917175, + -0.06698848307132721, + -0.6183953749096912 + ], + [ + 0.27846410870552063, + 0.08595654368400574, + 0.9565925002098083, + 3.7245102664698724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + 0.05482164025306702, + -0.28396886587142944, + 0.09578995324563289 + ], + [ + -0.07667873799800873, + 0.9948406219482422, + -0.06642657518386841, + -0.6204672369116171 + ], + [ + 0.2788621783256531, + 0.08536221086978912, + 0.9565297365188599, + 3.742615936977276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + 0.05451071634888649, + -0.28361597657203674, + 0.09286332175783489 + ], + [ + -0.07610487937927246, + 0.9949344396591187, + -0.06567774713039398, + -0.6253021005127165 + ], + [ + 0.27859917283058167, + 0.08446359634399414, + 0.9566861391067505, + 3.7625991751030448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + 0.05444630980491638, + -0.2821049094200134, + 0.08577764973692273 + ], + [ + -0.07572971284389496, + 0.9950015544891357, + -0.06509134918451309, + -0.6305552586157253 + ], + [ + 0.27715086936950684, + 0.08371064811944962, + 0.9571728706359863, + 3.7869218563687976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831482, + 0.05394670367240906, + -0.28049367666244507, + 0.07972922815000953 + ], + [ + -0.07479287683963776, + 0.9951337575912476, + -0.06414662301540375, + -0.635409076432675 + ], + [ + 0.27566826343536377, + 0.08245311677455902, + 0.9577100276947021, + 3.8110770914289684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + 0.05324147269129753, + -0.2794390916824341, + 0.07712778780195448 + ], + [ + -0.07379191368818283, + 0.9952476024627686, + -0.06353743374347687, + -0.6373860446943177 + ], + [ + 0.2747282385826111, + 0.0815327912569046, + 0.9580588936805725, + 3.827729829814699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + 0.051856137812137604, + -0.2777705788612366, + 0.07354336290255836 + ], + [ + -0.07208303362131119, + 0.9954005479812622, + -0.06310169398784637, + -0.6389904920173728 + ], + [ + 0.2732207775115967, + 0.08055263757705688, + 0.9585727453231812, + 3.8453218014343924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + 0.0506301149725914, + -0.2760399878025055, + 0.06952119057161221 + ], + [ + -0.07061650604009628, + 0.9955155253410339, + -0.06294553726911545, + -0.6427689415641165 + ], + [ + 0.2716151773929596, + 0.0799088403582573, + 0.9590827822685242, + 3.865943877103824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.96030193567276, + 0.04935877025127411, + -0.2745613157749176, + 0.06568884341685093 + ], + [ + -0.06914079934358597, + 0.9956258535385132, + -0.06283906102180481, + -0.6485837537309398 + ], + [ + 0.27025869488716125, + 0.07932786643505096, + 0.9595141410827637, + 3.8884323120117186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + 0.04836207628250122, + -0.27322474122047424, + 0.06199270389650179 + ], + [ + -0.0679871141910553, + 0.9957066774368286, + -0.06281670182943344, + -0.6542548731077409 + ], + [ + 0.26901373267173767, + 0.07892588526010513, + 0.9598970413208008, + 3.9116270507591357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + 0.04748312756419182, + -0.2717622220516205, + 0.05603975436609725 + ], + [ + -0.06693345308303833, + 0.9957822561264038, + -0.062749944627285, + -0.6586484322729318 + ], + [ + 0.2676364481449127, + 0.07850474864244461, + 0.9603164792060852, + 3.9364483188891755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + 0.04646202176809311, + -0.2711964547634125, + 0.05475299949015396 + ], + [ + -0.06578322499990463, + 0.9958690404891968, + -0.06258944422006607, + -0.660852651193666 + ], + [ + 0.2671681344509125, + 0.07801380008459091, + 0.960486888885498, + 3.956077442307403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + 0.045255862176418304, + -0.27137717604637146, + 0.054973230014244714 + ], + [ + -0.06457062810659409, + 0.9959434866905212, + -0.06266727298498154, + -0.661249543186547 + ], + [ + 0.2674402892589569, + 0.07777184993028641, + 0.9604307413101196, + 3.971072765018629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + 0.04425545781850815, + -0.27161306142807007, + 0.0553131348700915 + ], + [ + -0.06356251984834671, + 0.996006429195404, + -0.06269785761833191, + -0.6617944007478475 + ], + [ + 0.26775360107421875, + 0.07754141092300415, + 0.9603620767593384, + 3.985915145493936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137024, + 0.04343560338020325, + -0.27187371253967285, + 0.05272580402484839 + ], + [ + -0.06280545145273209, + 0.9960384964942932, + -0.06295064836740494, + -0.6639123047535546 + ], + [ + 0.26806241273880005, + 0.0775928869843483, + 0.9602717757225037, + 4.00756526598032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + 0.0429566316306591, + -0.27243807911872864, + 0.049030223618382995 + ], + [ + -0.06239153817296028, + 0.9960565567016602, + -0.06307628005743027, + -0.6664839871227741 + ], + [ + 0.2686541974544525, + 0.07762763649225235, + 0.9601035714149475, + 4.031165020621342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + 0.0428258553147316, + -0.27385684847831726, + 0.046567567675441936 + ], + [ + -0.062385059893131256, + 0.9960547089576721, + -0.06311217695474625, + -0.669653984385988 + ], + [ + 0.2700735628604889, + 0.07772379368543625, + 0.9596974849700928, + 4.051833081821313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + 0.042320966720581055, + -0.2761334478855133, + 0.048226106973086005 + ], + [ + -0.06213310360908508, + 0.9960525035858154, + -0.06339507550001144, + -0.6703771563723755 + ], + [ + 0.2723604738712311, + 0.07802816480398178, + 0.9590262770652771, + 4.067669013761668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9593506455421448, + 0.041948169469833374, + -0.2790818512439728, + 0.04834092744234679 + ], + [ + -0.0622078999876976, + 0.9960004687309265, + -0.06413456797599792, + -0.6710738936196203 + ], + [ + 0.275275319814682, + 0.07888863980770111, + 0.9581232070922852, + 4.084829710531926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672668, + 0.04221339896321297, + -0.28228941559791565, + 0.04543570738627715 + ], + [ + -0.06293138861656189, + 0.9959165453910828, + -0.06472941488027573, + -0.6728826850328756 + ], + [ + 0.27840426564216614, + 0.0798015370965004, + 0.9571430087089539, + 4.104675717831809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + 0.04263734444975853, + -0.2855720818042755, + 0.04306911213170503 + ], + [ + -0.06376131623983383, + 0.9958407878875732, + -0.06508202850818634, + -0.6774204688947558 + ], + [ + 0.2816093862056732, + 0.08051852881908417, + 0.9561448097229004, + 4.125912275636829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9561680555343628, + 0.04298488050699234, + -0.2896462380886078, + 0.042872157973655754 + ], + [ + -0.0646226555109024, + 0.9957542419433594, + -0.06555493175983429, + -0.6817111748068229 + ], + [ + 0.28559860587120056, + 0.08139924705028534, + 0.9548861980438232, + 4.1441532090090325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + 0.043729912489652634, + -0.29404115676879883, + 0.037042258579085996 + ], + [ + -0.06592939049005508, + 0.9956384897232056, + -0.0660100132226944, + -0.68808089343534 + ], + [ + 0.28987210988998413, + 0.08241178095340729, + 0.953510582447052, + 4.1673835995692565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + 0.0449039600789547, + -0.29882144927978516, + 0.031304527934334705 + ], + [ + -0.06760751456022263, + 0.9955217242240906, + -0.06607332825660706, + -0.6952560491176043 + ], + [ + 0.29451632499694824, + 0.08318710327148438, + 0.9520189166069031, + 4.190134212216317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + 0.04573626071214676, + -0.30407699942588806, + 0.030000881332418194 + ], + [ + -0.06917662918567657, + 0.9953680634498596, + -0.06676115840673447, + -0.7007062389798786 + ], + [ + 0.29961511492729187, + 0.0845615342259407, + 0.9503052830696106, + 4.205808323362599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + 0.04690104350447655, + -0.3095182180404663, + 0.02668056767343899 + ], + [ + -0.07104375958442688, + 0.995207667350769, + -0.06719008833169937, + -0.7058995122746857 + ], + [ + 0.30488359928131104, + 0.08580219000577927, + 0.9485167264938354, + 4.222970267136891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + 0.047968871891498566, + -0.3154609203338623, + 0.023502265903108936 + ], + [ + -0.07295786589384079, + 0.9950222373008728, + -0.06788142025470734, + -0.7100294970227901 + ], + [ + 0.31063443422317505, + 0.08734829723834991, + 0.9465075731277466, + 4.239049456430518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + 0.049592241644859314, + -0.321349561214447, + 0.016506444371264913 + ], + [ + -0.07538000494241714, + 0.9948128461837769, + -0.06830240786075592, + -0.7145623358047527 + ], + [ + 0.3162953853607178, + 0.08881427347660065, + 0.9444941878318787, + 4.258702948214351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + 0.05142054706811905, + -0.32740122079849243, + 0.004655373924308353 + ], + [ + -0.07800152152776718, + 0.9945921301841736, + -0.06857278943061829, + -0.720653047826555 + ], + [ + 0.32210463285446167, + 0.09023520350456238, + 0.9423938989639282, + 4.283086797926161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025452, + 0.05312994867563248, + -0.33349865674972534, + -0.004678094120705183 + ], + [ + -0.08051631599664688, + 0.9943738579750061, + -0.06883126497268677, + -0.7250680628318141 + ], + [ + 0.32796531915664673, + 0.09163966774940491, + 0.9402344822883606, + 4.304361353605842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447449, + 0.05505100637674332, + -0.3392639756202698, + -0.016225972847230194 + ], + [ + -0.08324984461069107, + 0.9941285848617554, + -0.06912140548229218, + -0.7299897813710614 + ], + [ + 0.3334668278694153, + 0.09315413236618042, + 0.9381482601165771, + 4.3259938150212385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + 0.056866105645895004, + -0.34477248787879944, + -0.02223376103717348 + ], + [ + -0.08590073883533478, + 0.9938753843307495, + -0.06951810419559479, + -0.7324669223836655 + ], + [ + 0.33870765566825867, + 0.09475204348564148, + 0.9361085295677185, + 4.338712005655546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + 0.05871870368719101, + -0.35011130571365356, + -0.025541646623813016 + ], + [ + -0.08866459876298904, + 0.9935908913612366, + -0.07011239975690842, + -0.733177470282656 + ], + [ + 0.3437504768371582, + 0.09658815711736679, + 0.9340804815292358, + 4.345932696752502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + 0.06015794724225998, + -0.3555920422077179, + -0.03445718191240145 + ], + [ + -0.09096928685903549, + 0.9933510422706604, + -0.07055667787790298, + -0.7343146186483943 + ], + [ + 0.34898319840431213, + 0.0981564000248909, + 0.9319742918014526, + 4.3596837069677274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684631, + 0.0619707927107811, + -0.3600524961948395, + -0.04456981044748555 + ], + [ + -0.09364401549100876, + 0.9930577278137207, + -0.07118400186300278, + -0.7368727369224968 + ], + [ + 0.35314157605171204, + 0.09997991472482681, + 0.9302123785018921, + 4.372487240367466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611145, + 0.06338736414909363, + -0.363702654838562, + -0.05338444760888095 + ], + [ + -0.09592612087726593, + 0.9927743077278137, + -0.07209227979183197, + -0.7363401697381683 + ], + [ + 0.3565049171447754, + 0.10188797116279602, + 0.9287211894989014, + 4.382558107491277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + 0.0648665502667427, + -0.3670696020126343, + -0.06503366860358611 + ], + [ + -0.0982513502240181, + 0.9924814701080322, + -0.07298734039068222, + -0.7374192433080812 + ], + [ + 0.3595753312110901, + 0.10379215329885483, + 0.9273256063461304, + 4.396048099407252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + 0.06604807078838348, + -0.3692636489868164, + -0.07695251176322716 + ], + [ + -0.1001288890838623, + 0.9922275543212891, + -0.07388278841972351, + -0.7377939023401426 + ], + [ + 0.36151373386383057, + 0.10546143352985382, + 0.9263831377029419, + 4.407938888971357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497375, + 0.06692667305469513, + -0.37091943621635437, + -0.08719523634023713 + ], + [ + -0.10174871981143951, + 0.991971492767334, + -0.07509834319353104, + -0.7384546733636786 + ], + [ + 0.36291542649269104, + 0.10730043798685074, + 0.9256235957145691, + 4.417271903229221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + 0.06783102452754974, + -0.3719951808452606, + -0.09820104314797166 + ], + [ + -0.10340899229049683, + 0.9916914105415344, + -0.07651642709970474, + -0.7381386557674926 + ], + [ + 0.3637142479419708, + 0.10930296033620834, + 0.9250755906105042, + 4.426540424426396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + 0.06859689950942993, + -0.37209105491638184, + -0.11008622128030528 + ], + [ + -0.10492381453514099, + 0.9913967847824097, + -0.07825186848640442, + -0.7373385810621694 + ], + [ + 0.3635220527648926, + 0.11147567629814148, + 0.9248918294906616, + 4.43435067370318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155823, + 0.06888691335916519, + -0.37176844477653503, + -0.12136999617740152 + ], + [ + -0.10592018812894821, + 0.9911428093910217, + -0.08010508120059967, + -0.7364095711693671 + ], + [ + 0.3629574477672577, + 0.11353635787963867, + 0.9248629212379456, + 4.4418335581459285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + 0.0688844546675682, + -0.3706817328929901, + -0.13264873105546704 + ], + [ + -0.1065094843506813, + 0.9909260272979736, + -0.081983782351017, + -0.7349621234380681 + ], + [ + 0.36167076230049133, + 0.11541465669870377, + 0.9251344203948975, + 4.4475949639859405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919373, + 0.06798604130744934, + -0.3688313663005829, + -0.14451053647891335 + ], + [ + -0.10605581104755402, + 0.9908124208450317, + -0.08392190933227539, + -0.7343560965740739 + ], + [ + 0.35973718762397766, + 0.11691287159919739, + 0.9257000088691711, + 4.450239360879585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + 0.06787339597940445, + -0.3672087788581848, + -0.15291692755648478 + ], + [ + -0.1064617857336998, + 0.9906037449836731, + -0.08584918081760406, + -0.7372070306165207 + ], + [ + 0.3579314947128296, + 0.11873245239257812, + 0.9261682629585266, + 4.452787711424528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + 0.06783163547515869, + -0.3637774884700775, + -0.17212131666964378 + ], + [ + -0.1069190502166748, + 0.99033123254776, + -0.08838748931884766, + -0.7397887497708417 + ], + [ + 0.3542647659778595, + 0.12100784480571747, + 0.9272829294204712, + 4.466890025657157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + 0.06683541089296341, + -0.35911720991134644, + -0.19405948571536852 + ], + [ + -0.106063611805439, + 0.9902190566062927, + -0.0906459391117096, + -0.7446953503693935 + ], + [ + 0.3495463728904724, + 0.12247122824192047, + 0.9288800358772278, + 4.481460598874207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + 0.06573132425546646, + -0.3542909324169159, + -0.21139670731364818 + ], + [ + -0.10516964644193649, + 0.9900758266448975, + -0.09321601688861847, + -0.7476718732196351 + ], + [ + 0.34464767575263977, + 0.12421461939811707, + 0.9304776787757874, + 4.492095669830479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + 0.06427089124917984, + -0.3495660722255707, + -0.2272082913612974 + ], + [ + -0.10375655442476273, + 0.9900158047676086, + -0.0954112634062767, + -0.7508101683163988 + ], + [ + 0.3399437367916107, + 0.12545111775398254, + 0.9320409297943115, + 4.500573944699937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + 0.06275496631860733, + -0.34453725814819336, + -0.2454828205315963 + ], + [ + -0.10227642208337784, + 0.9899424314498901, + -0.09774190932512283, + -0.7542609972474368 + ], + [ + 0.33493828773498535, + 0.12679022550582886, + 0.9336705207824707, + 4.5114106820977256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413025, + 0.060632117092609406, + -0.3402038514614105, + -0.2639102029915593 + ], + [ + -0.10000381618738174, + 0.9900094270706177, + -0.0994013175368309, + -0.7576149048652626 + ], + [ + 0.3307780921459198, + 0.12729936838150024, + 0.935083270072937, + 4.523141466937779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + 0.05876663327217102, + -0.3360312581062317, + -0.27946162819862364 + ], + [ + -0.09803208708763123, + 0.9900352358818054, + -0.10109375417232513, + -0.7582878366112709 + ], + [ + 0.32674187421798706, + 0.1279715597629547, + 0.9364096522331238, + 4.5312112152576445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/push_in/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6017d5e435c50b439797f7ef157022ffd2daba11 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/push_in/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.0022364004980772734, + -0.0026113721542060375, + 0.0011929115884518925 + ], + [ + -0.002242674818262458, + 0.9999945759773254, + -0.0024023065343499184, + -0.007241587261196928 + ], + [ + 0.0026059853844344616, + 0.0024081487208604813, + 0.9999936819076538, + 0.02417080717134303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999806880950928, + 0.0040634265169501305, + -0.004699923098087311, + 0.002910733596165327 + ], + [ + -0.0040840646252036095, + 0.9999819993972778, + -0.004389888606965542, + -0.015730956764576802 + ], + [ + 0.0046820007264614105, + 0.004408998414874077, + 0.9999793171882629, + 0.05214198888931873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.005368742626160383, + -0.007625406142324209, + 0.0038486919298336125 + ], + [ + -0.005417895969003439, + 0.9999645948410034, + -0.0064400238916277885, + -0.021781459103837827 + ], + [ + 0.007590561639517546, + 0.0064810579642653465, + 0.9999501705169678, + 0.07095000709312549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.00689054187387228, + -0.010770018212497234, + 0.008206756490368198 + ], + [ + -0.006981814280152321, + 0.9999398589134216, + -0.008460155688226223, + -0.02745046621899386 + ], + [ + 0.01071107480674982, + 0.008534657768905163, + 0.9999061822891235, + 0.09324483272534062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.007960905320942402, + -0.013277232646942139, + 0.010034482408728864 + ], + [ + -0.008098271675407887, + 0.9999139308929443, + -0.010324593633413315, + -0.031962318021966064 + ], + [ + 0.013193896040320396, + 0.010430879890918732, + 0.999858558177948, + 0.11238242354657915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.009428995661437511, + -0.014257972128689289, + 0.011177638529435449 + ], + [ + -0.009610596112906933, + 0.9998728632926941, + -0.012722363695502281, + -0.03787596873075202 + ], + [ + 0.014136199839413166, + 0.012857532128691673, + 0.999817430973053, + 0.14432203670342764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.00977416057139635, + -0.014622199349105358, + 0.012692844153692324 + ], + [ + -0.009989832527935505, + 0.9998413324356079, + -0.014749979600310326, + -0.04396215950899222 + ], + [ + 0.01447570975869894, + 0.014893772080540657, + 0.9997842907905579, + 0.17672039918277574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.01059537474066019, + -0.015374253503978252, + 0.014100631743057626 + ], + [ + -0.01085029449313879, + 0.9998034238815308, + -0.016593357548117638, + -0.04973603962124258 + ], + [ + 0.015195419080555439, + 0.016757281497120857, + 0.9997441172599792, + 0.20700664167530872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.01089369785040617, + -0.016871005296707153, + 0.01824881199585355 + ], + [ + -0.011200395412743092, + 0.999771773815155, + -0.018192479386925697, + -0.05534469946085111 + ], + [ + 0.01666897162795067, + 0.018377771601080894, + 0.9996921420097351, + 0.23166812723097593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.011148378252983093, + -0.01857118122279644, + 0.021842640208233382 + ], + [ + -0.011516496539115906, + 0.9997369647026062, + -0.019834421575069427, + -0.06069742542678031 + ], + [ + 0.018345175310969353, + 0.020043641328811646, + 0.9996308088302612, + 0.257491912242871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.011119464412331581, + -0.020447613671422005, + 0.024531605172956335 + ], + [ + -0.011560274288058281, + 0.9997005462646484, + -0.021567659452557564, + -0.06338359262470318 + ], + [ + 0.02020167000591755, + 0.02179819531738758, + 0.9995582699775696, + 0.2759161833403767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.011200539767742157, + -0.022018814459443092, + 0.02810968076945215 + ], + [ + -0.01170697994530201, + 0.9996667504310608, + -0.023007607087492943, + -0.06882903438763342 + ], + [ + 0.02175377868115902, + 0.023258360102772713, + 0.9994927644729614, + 0.3013558620128079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.01118478924036026, + -0.023529307916760445, + 0.031136913852235257 + ], + [ + -0.01175733096897602, + 0.9996346831321716, + -0.024337200447916985, + -0.07431142143275282 + ], + [ + 0.02324850670993328, + 0.024605581536889076, + 0.9994269013404846, + 0.32628049101806494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.011243744753301144, + -0.025035269558429718, + 0.03663805250240409 + ], + [ + -0.01187987346202135, + 0.9996066093444824, + -0.0254072155803442, + -0.08169433079515966 + ], + [ + 0.02473974972963333, + 0.025695061311125755, + 0.9993636608123779, + 0.3550558023982578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.01170582789927721, + -0.0260941069573164, + 0.03998217041995646 + ], + [ + -0.01241482887417078, + 0.9995535612106323, + -0.027176616713404655, + -0.08749759768176338 + ], + [ + 0.025764333084225655, + 0.02748945541679859, + 0.9992899894714355, + 0.382795465597208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.012052183039486408, + -0.027570083737373352, + 0.04281100571731438 + ], + [ + -0.012837381102144718, + 0.9995118379592896, + -0.028482673689723015, + -0.09538670501847198 + ], + [ + 0.02721334621310234, + 0.02882370539009571, + 0.9992139935493469, + 0.4094917199461932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.012399017810821533, + -0.028493991121649742, + 0.04427306647839897 + ], + [ + -0.013229986652731895, + 0.9994871616363525, + -0.029161887243390083, + -0.09840344122300546 + ], + [ + 0.028117800131440163, + 0.029524778947234154, + 0.9991685152053833, + 0.42181815709468823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.013489429838955402, + -0.03085138462483883, + 0.050346650328973064 + ], + [ + -0.01442603301256895, + 0.999435544013977, + -0.03034021146595478, + -0.10462131637917912 + ], + [ + 0.0304246973246336, + 0.03076806850731373, + 0.9990633726119995, + 0.44383047171261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205933, + 0.013895992189645767, + -0.033847637474536896, + 0.05647605581272051 + ], + [ + -0.014967259019613266, + 0.9993883967399597, + -0.03160466253757477, + -0.11450191862197313 + ], + [ + 0.03338775783777237, + 0.03209010511636734, + 0.9989271759986877, + 0.46554902564500267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272461, + 0.016092753037810326, + -0.0376913920044899, + 0.0598871722313517 + ], + [ + -0.017323853448033333, + 0.9993193745613098, + -0.032567087560892105, + -0.12308707581338099 + ], + [ + 0.03714164346456528, + 0.03319268301129341, + 0.9987586140632629, + 0.49210554231768067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.018223222345113754, + -0.04194314777851105, + 0.06433325252239255 + ], + [ + -0.019634105265140533, + 0.9992466568946838, + -0.03347551450133324, + -0.12991588738193546 + ], + [ + 0.04130151867866516, + 0.034264009445905685, + 0.9985590577125549, + 0.5204484693382098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793945, + 0.020553000271320343, + -0.04581957310438156, + 0.06661372495734173 + ], + [ + -0.022124383598566055, + 0.9991750121116638, + -0.03405586630105972, + -0.13740792590494894 + ], + [ + 0.04508182406425476, + 0.03502662479877472, + 0.998369038105011, + 0.5451077676625643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.02236338146030903, + -0.04987017437815666, + 0.06885957871046332 + ], + [ + -0.024098118767142296, + 0.999115526676178, + -0.034459467977285385, + -0.14525532486538092 + ], + [ + 0.04905543848872185, + 0.035609740763902664, + 0.9981610774993896, + 0.5679308003849454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.025196420028805733, + -0.05386357381939888, + 0.07167431213285612 + ], + [ + -0.027118520811200142, + 0.9990102648735046, + -0.03525662422180176, + -0.1503453292708466 + ], + [ + 0.052921924740076065, + 0.03665493428707123, + 0.9979256987571716, + 0.5983897421670996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.027898434549570084, + -0.05810781940817833, + 0.0720761267621304 + ], + [ + -0.03001503273844719, + 0.9989053606987, + -0.03587669879198074, + -0.15455367911049134 + ], + [ + 0.05704331025481224, + 0.03754619508981705, + 0.9976654648780823, + 0.6301641672993628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.03114611655473709, + -0.062324296683073044, + 0.07275798206672 + ], + [ + -0.0334443524479866, + 0.9987855553627014, + -0.03617827594280243, + -0.15753334982383654 + ], + [ + 0.06112179532647133, + 0.03817475587129593, + 0.9974000453948975, + 0.662200655511036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.033693261444568634, + -0.06629057973623276, + 0.07285304616974747 + ], + [ + -0.036126427352428436, + 0.9987038373947144, + -0.0358545184135437, + -0.1629406011622885 + ], + [ + 0.06499660760164261, + 0.038150086998939514, + 0.9971559643745422, + 0.689103357947391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.036565959453582764, + -0.06995093077421188, + 0.07247311398746886 + ], + [ + -0.03916091471910477, + 0.9985808730125427, + -0.036091990768909454, + -0.1654732466319909 + ], + [ + 0.06853192299604416, + 0.038718730211257935, + 0.996897280216217, + 0.7107164300582259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.03873646631836891, + -0.07333295047283173, + 0.06938075091383883 + ], + [ + -0.0414595790207386, + 0.9984920620918274, + -0.03598237782716751, + -0.16685875716488718 + ], + [ + 0.07182854413986206, + 0.038898766040802, + 0.996658205986023, + 0.72928378921776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.040912825614213943, + -0.07706233114004135, + 0.07288875096086142 + ], + [ + -0.04378388449549675, + 0.998394250869751, + -0.03594208508729935, + -0.16840031732251678 + ], + [ + 0.07546810060739517, + 0.039179109036922455, + 0.9963782429695129, + 0.7565007468928462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.042488738894462585, + -0.08002281188964844, + 0.07167849117431088 + ], + [ + -0.04545895755290985, + 0.998329222202301, + -0.03566781431436539, + -0.16884272665433261 + ], + [ + 0.07837364077568054, + 0.03915886580944061, + 0.9961546659469604, + 0.7840590382543738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9956108331680298, + 0.04434388503432274, + -0.08241777867078781, + 0.06964584712101066 + ], + [ + -0.04740210250020027, + 0.9982439279556274, + -0.03552674502134323, + -0.1689435030815106 + ], + [ + 0.08069764822721481, + 0.039277590811252594, + 0.9959644675254822, + 0.8063442874645841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.04596315324306488, + -0.08554010838270187, + 0.07248921380310819 + ], + [ + -0.0491487979888916, + 0.9981598258018494, + -0.03551483526825905, + -0.16857279238385567 + ], + [ + 0.08375032991170883, + 0.03955118730664253, + 0.9957015514373779, + 0.8332787864450095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.0472993478178978, + -0.08763521164655685, + 0.07004171953253124 + ], + [ + -0.050564780831336975, + 0.9980924129486084, + -0.03542303293943405, + -0.17009663267268074 + ], + [ + 0.08579254895448685, + 0.03967820107936859, + 0.9955226182937622, + 0.8540287600047346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.048210158944129944, + -0.08975494652986526, + 0.06931211614018477 + ], + [ + -0.05155248939990997, + 0.9980462789535522, + -0.03529903292655945, + -0.1703998966925386 + ], + [ + 0.08787781745195389, + 0.03974243998527527, + 0.9953381419181824, + 0.8735112722081263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.04945862293243408, + -0.09141582995653152, + 0.0692137197955795 + ], + [ + -0.052854835987091064, + 0.997984766960144, + -0.03511005640029907, + -0.17146316650121107 + ], + [ + 0.08949511498212814, + 0.03975166380405426, + 0.9951936602592468, + 0.8995489053104235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.04863566905260086, + -0.09502732008695602, + 0.08018724380267991 + ], + [ + -0.05211786925792694, + 0.9980444312095642, + -0.03451117128133774, + -0.17469190358755668 + ], + [ + 0.09316302090883255, + 0.039266593754291534, + 0.9948762655258179, + 0.9335223487609826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765137, + 0.050517480820417404, + -0.09576677531003952, + 0.07278185495431873 + ], + [ + -0.054039012640714645, + 0.997941255569458, + -0.03454064205288887, + -0.17528215571518105 + ], + [ + 0.09382470697164536, + 0.039512719959020615, + 0.994804322719574, + 0.9472568235535552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.050298336893320084, + -0.09736401587724686, + 0.07303343517840773 + ], + [ + -0.05387471988797188, + 0.9979529976844788, + -0.03445683419704437, + -0.17954817688551503 + ], + [ + 0.09543158859014511, + 0.03949476033449173, + 0.9946522116661072, + 0.971792702657589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.051648907363414764, + -0.09834951162338257, + 0.0672644432184201 + ], + [ + -0.055279895663261414, + 0.9978727102279663, + -0.03455757349729538, + -0.18333147322210136 + ], + [ + 0.09635543823242188, + 0.03978043794631958, + 0.9945517182350159, + 0.9862908775679731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.051056209951639175, + -0.0992148220539093, + 0.0716397125651871 + ], + [ + -0.05466962233185768, + 0.9979238510131836, + -0.034047503024339676, + -0.19135439784090588 + ], + [ + 0.09727050364017487, + 0.039258923381567, + 0.9944833517074585, + 1.0135474294855975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.05107952281832695, + -0.0993233472108841, + 0.0697547262561494 + ], + [ + -0.0546448640525341, + 0.9979433417320251, + -0.03351172059774399, + -0.19929220579240634 + ], + [ + 0.09740731120109558, + 0.038729555904865265, + 0.9944907426834106, + 1.0282357865485592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.05086435005068779, + -0.10076417773962021, + 0.07446213531969251 + ], + [ + -0.05446717515587807, + 0.9979591369628906, + -0.03333079069852829, + -0.2049465291346041 + ], + [ + 0.09886317700147629, + 0.03860612213611603, + 0.994351863861084, + 1.0540642602432178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113037, + 0.05030372738838196, + -0.10239668190479279, + 0.08091654401758443 + ], + [ + -0.053963758051395416, + 0.9979877471923828, + -0.033291298896074295, + -0.2070324121825937 + ], + [ + 0.10051596164703369, + 0.038599643856287, + 0.9941864013671875, + 1.075633878869135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186584, + 0.04963846132159233, + -0.10233431309461594, + 0.08225795869594035 + ], + [ + -0.05329246446490288, + 0.998024046421051, + -0.03328562527894974, + -0.21307267264827437 + ], + [ + 0.1004798635840416, + 0.03852327913045883, + 0.9941930174827576, + 1.1034582944019982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.0496625155210495, + -0.10191740095615387, + 0.08237567179732852 + ], + [ + -0.053322337567806244, + 0.9980151653289795, + -0.03350357711315155, + -0.2180524938636356 + ], + [ + 0.10005123913288116, + 0.03872203081846237, + 0.9942285418510437, + 1.1334808627764383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.04925285652279854, + -0.10178175568580627, + 0.0845507130962639 + ], + [ + -0.05287175253033638, + 0.998050332069397, + -0.03316742554306984, + -0.22321844293695428 + ], + [ + 0.09994973242282867, + 0.038336094468832016, + 0.9942536950111389, + 1.158737242596161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.04911331832408905, + -0.10172472894191742, + 0.0880075217805047 + ], + [ + -0.052760183811187744, + 0.9980460405349731, + -0.033474087715148926, + -0.22683615416720293 + ], + [ + 0.09988193213939667, + 0.03862684965133667, + 0.9942492246627808, + 1.1890262144199315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.04902191460132599, + -0.10194054245948792, + 0.08965378383507475 + ], + [ + -0.052687227725982666, + 0.9980463981628418, + -0.033577751368284225, + -0.22890742895359867 + ], + [ + 0.10009534657001495, + 0.038733210414648056, + 0.9942236542701721, + 1.2125480055521076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.993559718132019, + 0.0487002432346344, + -0.10231032967567444, + 0.09260303944637234 + ], + [ + -0.05236396938562393, + 0.9980682730674744, + -0.03343319147825241, + -0.23086952821212114 + ], + [ + 0.10048449039459229, + 0.038575246930122375, + 0.994190514087677, + 1.2361477904273692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.048615120351314545, + -0.10256709158420563, + 0.09362599810828333 + ], + [ + -0.052275508642196655, + 0.9980771541595459, + -0.0333053395152092, + -0.23198226503487945 + ], + [ + 0.10075072944164276, + 0.038451842963695526, + 0.9941683411598206, + 1.255032370833383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.04889291524887085, + -0.10252975672483444, + 0.09559595756916608 + ], + [ + -0.05256624519824982, + 0.9980575442314148, + -0.0334349200129509, + -0.23187863044980644 + ], + [ + 0.10069587081670761, + 0.038608118891716, + 0.9941678643226624, + 1.277149596306437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993516743183136, + 0.04908096045255661, + -0.10254526883363724, + 0.0986012067447826 + ], + [ + -0.05277340114116669, + 0.9980407953262329, + -0.03360915556550026, + -0.23175777206422338 + ], + [ + 0.10069478303194046, + 0.038802918046712875, + 0.9941604137420654, + 1.3005635206250177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.04949834570288658, + -0.10260982066392899, + 0.10140842905511027 + ], + [ + -0.05320417508482933, + 0.9980149269104004, + -0.03369751572608948, + -0.23337724947411081 + ], + [ + 0.10073816031217575, + 0.03893739730119705, + 0.9941507577896118, + 1.323556571421416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9934517741203308, + 0.04956163093447685, + -0.10294263064861298, + 0.10559991689551855 + ], + [ + -0.05330852046608925, + 0.9980001449584961, + -0.033969711512327194, + -0.23380480570817627 + ], + [ + 0.1010531634092331, + 0.03923499211668968, + 0.9941070675849915, + 1.3493472658781613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.04986759275197983, + -0.10310870409011841, + 0.11095837623888744 + ], + [ + -0.05362820625305176, + 0.997981071472168, + -0.03402599319815636, + -0.23624241915014055 + ], + [ + 0.10120373964309692, + 0.03933161124587059, + 0.9940879344940186, + 1.3759813921463087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.05012756586074829, + -0.10322330892086029, + 0.11598379972620287 + ], + [ + -0.05391266942024231, + 0.9979594945907593, + -0.03420991823077202, + -0.2377395834233882 + ], + [ + 0.10129782557487488, + 0.03954898193478584, + 0.9940697550773621, + 1.4004289894000344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.05076683312654495, + -0.10334215313196182, + 0.12097178550014173 + ], + [ + -0.05455721169710159, + 0.9979252815246582, + -0.034186188131570816, + -0.24159149568221996 + ], + [ + 0.1013922169804573, + 0.03959688916802406, + 0.9940581917762756, + 1.4227929760868423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.051117971539497375, + -0.10378838330507278, + 0.12622250976841806 + ], + [ + -0.05496644973754883, + 0.9978898167610168, + -0.034563008695840836, + -0.2454649195632929 + ], + [ + 0.10180258005857468, + 0.04003579542040825, + 0.9939987063407898, + 1.4454130777702239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.05163772404193878, + -0.10428321361541748, + 0.13148234655027805 + ], + [ + -0.05555019527673721, + 0.9978434443473816, + -0.03496665507555008, + -0.2511545210212901 + ], + [ + 0.10225272178649902, + 0.040522053837776184, + 0.9939327836036682, + 1.4743947775467583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.05179730802774429, + -0.104777030646801, + 0.13517671083842497 + ], + [ + -0.05577006936073303, + 0.9978177547454834, + -0.035346925258636475, + -0.25522658568649476 + ], + [ + 0.10271751135587692, + 0.04094807803630829, + 0.9938673973083496, + 1.501334970354458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.051831118762493134, + -0.10539916157722473, + 0.13921903314221884 + ], + [ + -0.05584421008825302, + 0.9978086948394775, + -0.03548542037606239, + -0.2609718821150957 + ], + [ + 0.10332895815372467, + 0.04112573340535164, + 0.9937966465950012, + 1.5217817285210613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.05181632563471794, + -0.10593901574611664, + 0.14436208495627278 + ], + [ + -0.05589934065937996, + 0.9977893233299255, + -0.0359402634203434, + -0.2670536035914784 + ], + [ + 0.10384252667427063, + 0.04161137714982033, + 0.9937229156494141, + 1.5461709364600804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.05267321318387985, + -0.10620466619729996, + 0.1483170214626524 + ], + [ + -0.05684170126914978, + 0.997711718082428, + -0.03661029413342476, + -0.2719976806698214 + ], + [ + 0.10403325408697128, + 0.042388979345560074, + 0.9936701059341431, + 1.573873546158058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.05306332930922508, + -0.10674865543842316, + 0.15318598382282947 + ], + [ + -0.0573040209710598, + 0.9976688027381897, + -0.037056814879179, + -0.27844251993737645 + ], + [ + 0.10453344881534576, + 0.04290969297289848, + 0.9935952425003052, + 1.6047335048228646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.05341807007789612, + -0.10717276483774185, + 0.15519201939088711 + ], + [ + -0.057733550667762756, + 0.9976246953010559, + -0.03757424280047417, + -0.2842387216786543 + ], + [ + 0.10491105169057846, + 0.043491337448358536, + 0.9935301542282104, + 1.6343390250551528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.05403519049286842, + -0.10786052793264389, + 0.15783315456071914 + ], + [ + -0.058432359248399734, + 0.9975667595863342, + -0.038029588758945465, + -0.2884520431035671 + ], + [ + 0.10554314404726028, + 0.04405438154935837, + 0.9934384226799011, + 1.6561679557037814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.05464387312531471, + -0.10854977369308472, + 0.1609323236677382 + ], + [ + -0.05914818122982979, + 0.9974981546401978, + -0.03871600702404976, + -0.292365358453154 + ], + [ + 0.10616260766983032, + 0.044849563390016556, + 0.9933367967605591, + 1.6786648791769276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104919, + 0.055205896496772766, + -0.10924900323152542, + 0.16291581268111865 + ], + [ + -0.05983088165521622, + 0.9974260330200195, + -0.03951676934957504, + -0.2931750344733397 + ], + [ + 0.10678624361753464, + 0.04575607180595398, + 0.9932286143302917, + 1.7019387304782867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960815, + 0.055440112948417664, + -0.11026956140995026, + 0.164643172264675 + ], + [ + -0.06019476801156998, + 0.9973742365837097, + -0.040264926850795746, + -0.29518476866437615 + ], + [ + 0.10774771869182587, + 0.04659472405910492, + 0.9930858016014099, + 1.7258640962522387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.05556797608733177, + -0.11152978241443634, + 0.16662887583176295 + ], + [ + -0.060452621430158615, + 0.997332751750946, + -0.04090125858783722, + -0.2971080628498165 + ], + [ + 0.10895949602127075, + 0.04732475429773331, + 0.9929190278053284, + 1.74881408545706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.05580789968371391, + -0.11278221756219864, + 0.16737999527350716 + ], + [ + -0.06084806099534035, + 0.9972735047340393, + -0.04174994304776192, + -0.2967355193003364 + ], + [ + 0.11014474183320999, + 0.048280660063028336, + 0.9927422404289246, + 1.7747753879298334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.05638560280203819, + -0.11364457756280899, + 0.167310358170006 + ], + [ + -0.06155562028288841, + 0.9971981048583984, + -0.04250660911202431, + -0.29623210263317046 + ], + [ + 0.11092939227819443, + 0.049158621579408646, + 0.9926117658615112, + 1.7970439761733088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.056514594703912735, + -0.11532508581876755, + 0.1712442651822947 + ], + [ + -0.06184430792927742, + 0.997151792049408, + -0.043169595301151276, + -0.29793510564427444 + ], + [ + 0.11255689710378647, + 0.04994429647922516, + 0.9923893213272095, + 1.8255366438252913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883301, + 0.05669296160340309, + -0.11660850048065186, + 0.17141314887482187 + ], + [ + -0.06215563789010048, + 0.9971069693565369, + -0.04375331848859787, + -0.2999998829395011 + ], + [ + 0.11379064619541168, + 0.05063185095787048, + 0.9922137260437012, + 1.8491306961446567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.991384744644165, + 0.056886229664087296, + -0.11798398196697235, + 0.17232460124769072 + ], + [ + -0.06248658522963524, + 0.9970611929893494, + -0.04432125762104988, + -0.30303947867258735 + ], + [ + 0.11511598527431488, + 0.051311831921339035, + 0.9920259118080139, + 1.8727854037630385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.05660528689622879, + -0.119034044444561, + 0.17401425431388012 + ], + [ + -0.06231111288070679, + 0.9970521926879883, + -0.04476906359195709, + -0.30372780429712243 + ], + [ + 0.11614898592233658, + 0.051795609295368195, + 0.9918803572654724, + 1.8948519652304443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.056857626885175705, + -0.1202438473701477, + 0.17621848876925483 + ], + [ + -0.0626719743013382, + 0.9970130324363708, + -0.04513602331280708, + -0.3068590351744838 + ], + [ + 0.11731836199760437, + 0.05227090045809746, + 0.9917177557945251, + 1.916585149799568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050659, + 0.056953731924295425, + -0.12157700955867767, + 0.1776731443649905 + ], + [ + -0.06287131458520889, + 0.9969883561134338, + -0.045402612537145615, + -0.31122161946326926 + ], + [ + 0.11862501502037048, + 0.05263527110219002, + 0.9915430545806885, + 1.9397718304021347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.057227157056331635, + -0.12260593473911285, + 0.17991815190672297 + ], + [ + -0.06325745582580566, + 0.9969426989555359, + -0.04586687684059143, + -0.3169253078347819 + ], + [ + 0.11960625648498535, + 0.05320082604885101, + 0.9913949966430664, + 1.9629517425085612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.057410165667533875, + -0.12272951006889343, + 0.18049707153569097 + ], + [ + -0.06350911408662796, + 0.9969033598899841, + -0.046370767056941986, + -0.32452594621673875 + ], + [ + 0.11968730390071869, + 0.0537375882267952, + 0.9913562536239624, + 1.9916223966557047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207703, + 0.05768294632434845, + -0.12312536686658859, + 0.18091275116815658 + ], + [ + -0.06386278569698334, + 0.996858537197113, + -0.046846337616443634, + -0.3325003859861461 + ], + [ + 0.12003634124994278, + 0.05427441745996475, + 0.9912847876548767, + 2.021422178791341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090942, + 0.05768069997429848, + -0.12416577339172363, + 0.1826050572925144 + ], + [ + -0.06397093832492828, + 0.9968311190605164, + -0.047280725091695786, + -0.33829180591960173 + ], + [ + 0.12104511260986328, + 0.05477851256728172, + 0.9911344051361084, + 2.0457433257126003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.0577319972217083, + -0.12539252638816833, + 0.1838770623224369 + ], + [ + -0.0641416609287262, + 0.9968005418777466, + -0.047692522406578064, + -0.3435186602931092 + ], + [ + 0.12223795056343079, + 0.055278800427913666, + 0.9909602403640747, + 2.06609488501065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.99030601978302, + 0.057792238891124725, + -0.12630952894687653, + 0.1850992383228408 + ], + [ + -0.06430143117904663, + 0.9967718124389648, + -0.04807570204138756, + -0.3486187331972347 + ], + [ + 0.12312337756156921, + 0.05573153868317604, + 0.9908252358436584, + 2.0847780003351866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.05827495828270912, + -0.12711413204669952, + 0.1878339704396068 + ], + [ + -0.06489454954862595, + 0.9967094659805298, + -0.0485684797167778, + -0.3568816433566204 + ], + [ + 0.1238655298948288, + 0.056340292096138, + 0.9906982779502869, + 2.1095004621335276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.05892390012741089, + -0.12688769400119781, + 0.1885271525685338 + ], + [ + -0.06566489487886429, + 0.9966076612472534, + -0.04961153492331505, + -0.36538458170126314 + ], + [ + 0.1235339492559433, + 0.05745569244027138, + 0.9906756281852722, + 2.142659096700558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.05929175019264221, + -0.12595173716545105, + 0.18609730306166958 + ], + [ + -0.0661093145608902, + 0.9965258836746216, + -0.05065302550792694, + -0.3743766233540963 + ], + [ + 0.1225108653306961, + 0.058486394584178925, + 0.9907423853874207, + 2.1772217425747193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745667, + 0.059524666517972946, + -0.12573575973510742, + 0.18589282708179547 + ], + [ + -0.06645040959119797, + 0.9964534640312195, + -0.051621828228235245, + -0.3786832004947507 + ], + [ + 0.12221705913543701, + 0.059475068002939224, + 0.9907197952270508, + 2.2004435695887765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.05937908962368965, + -0.12627269327640533, + 0.18778682467730148 + ], + [ + -0.06646739691495895, + 0.9963969588279724, + -0.052679553627967834, + -0.38186051210631494 + ], + [ + 0.12268966436386108, + 0.06055719405412674, + 0.990595817565918, + 2.2212946622268013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.05880853533744812, + -0.12696921825408936, + 0.19074269927642196 + ], + [ + -0.06609850376844406, + 0.9963517189025879, + -0.053983353078365326, + -0.38265635812124194 + ], + [ + 0.12333131581544876, + 0.061844728887081146, + 0.9904365539550781, + 2.23761627662585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426636, + 0.05833970755338669, + -0.12718528509140015, + 0.19334636794196236 + ], + [ + -0.06584563106298447, + 0.996277928352356, + -0.05562962591648102, + -0.3860937330457899 + ], + [ + 0.12346646934747696, + 0.06345692276954651, + 0.9903177618980408, + 2.2611850765016346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.05792372673749924, + -0.1272106170654297, + 0.19543611139490985 + ], + [ + -0.06563419103622437, + 0.9961984753608704, + -0.05727764964103699, + -0.38983455555162566 + ], + [ + 0.12340929359197617, + 0.06506472080945969, + 0.9902205467224121, + 2.286320187388987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737793, + 0.057315584272146225, + -0.12720833718776703, + 0.1976902221567965 + ], + [ + -0.06527245044708252, + 0.9961047768592834, + -0.059285953640937805, + -0.39325435928964386 + ], + [ + 0.12331482023000717, + 0.06700925529003143, + 0.9901026487350464, + 2.308227031242444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.05588507652282715, + -0.1276361644268036, + 0.19968921716374477 + ], + [ + -0.0641215369105339, + 0.9960540533065796, + -0.0613580048084259, + -0.3962686510333692 + ], + [ + 0.12370351701974869, + 0.06894370913505554, + 0.9899213314056396, + 2.332640683017491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.0548248253762722, + -0.12863613665103912, + 0.20245346988456836 + ], + [ + -0.06343141198158264, + 0.9959454536437988, + -0.06378985196352005, + -0.3992454833742501 + ], + [ + 0.12461730092763901, + 0.07132270187139511, + 0.989638090133667, + 2.3621651801510133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.053719863295555115, + -0.12976527214050293, + 0.20568853940652765 + ], + [ + -0.06270050257444382, + 0.9958384037017822, + -0.06614049524068832, + -0.40495003759501064 + ], + [ + 0.12567219138145447, + 0.07362129539251328, + 0.989336371421814, + 2.3845340730487434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.05248437449336052, + -0.13104473054409027, + 0.2081927545260692 + ], + [ + -0.061909448355436325, + 0.9956997632980347, + -0.0689140185713768, + -0.40822147003550463 + ], + [ + 0.12686429917812347, + 0.07633683830499649, + 0.9889783263206482, + 2.4030106854899493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843079, + 0.05237596482038498, + -0.13493402302265167, + 0.21184952433990395 + ], + [ + -0.06240969896316528, + 0.9955052733421326, + -0.071234330534935, + -0.41583339060130325 + ], + [ + 0.1305965632200241, + 0.0789053738117218, + 0.9882906675338745, + 2.4258244726968847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522095, + 0.05332467332482338, + -0.1399105042219162, + 0.21422874581986578 + ], + [ + -0.06403107196092606, + 0.9952618479728699, + -0.07316998392343521, + -0.42248978008682603 + ], + [ + 0.13534583151340485, + 0.08130376785993576, + 0.9874569177627563, + 2.453513827300878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.054061491042375565, + -0.14517661929130554, + 0.21593765275201934 + ], + [ + -0.06544817984104156, + 0.9950457811355591, + -0.07483583688735962, + -0.42979189759291314 + ], + [ + 0.1404116451740265, + 0.08343394100666046, + 0.9865714907646179, + 2.479628438045437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.987076461315155, + 0.0547633096575737, + -0.1506020873785019, + 0.22009064213953156 + ], + [ + -0.0668073445558548, + 0.9948588609695435, + -0.07610917091369629, + -0.43721915543943213 + ], + [ + 0.14565981924533844, + 0.0851868987083435, + 0.9856603741645813, + 2.5072031485861626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369446, + 0.05539267137646675, + -0.15587709844112396, + 0.2230298220751366 + ], + [ + -0.06803636997938156, + 0.9947085976600647, + -0.07697989046573639, + -0.4452544125309889 + ], + [ + 0.15078817307949066, + 0.08652457594871521, + 0.984772264957428, + 2.5364782865208704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.05654771998524666, + -0.16042619943618774, + 0.2215588616144254 + ], + [ + -0.06978537887334824, + 0.9944988489151001, + -0.07811526954174042, + -0.45231401306995445 + ], + [ + 0.1551264226436615, + 0.08817227184772491, + 0.9839519262313843, + 2.56834233601888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.05731608718633652, + -0.1653514951467514, + 0.2238924126478209 + ], + [ + -0.07116874307394028, + 0.9943227767944336, + -0.07910280674695969, + -0.4597015338207501 + ], + [ + 0.1598788946866989, + 0.08964993804693222, + 0.9830572605133057, + 2.6011650337689165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203186, + 0.05830130726099014, + -0.17005771398544312, + 0.2231958945448272 + ], + [ + -0.07271014899015427, + 0.9941582679748535, + -0.07976603507995605, + -0.46655358948569364 + ], + [ + 0.16441380977630615, + 0.09083139896392822, + 0.9822004437446594, + 2.6321026758871215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231812, + 0.059048935770988464, + -0.17392559349536896, + 0.2235863860030681 + ], + [ + -0.07392840087413788, + 0.994021475315094, + -0.08034893125295639, + -0.47113900475815873 + ], + [ + 0.16814126074314117, + 0.0918399766087532, + 0.9814754128456116, + 2.6522471327424624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.05997278913855553, + -0.1776111125946045, + 0.22229277374951736 + ], + [ + -0.07530439645051956, + 0.9938756823539734, + -0.08087261766195297, + -0.47512513230676234 + ], + [ + 0.17167320847511292, + 0.09281376749277115, + 0.980772078037262, + 2.6707681521125464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9814273118972778, + 0.06035880371928215, + -0.1820913553237915, + 0.22220102473733505 + ], + [ + -0.07624726742506027, + 0.9937483668327332, + -0.08155074715614319, + -0.4770979299781403 + ], + [ + 0.176030695438385, + 0.09392009675502777, + 0.9798939824104309, + 2.694072695083664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.06067194044589996, + -0.1858394593000412, + 0.22022328694949403 + ], + [ + -0.07698187232017517, + 0.9936681389808655, + -0.08183809369802475, + -0.4798607629350418 + ], + [ + 0.17969746887683868, + 0.09456530958414078, + 0.9791660904884338, + 2.7189340922567578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.060976918786764145, + -0.1892092227935791, + 0.21708705045174861 + ], + [ + -0.07769296318292618, + 0.993581235408783, + -0.08222018927335739, + -0.4811438747398231 + ], + [ + 0.1829811930656433, + 0.09527943283319473, + 0.9784885048866272, + 2.744654836948367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.06127164885401726, + -0.19245612621307373, + 0.21417438520325555 + ], + [ + -0.07838138937950134, + 0.9934974312782288, + -0.08257880806922913, + -0.48295871258357875 + ], + [ + 0.18614491820335388, + 0.09596189856529236, + 0.9778248071670532, + 2.7695614789419127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.061485253274440765, + -0.19572097063064575, + 0.2114179250554762 + ], + [ + -0.07894695550203323, + 0.993442714214325, + -0.08269782364368439, + -0.4848559759449268 + ], + [ + 0.1893528699874878, + 0.09639042615890503, + 0.9771665334701538, + 2.7963744091526896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466797, + 0.06129567325115204, + -0.1988966017961502, + 0.20742682961450107 + ], + [ + -0.0791025459766388, + 0.9934178590774536, + -0.08284769207239151, + -0.48594624821258625 + ], + [ + 0.1925092190504074, + 0.09676670283079147, + 0.9765123724937439, + 2.822519357826399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369446, + 0.06093064695596695, + -0.20226755738258362, + 0.20538274778260124 + ], + [ + -0.07907367497682571, + 0.9934192895889282, + -0.08285827934741974, + -0.48804742180638844 + ], + [ + 0.19588789343833923, + 0.0969824492931366, + 0.9758188128471375, + 2.845577541324827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.06066565960645676, + -0.20522147417068481, + 0.20157031211012227 + ], + [ + -0.07907991856336594, + 0.9934282898902893, + -0.08274444192647934, + -0.4904920189420958 + ], + [ + 0.19885307550430298, + 0.09705644100904465, + 0.975211501121521, + 2.868631543283877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144165, + 0.06033633276820183, + -0.20836029946804047, + 0.19832713195811147 + ], + [ + -0.07910490781068802, + 0.9934094548225403, + -0.08294612914323807, + -0.4916748667864696 + ], + [ + 0.20198242366313934, + 0.09745343774557114, + 0.9745285511016846, + 2.8904409066490504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.059833720326423645, + -0.21154259145259857, + 0.19422794263719936 + ], + [ + -0.07898080348968506, + 0.9933942556381226, + -0.08324616402387619, + -0.4965677358462039 + ], + [ + 0.20516426861286163, + 0.09791740030050278, + 0.9738171100616455, + 2.9170220796612725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110168, + 0.05969397351145744, + -0.21430684626102448, + 0.18755571658628575 + ], + [ + -0.0791357010602951, + 0.9933764934539795, + -0.0833105593919754, + -0.503421185982688 + ], + [ + 0.20791424810886383, + 0.09818217158317566, + 0.9732070565223694, + 2.95156537550659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593933, + 0.05944196879863739, + -0.21671272814273834, + 0.18169003033983536 + ], + [ + -0.07909855246543884, + 0.9933903217315674, + -0.08318135142326355, + -0.5113395176072052 + ], + [ + 0.2103358656167984, + 0.09819556772708893, + 0.9726851582527161, + 2.9831382053485815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.058851227164268494, + -0.21915973722934723, + 0.17799888053809962 + ], + [ + -0.07869853079319, + 0.9934410452842712, + -0.08295436948537827, + -0.5177192756627205 + ], + [ + 0.21284030377864838, + 0.09803784638643265, + 0.9721561670303345, + 3.007995772304166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.05818653479218483, + -0.22223085165023804, + 0.17215544978777567 + ], + [ + -0.07834260910749435, + 0.9934669137001038, + -0.08298145979642868, + -0.5230568791573175 + ], + [ + 0.215950608253479, + 0.0981723740696907, + 0.9714564085006714, + 3.0310589158016703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213623, + 0.05766924470663071, + -0.2253682017326355, + 0.1683655740990155 + ], + [ + -0.07813214510679245, + 0.9934858679771423, + -0.0829533264040947, + -0.5279362651640954 + ], + [ + 0.21911627054214478, + 0.09828604012727737, + 0.9707357883453369, + 3.0534780823666114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.057415418326854706, + -0.22761432826519012, + 0.16313483565325898 + ], + [ + -0.07807713001966476, + 0.9935004711151123, + -0.0828295350074768, + -0.5326463386056504 + ], + [ + 0.22137926518917084, + 0.09828652441501617, + 0.9702221155166626, + 3.0809634234018373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.05730113014578819, + -0.22992579638957977, + 0.15769806731006372 + ], + [ + -0.078162781894207, + 0.9935072064399719, + -0.08266843855381012, + -0.5372090812250612 + ], + [ + 0.22369594871997833, + 0.09828566014766693, + 0.9696906805038452, + 3.108264090070402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.05694998428225517, + -0.23235954344272614, + 0.15363705806110217 + ], + [ + -0.07798706740140915, + 0.9935455918312073, + -0.08237241953611374, + -0.5412874528247377 + ], + [ + 0.2261686772108078, + 0.09810145944356918, + 0.9691356420516968, + 3.1346828035686327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895203, + 0.05675526708364487, + -0.23478682339191437, + 0.14973355146565875 + ], + [ + -0.07792828232049942, + 0.9935891628265381, + -0.08190110325813293, + -0.5457352995152635 + ], + [ + 0.2286333292722702, + 0.09777243435382843, + 0.9685903787612915, + 3.1598358162935227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.05637229606509209, + -0.23729684948921204, + 0.14476255909832203 + ], + [ + -0.07773470878601074, + 0.9936253428459167, + -0.08164539188146591, + -0.5477223705554354 + ], + [ + 0.23118162155151367, + 0.09762591868638992, + 0.9680001139640808, + 3.184030653082806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.05617370456457138, + -0.2397782802581787, + 0.14040279509364695 + ], + [ + -0.07768621295690536, + 0.9936636686325073, + -0.08122420310974121, + -0.5503399301266325 + ], + [ + 0.23369631171226501, + 0.09735006093978882, + 0.9674239158630371, + 3.2077539658200913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.055995550006628036, + -0.24177876114845276, + 0.1362510825988751 + ], + [ + -0.07760753482580185, + 0.9937041401863098, + -0.08080331981182098, + -0.5516126595689479 + ], + [ + 0.23573192954063416, + 0.09703919291496277, + 0.966961145401001, + 3.231859831418392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.05594528466463089, + -0.2439797818660736, + 0.13348783944252032 + ], + [ + -0.07771814614534378, + 0.993716835975647, + -0.08054044842720032, + -0.5520060384763036 + ], + [ + 0.2379409670829773, + 0.0969381183385849, + 0.9664300680160522, + 3.254429802975217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.05580248683691025, + -0.24629436433315277, + 0.12999173199784927 + ], + [ + -0.0776672288775444, + 0.9937672019004822, + -0.07996585220098495, + -0.5528157105048498 + ], + [ + 0.24029697477817535, + 0.09650293737649918, + 0.9658905267715454, + 3.281409703821376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.05563151091337204, + -0.24823328852653503, + 0.1260487044059136 + ], + [ + -0.07759416848421097, + 0.9938037991523743, + -0.07958091795444489, + -0.552397594395755 + ], + [ + 0.24226799607276917, + 0.09622427821159363, + 0.9654258489608765, + 3.3092431404164446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.05556565523147583, + -0.2503349483013153, + 0.12239102388637653 + ], + [ + -0.07766281068325043, + 0.9938234686851501, + -0.07926815003156662, + -0.5528582377494246 + ], + [ + 0.24438415467739105, + 0.0960594043135643, + 0.96490877866745, + 3.338815814688586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331543, + 0.055650923401117325, + -0.25194427371025085, + 0.11717512167018393 + ], + [ + -0.07778523862361908, + 0.9938544631004333, + -0.0787576287984848, + -0.5548401439319486 + ], + [ + 0.24601300060749054, + 0.09568846225738525, + 0.964531660079956, + 3.3722680807113647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9657927751541138, + 0.05547826737165451, + -0.2533111274242401, + 0.11692440155623615 + ], + [ + -0.07760594040155411, + 0.9939119219779968, + -0.07820715755224228, + -0.5581839976967244 + ], + [ + 0.24743016064167023, + 0.09519035369157791, + 0.9642183780670166, + 3.398587593133899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.0552566796541214, + -0.2548043131828308, + 0.11610535517118979 + ], + [ + -0.07743817567825317, + 0.9939528703689575, + -0.07785289734601974, + -0.5619426965101617 + ], + [ + 0.24896156787872314, + 0.0948917493224144, + 0.9638535380363464, + 3.4243185498000344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.05507858842611313, + -0.2566186487674713, + 0.1112501859664917 + ], + [ + -0.07726442068815231, + 0.9940186142921448, + -0.07718280702829361, + -0.5714047854145368 + ], + [ + 0.25083258748054504, + 0.09430443495512009, + 0.9634259939193726, + 3.4597538550694784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.05527655780315399, + -0.2580374479293823, + 0.1089222504608873 + ], + [ + -0.07742083072662354, + 0.9940627813339233, + -0.07645430415868759, + -0.5778482168229018 + ], + [ + 0.25227928161621094, + 0.0937216505408287, + 0.9631050825119019, + 3.4900474968163864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.05503677949309349, + -0.25930270552635193, + 0.1097305309801286 + ], + [ + -0.07715117931365967, + 0.9941272139549255, + -0.07588686794042587, + -0.5837566340747087 + ], + [ + 0.2536033093929291, + 0.09317765384912491, + 0.9628100991249084, + 3.510923379285324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.05455490201711655, + -0.261565238237381, + 0.10904859455599301 + ], + [ + -0.07691413909196854, + 0.9941357970237732, + -0.07601457834243774, + -0.5885022965894229 + ], + [ + 0.2558843791484833, + 0.09336896240711212, + 0.9621878266334534, + 3.532739178944325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.05448383092880249, + -0.26366376876831055, + 0.10589068565103743 + ], + [ + -0.07698395848274231, + 0.9941495060920715, + -0.07576405256986618, + -0.5946996157943915 + ], + [ + 0.25799328088760376, + 0.09326431900262833, + 0.9616346955299377, + 3.5607966272727305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.054300591349601746, + -0.26555365324020386, + 0.10221046452648974 + ], + [ + -0.07693955302238464, + 0.9941655397415161, + -0.07559902220964432, + -0.5992229998651623 + ], + [ + 0.25989919900894165, + 0.09320060163736343, + 0.961127519607544, + 3.587754029928198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.05426902323961258, + -0.26760292053222656, + 0.09674690806347391 + ], + [ + -0.07695553451776505, + 0.9942078590393066, + -0.07502353191375732, + -0.6056136945019598 + ], + [ + 0.2619814872741699, + 0.09276615083217621, + 0.9606040716171265, + 3.6153192084768544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385254, + 0.05424545332789421, + -0.2696676552295685, + 0.0940934709376759 + ], + [ + -0.07697233557701111, + 0.9942517280578613, + -0.07442289590835571, + -0.610771653012953 + ], + [ + 0.2640804350376129, + 0.09230893850326538, + 0.9600732326507568, + 3.6382005842411576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.054182346910238266, + -0.271187961101532, + 0.09180283326169719 + ], + [ + -0.07690270245075226, + 0.994299054145813, + -0.07386042177677155, + -0.6141907903451275 + ], + [ + 0.2656400203704834, + 0.09183496236801147, + 0.9596883654594421, + 3.657802043156923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.05410146713256836, + -0.2730526030063629, + 0.08851099284230798 + ], + [ + -0.07685604691505432, + 0.9943419098854065, + -0.07333048433065414, + -0.617304134833208 + ], + [ + 0.2675403654575348, + 0.09141796082258224, + 0.9592001438140869, + 3.677617042997609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.05412323772907257, + -0.27488309144973755, + 0.08390851289321835 + ], + [ + -0.07691517472267151, + 0.9943750500679016, + -0.07281702756881714, + -0.6200723194845633 + ], + [ + 0.26939576864242554, + 0.09104360640048981, + 0.9587163329124451, + 3.7008267286319088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.05441459268331528, + -0.27645784616470337, + 0.07940566426026073 + ], + [ + -0.07721234112977982, + 0.9943932890892029, + -0.07225161790847778, + -0.6210164194233752 + ], + [ + 0.27097630500793457, + 0.09067025780677795, + 0.9583061933517456, + 3.7237904333837943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.05442676320672035, + -0.27808061242103577, + 0.07372969065023505 + ], + [ + -0.07716385275125504, + 0.9944530129432678, + -0.07147712260484695, + -0.6227129469963087 + ], + [ + 0.27264782786369324, + 0.09000537544488907, + 0.9578946828842163, + 3.7485219931256943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.0546671599149704, + -0.27929654717445374, + 0.07046728607105172 + ], + [ + -0.07736720144748688, + 0.9944784045219421, + -0.07090158760547638, + -0.6229285341170099 + ], + [ + 0.2738783657550812, + 0.08957801759243011, + 0.9575836658477783, + 3.7678839085758598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036621, + 0.05478096380829811, + -0.2804670035839081, + 0.06668589293668811 + ], + [ + -0.07741895318031311, + 0.9945188164710999, + -0.07027500122785568, + -0.6239817320724617 + ], + [ + 0.27507999539375305, + 0.08905792981386185, + 0.9572876691818237, + 3.7900866685858094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + 0.054798856377601624, + -0.28176894783973694, + 0.06302812578885451 + ], + [ + -0.07735580205917358, + 0.994574248790741, + -0.06955641508102417, + -0.6251252762649371 + ], + [ + 0.27642855048179626, + 0.08842568099498749, + 0.9569577574729919, + 3.813845654933349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957690954208374, + 0.05480252578854561, + -0.2825327515602112, + 0.060386548166113774 + ], + [ + -0.07718496024608612, + 0.9946470260620117, + -0.06870059669017792, + -0.626003881626659 + ], + [ + 0.27725541591644287, + 0.08760121464729309, + 0.9567943811416626, + 3.8328843417374983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + 0.05489902198314667, + -0.28313228487968445, + 0.05691944537819296 + ], + [ + -0.07708007097244263, + 0.9947170615196228, + -0.06779806315898895, + -0.6271573502732359 + ], + [ + 0.27791449427604675, + 0.08674106001853943, + 0.956681489944458, + 3.85213121411881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + 0.05495430529117584, + -0.2836253345012665, + 0.05520104847956395 + ], + [ + -0.07694832980632782, + 0.9947821497917175, + -0.06698848307132721, + -0.6284921897494274 + ], + [ + 0.27846410870552063, + 0.08595654368400574, + 0.9565925002098083, + 3.8686923244725104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + 0.05482164025306702, + -0.28396886587142944, + 0.05271448277044988 + ], + [ + -0.07667873799800873, + 0.9948406219482422, + -0.06642657518386841, + -0.630543538654484 + ], + [ + 0.2788621783256531, + 0.08536221086978912, + 0.9565297365188599, + 3.887712718265644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + 0.05451071634888649, + -0.28361597657203674, + 0.04956735625215199 + ], + [ + -0.07610487937927246, + 0.9949344396591187, + -0.06567774713039398, + -0.6353282686736849 + ], + [ + 0.27859917283058167, + 0.08446359634399414, + 0.9566861391067505, + 3.908644015662336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + 0.05444630980491638, + -0.2821049094200134, + 0.04243979408689167 + ], + [ + -0.07572971284389496, + 0.9950015544891357, + -0.06509134918451309, + -0.6405547992150853 + ], + [ + 0.27715086936950684, + 0.08371064811944962, + 0.9571728706359863, + 3.933965804611427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831482, + 0.05394670367240906, + -0.28049367666244507, + 0.03636788683021126 + ], + [ + -0.07479287683963776, + 0.9951337575912476, + -0.06414662301540375, + -0.6453254625993075 + ], + [ + 0.27566826343536377, + 0.08245311677455902, + 0.9577100276947021, + 3.959128883149889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + 0.05324147269129753, + -0.2794390916824341, + 0.03365948465135363 + ], + [ + -0.07379191368818283, + 0.9952476024627686, + -0.06353743374347687, + -0.6472696454988586 + ], + [ + 0.2747282385826111, + 0.0815327912569046, + 0.9580588936805725, + 3.9767612132761214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + 0.051856137812137604, + -0.2777705788612366, + 0.030066228819930037 + ], + [ + -0.07208303362131119, + 0.9954005479812622, + -0.06310169398784637, + -0.648867278902427 + ], + [ + 0.2732207775115967, + 0.08055263757705688, + 0.9585727453231812, + 3.9953592746154123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + 0.0506301149725914, + -0.2760399878025055, + 0.0260482263089954 + ], + [ + -0.07061650604009628, + 0.9955155253410339, + -0.06294553726911545, + -0.6526821034721995 + ], + [ + 0.2716151773929596, + 0.0799088403582573, + 0.9590827822685242, + 4.016987832185727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.96030193567276, + 0.04935877025127411, + -0.2745613157749176, + 0.022183475506622433 + ], + [ + -0.06914079934358597, + 0.9956258535385132, + -0.06283906102180481, + -0.6585408609846364 + ], + [ + 0.27025869488716125, + 0.07932786643505096, + 0.9595141410827637, + 4.0404712677001955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + 0.04836207628250122, + -0.27322474122047424, + 0.018435136455556618 + ], + [ + -0.0679871141910553, + 0.9957066774368286, + -0.06281670182943344, + -0.6642691299211287 + ], + [ + 0.26901373267173767, + 0.07892588526010513, + 0.9598970413208008, + 4.064654115317524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + 0.04748312756419182, + -0.2717622220516205, + 0.012452769959750379 + ], + [ + -0.06693345308303833, + 0.9957822561264038, + -0.062749944627285, + -0.6687126745996268 + ], + [ + 0.2676364481449127, + 0.07850474864244461, + 0.9603164792060852, + 4.090470092365707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + 0.04646202176809311, + -0.2711964547634125, + 0.010994730943786925 + ], + [ + -0.06578322499990463, + 0.9958690404891968, + -0.06258944422006607, + -0.6709516243190293 + ], + [ + 0.2671681344509125, + 0.07801380008459091, + 0.960486888885498, + 4.111054553847382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + 0.045255862176418304, + -0.27137717604637146, + 0.010923601438601813 + ], + [ + -0.06457062810659409, + 0.9959434866905212, + -0.06266727298498154, + -0.6714216222797615 + ], + [ + 0.2674402892589569, + 0.07777184993028641, + 0.9604307413101196, + 4.126968769405199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + 0.04425545781850815, + -0.27161306142807007, + 0.01096278957410711 + ], + [ + -0.06356251984834671, + 0.996006429195404, + -0.06269785761833191, + -0.6720320219434978 + ], + [ + 0.26775360107421875, + 0.07754141092300415, + 0.9603620767593384, + 4.142727890394736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137024, + 0.04343560338020325, + -0.27187371253967285, + 0.008070218390312748 + ], + [ + -0.06280545145273209, + 0.9960384964942932, + -0.06295064836740494, + -0.674252024775254 + ], + [ + 0.26806241273880005, + 0.0775928869843483, + 0.9602717757225037, + 4.165291064891262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + 0.0429566316306591, + -0.27243807911872864, + 0.004018714894419129 + ], + [ + -0.06239153817296028, + 0.9960565567016602, + -0.06307628005743027, + -0.6769052855670452 + ], + [ + 0.2686541974544525, + 0.07762763649225235, + 0.9601035714149475, + 4.189790828072506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + 0.0428258553147316, + -0.27385684847831726, + 0.0010570575901563614 + ], + [ + -0.062385059893131256, + 0.9960547089576721, + -0.06311217695474625, + -0.6801421915707381 + ], + [ + 0.2700735628604889, + 0.07772379368543625, + 0.9596974849700928, + 4.211319040676246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + 0.042320966720581055, + -0.2761334478855133, + 0.0020704678579229058 + ], + [ + -0.06213310360908508, + 0.9960525035858154, + -0.06339507550001144, + -0.6809736279293823 + ], + [ + 0.2723604738712311, + 0.07802816480398178, + 0.9590262770652771, + 4.22797002432427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9593506455421448, + 0.041948169469833374, + -0.2790818512439728, + 0.0014228191172731101 + ], + [ + -0.0622078999876976, + 0.9960004687309265, + -0.06413456797599792, + -0.6818559369315271 + ], + [ + 0.275275319814682, + 0.07888863980770111, + 0.9581232070922852, + 4.245905496072078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672668, + 0.04221339896321297, + -0.28228941559791565, + -0.0022943870384911982 + ], + [ + -0.06293138861656189, + 0.9959165453910828, + -0.06472941488027573, + -0.6838272720899271 + ], + [ + 0.27840426564216614, + 0.0798015370965004, + 0.9571430087089539, + 4.266511492251198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + 0.04263734444975853, + -0.2855720818042755, + -0.005491937527765976 + ], + [ + -0.06376131623983383, + 0.9958407878875732, + -0.06508202850818634, + -0.6884875578004956 + ], + [ + 0.2816093862056732, + 0.08051852881908417, + 0.9561448097229004, + 4.288503083860241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9561680555343628, + 0.04298488050699234, + -0.2896462380886078, + -0.006661546511062676 + ], + [ + -0.0646226555109024, + 0.9957542419433594, + -0.06555493175983429, + -0.6929220182092294 + ], + [ + 0.28559860587120056, + 0.08139924705028534, + 0.9548861980438232, + 4.307452587804932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + 0.043729912489652634, + -0.29404115676879883, + -0.01352713843042724 + ], + [ + -0.06592939049005508, + 0.9956384897232056, + -0.0660100132226944, + -0.6994333401538324 + ], + [ + 0.28987210988998413, + 0.08241178095340729, + 0.953510582447052, + 4.331368994424884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + 0.0449039600789547, + -0.29882144927978516, + -0.020375703390381764 + ], + [ + -0.06760751456022263, + 0.9955217242240906, + -0.06607332825660706, + -0.7066832237629499 + ], + [ + 0.29451632499694824, + 0.08318710327148438, + 0.9520189166069031, + 4.354782894412101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + 0.04573626071214676, + -0.30407699942588806, + -0.022882075089475384 + ], + [ + -0.06917662918567657, + 0.9953680634498596, + -0.06676115840673447, + -0.7123168752245281 + ], + [ + 0.29961511492729187, + 0.0845615342259407, + 0.9503052830696106, + 4.3710788073747056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + 0.04690104350447655, + -0.3095182180404663, + -0.027447739056343044 + ], + [ + -0.07104375958442688, + 0.995207667350769, + -0.06719008833169937, + -0.7176496629877654 + ], + [ + 0.30488359928131104, + 0.08580219000577927, + 0.9485167264938354, + 4.388846139113109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + 0.047968871891498566, + -0.3154609203338623, + -0.03197008917009197 + ], + [ + -0.07295786589384079, + 0.9950222373008728, + -0.06788142025470734, + -0.7219661332414922 + ], + [ + 0.31063443422317505, + 0.08734829723834991, + 0.9465075731277466, + 4.405488469289697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + 0.049592241644859314, + -0.321349561214447, + -0.0403118838434634 + ], + [ + -0.07538000494241714, + 0.9948128461837769, + -0.06830240786075592, + -0.7266389934265095 + ], + [ + 0.3162953853607178, + 0.08881427347660065, + 0.9444941878318787, + 4.425700471280278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + 0.05142054706811905, + -0.32740122079849243, + -0.053549287550979194 + ], + [ + -0.07800152152776718, + 0.9945921301841736, + -0.06857278943061829, + -0.7328437659475538 + ], + [ + 0.32210463285446167, + 0.09023520350456238, + 0.9423938989639282, + 4.450623491075304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025452, + 0.05312994867563248, + -0.33349865674972534, + -0.06428896513394111 + ], + [ + -0.08051631599664688, + 0.9943738579750061, + -0.06883126497268677, + -0.7373712357979466 + ], + [ + 0.32796531915664673, + 0.09163966774940491, + 0.9402344822883606, + 4.472422589570428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447449, + 0.05505100637674332, + -0.3392639756202698, + -0.07719515107464099 + ], + [ + -0.08324984461069107, + 0.9941285848617554, + -0.06912140548229218, + -0.742411599167879 + ], + [ + 0.3334668278694153, + 0.09315413236618042, + 0.9381482601165771, + 4.4945885748103045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + 0.056866105645895004, + -0.34477248787879944, + -0.0845259883157585 + ], + [ + -0.08590073883533478, + 0.9938753843307495, + -0.06951810419559479, + -0.7450271982141738 + ], + [ + 0.33870765566825867, + 0.09475204348564148, + 0.9361085295677185, + 4.507844657857637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + 0.05871870368719101, + -0.35011130571365356, + -0.08913674370030274 + ], + [ + -0.08866459876298904, + 0.9935908913612366, + -0.07011239975690842, + -0.7459128627022683 + ], + [ + 0.3437504768371582, + 0.09658815711736679, + 0.9340804815292358, + 4.5156014218998415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + 0.06015794724225998, + -0.3555920422077179, + -0.09939138092424558 + ], + [ + -0.09096928685903549, + 0.9933510422706604, + -0.07055667787790298, + -0.7471988815652287 + ], + [ + 0.34898319840431213, + 0.0981564000248909, + 0.9319742918014526, + 4.529870316774948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684631, + 0.0619707927107811, + -0.3600524961948395, + -0.11066640395185222 + ], + [ + -0.09364401549100876, + 0.9930577278137207, + -0.07118400186300278, + -0.7499403314673958 + ], + [ + 0.35314157605171204, + 0.09997991472482681, + 0.9302123785018921, + 4.54325086540646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611145, + 0.06338736414909363, + -0.363702654838562, + -0.12050252207667356 + ], + [ + -0.09592612087726593, + 0.9927743077278137, + -0.07209227979183197, + -0.7496441556707673 + ], + [ + 0.3565049171447754, + 0.10188797116279602, + 0.9287211894989014, + 4.553945302848079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + 0.0648665502667427, + -0.3670696020126343, + -0.13312773970158204 + ], + [ + -0.0982513502240181, + 0.9924814701080322, + -0.07298734039068222, + -0.7509589238443236 + ], + [ + 0.3595753312110901, + 0.10379215329885483, + 0.9273256063461304, + 4.568073719135229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + 0.06604807078838348, + -0.3692636489868164, + -0.14581037094627602 + ], + [ + -0.1001288890838623, + 0.9922275543212891, + -0.07388278841972351, + -0.7515710793111635 + ], + [ + 0.36151373386383057, + 0.10546143352985382, + 0.9263831377029419, + 4.580684730108233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497375, + 0.06692667305469513, + -0.37091943621635437, + -0.15672023211412384 + ], + [ + -0.10174871981143951, + 0.991971492767334, + -0.07509834319353104, + -0.7525310777883599 + ], + [ + 0.36291542649269104, + 0.10730043798685074, + 0.9256235957145691, + 4.590770432281033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + 0.06783102452754974, + -0.3719951808452606, + -0.16828709171302075 + ], + [ + -0.10340899229049683, + 0.9916914105415344, + -0.07651642709970474, + -0.7525547942065675 + ], + [ + 0.3637142479419708, + 0.10930296033620834, + 0.9250755906105042, + 4.600830028454463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + 0.06859689950942993, + -0.37209105491638184, + -0.18054984134176505 + ], + [ + -0.10492381453514099, + 0.9913967847824097, + -0.07825186848640442, + -0.7521572923890635 + ], + [ + 0.3635220527648926, + 0.11147567629814148, + 0.9248918294906616, + 4.60949927136518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155823, + 0.06888691335916519, + -0.37176844477653503, + -0.1921317194826937 + ], + [ + -0.10592018812894821, + 0.9911428093910217, + -0.08010508120059967, + -0.7516566252722833 + ], + [ + 0.3629574477672577, + 0.11353635787963867, + 0.9248629212379456, + 4.617870268758368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + 0.0688844546675682, + -0.3706817328929901, + -0.20356175821760425 + ], + [ + -0.1065094843506813, + 0.9909260272979736, + -0.081983782351017, + -0.7506459774530452 + ], + [ + 0.36167076230049133, + 0.11541465669870377, + 0.9251344203948975, + 4.624577200931052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919373, + 0.06798604130744934, + -0.3688313663005829, + -0.21542593927487083 + ], + [ + -0.10605581104755402, + 0.9908124208450317, + -0.08392190933227539, + -0.7504918066775741 + ], + [ + 0.35973718762397766, + 0.11691287159919739, + 0.9257000088691711, + 4.6282241935027395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + 0.06787339597940445, + -0.3672087788581848, + -0.2238751456933321 + ], + [ + -0.1064617857336998, + 0.9906037449836731, + -0.08584918081760406, + -0.7537962443010818 + ], + [ + 0.3579314947128296, + 0.11873245239257812, + 0.9261682629585266, + 4.631757424073519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + 0.06783163547515869, + -0.3637774884700775, + -0.24276795935803566 + ], + [ + -0.1069190502166748, + 0.99033123254776, + -0.08838748931884766, + -0.7569538563921832 + ], + [ + 0.3542647659778595, + 0.12100784480571747, + 0.9272829294204712, + 4.646971058327218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + 0.06683541089296341, + -0.35911720991134644, + -0.2641480619492738 + ], + [ + -0.106063611805439, + 0.9902190566062927, + -0.0906459391117096, + -0.7623866351042393 + ], + [ + 0.3495463728904724, + 0.12247122824192047, + 0.9288800358772278, + 4.662749262881164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + 0.06573132425546646, + -0.3542909324169159, + -0.28088565347851185 + ], + [ + -0.10516964644193649, + 0.9900758266448975, + -0.09321601688861847, + -0.7659548214596251 + ], + [ + 0.34464767575263977, + 0.12421461939811707, + 0.9304776787757874, + 4.674595156585537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + 0.06427089124917984, + -0.3495660722255707, + -0.29610827081445334 + ], + [ + -0.10375655442476273, + 0.9900158047676086, + -0.0954112634062767, + -0.7696158666109694 + ], + [ + 0.3399437367916107, + 0.12545111775398254, + 0.9320409297943115, + 4.684280562746352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + 0.06275496631860733, + -0.34453725814819336, + -0.31372449968172156 + ], + [ + -0.10227642208337784, + 0.9899424314498901, + -0.09774190932512283, + -0.7736205058577268 + ], + [ + 0.33493828773498535, + 0.12679022550582886, + 0.9336705207824707, + 4.696340592011161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413025, + 0.060632117092609406, + -0.3402038514614105, + -0.33162227391044874 + ], + [ + -0.10000381618738174, + 0.9900094270706177, + -0.0994013175368309, + -0.7773991284523033 + ], + [ + 0.3307780921459198, + 0.12729936838150024, + 0.935083270072937, + 4.709254658855678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + 0.05876663327217102, + -0.3360312581062317, + -0.34666787981987 + ], + [ + -0.09803208708763123, + 0.9900352358818054, + -0.10109375417232513, + -0.778506587445736 + ], + [ + 0.32674187421798706, + 0.1279715597629547, + 0.9364096522331238, + 4.71849314570427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/tilt_down/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b788b1da66c7dccec1df3e8f2c5852ef2e8f5352 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/tilt_down/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.0022397013927941338, + -0.0026085416206529997, + 0.001194173120893538 + ], + [ + -0.002242674818262458, + 0.9999968144806435, + -0.0011375804681216348, + -0.007240426726639271 + ], + [ + 0.0026059853844344616, + 0.0011434237807174115, + 0.9999959278004814, + 0.02368771843612194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999980688095093, + 0.00407530178510423, + -0.004689629787831272, + 0.0029152745846658945 + ], + [ + -0.00408406462520361, + 0.9999899044134117, + -0.0018604601084016457, + -0.015726715326309204 + ], + [ + 0.004682000726461411, + 0.0018795766397165837, + 0.9999872705504719, + 0.05117582529783249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.0053976361832573875, + -0.007604981252740726, + 0.003859743243083358 + ], + [ + -0.005417895969003439, + 0.9999818317918799, + -0.0026459269478041605, + -0.021772125735878944 + ], + [ + 0.007590561639517546, + 0.0026870154536334737, + 0.9999675632625296, + 0.06950080394744873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.006944938186133977, + -0.01073502180733172, + 0.008227568119764328 + ], + [ + -0.006981814280152321, + 0.9999698624610294, + -0.003401447887693105, + -0.02743411809206009 + ], + [ + 0.01071107480674982, + 0.0034761193818206937, + 0.999936563166527, + 0.09131264686584473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.008044706250349629, + -0.013226625481793186, + 0.010066553018987179 + ], + [ + -0.008098271675407887, + 0.9999592271140392, + -0.004001316904285022, + -0.0319373793900013 + ], + [ + 0.013193896040320396, + 0.004107951192383411, + 0.9999045276195047, + 0.10996730625629425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.00953691817180139, + -0.014186011426410614, + 0.011218965984880924 + ], + [ + -0.009610596112906933, + 0.9999406165808421, + -0.005134646926176027, + -0.03783909231424332 + ], + [ + 0.014136199839413166, + 0.0052702321055544165, + 0.99988621155787, + 0.1414240151643753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.009903227921296373, + -0.014535095645343107, + 0.012742291204631329 + ], + [ + -0.009989832527935505, + 0.9999327316726911, + -0.0058978025069826405, + -0.04391228035092354 + ], + [ + 0.01447570975869894, + 0.006042094342083534, + 0.9998769652583899, + 0.17333948612213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.010750384164350606, + -0.0152662659815191, + 0.01416004914790392 + ], + [ + -0.01085029449313879, + 0.9999201351785848, + -0.00647681900258899, + -0.04967191070318222 + ], + [ + 0.015195419080555439, + 0.006641334606448944, + 0.9998624901223938, + 0.2031428962945938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.011085023602754818, + -0.016745916645673164, + 0.018322164192795753 + ], + [ + -0.011200395412743092, + 0.999914080630162, + -0.006811562323237934, + -0.055265601724386215 + ], + [ + 0.01666897162795067, + 0.006997748929987312, + 0.9998365630416538, + 0.22732163965702057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.01138235593601913, + -0.01842870269517916, + 0.02193235605955124 + ], + [ + -0.011516496539115906, + 0.9999078549955832, + -0.007189185637432118, + -0.060601606965065 + ], + [ + 0.018345175310969353, + 0.007399731209370079, + 0.99980435361044, + 0.2526627779006958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.011402847311913187, + -0.02029094544012247, + 0.024640263989567757 + ], + [ + -0.011560274288058281, + 0.9999038448740866, + -0.007658142210539371, + -0.0632689818739891 + ], + [ + 0.02020167000591755, + 0.007890635056424506, + 0.9997647894770316, + 0.27060452103614807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.011533411645575508, + -0.021846297102755357, + 0.028237326070666313 + ], + [ + -0.01170697994530201, + 0.9999007916507372, + -0.007833821386672365, + -0.06869565695524216 + ], + [ + 0.02175377868115902, + 0.008087185968531495, + 0.9997306312060181, + 0.29556170105934143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.011570117382730814, + -0.02334224121936098, + 0.03128468245267868 + ], + [ + -0.01175733096897602, + 0.9998996962038271, + -0.007899150453921127, + -0.07415857911109924 + ], + [ + 0.02324850670993328, + 0.008170911360859637, + 0.9996963548864947, + 0.3200038969516754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.011685239580210883, + -0.024832271218994405, + 0.03680737316608429 + ], + [ + -0.01187987346202135, + 0.9998997623783737, + -0.007704884450184579, + -0.08152249455451965 + ], + [ + 0.02473974972963333, + 0.007996986540713411, + 0.9996619483277174, + 0.3482968211174011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.01219872234294679, + -0.025867353902304262, + 0.04017125815153122 + ], + [ + -0.01241482887417078, + 0.9998892339466483, + -0.008210363111900472, + -0.08730066567659378 + ], + [ + 0.025764333084225655, + 0.008528145433686107, + 0.9996316441331755, + 0.37555423378944397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.012607577447661729, + -0.02732057144724967, + 0.043024107813835144 + ], + [ + -0.012837381102144718, + 0.9998835306297174, + -0.008252399452496435, + -0.09516654908657074 + ], + [ + 0.02721334621310234, + 0.008599388011045908, + 0.9995926477436121, + 0.4017683267593384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.013008738025485024, + -0.028220841725540787, + 0.04450707510113716 + ], + [ + -0.013229986652731895, + 0.9998830996564181, + -0.007667396230927963, + -0.09816394746303558 + ], + [ + 0.028117800131440163, + 0.008037054569637454, + 0.999572328600316, + 0.413612425327301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.014188210695552596, + -0.030536328003026973, + 0.05061492323875427 + ], + [ + -0.01442603301256895, + 0.9998672153510243, + -0.007582000824432501, + -0.10435748845338821 + ], + [ + 0.0304246973246336, + 0.008018218812805898, + 0.9995048797787852, + 0.43514296412467957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205935, + 0.014705257277374609, + -0.03350397841971297, + 0.056786734610795975 + ], + [ + -0.01496725901961327, + 0.9998592529167605, + -0.007582650547076243, + -0.11421182751655579 + ], + [ + 0.033387757837772376, + 0.008079034996248855, + 0.9994098293436094, + 0.45638012886047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272463, + 0.017040893127683737, + -0.037272318052181036, + 0.06025134027004242 + ], + [ + -0.017323853448033336, + 0.9998233847569239, + -0.0072819543403400055, + -0.12277241796255112 + ], + [ + 0.037141643464565284, + 0.00792153238278993, + 0.9992786261577732, + 0.48245570063591003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.019330647519479095, + -0.04144441512058201, + 0.06475876271724701 + ], + [ + -0.019634105265140533, + 0.9997832272184354, + -0.006927478547166115, + -0.12957628071308136 + ], + [ + 0.04130151867866516, + 0.007733955452129561, + 0.9991168099957879, + 0.5103181600570679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793948, + 0.021819768335760343, + -0.04523004321680901, + 0.06710069626569748 + ], + [ + -0.02212438359856606, + 0.9997357176412662, + -0.006245136520662648, + -0.1370459794998169 + ], + [ + 0.04508182406425477, + 0.007237941871199818, + 0.9989570625852687, + 0.534497082233429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.023804380629079136, + -0.04919864414506734, + 0.0694136917591095 + ], + [ + -0.024098118767142296, + 0.9996950948689021, + -0.005385895816937922, + -0.14487244188785553 + ], + [ + 0.04905543848872185, + 0.006563441866608858, + 0.9987745048322362, + 0.5568401217460632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.0268195134632297, + -0.05307407902603186, + 0.0722988173365593 + ], + [ + -0.027118520811200142, + 0.9996200865423958, + -0.004921529754070217, + -0.14993655681610107 + ], + [ + 0.052921924740076065, + 0.006352111089930702, + 0.998578457174137, + 0.586819589138031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.029721453858916676, + -0.05719682252715092, + 0.07277791202068329 + ], + [ + -0.03001503273844719, + 0.9995402621700034, + -0.004280356285560407, + -0.15412038564682007 + ], + [ + 0.05704331025481224, + 0.005988214987874397, + 0.9983537638820128, + 0.6181150674819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.03317832049876528, + -0.06126661066488165, + 0.07354079931974411 + ], + [ + -0.0334443524479866, + 0.999435050673783, + -0.0033215562717258925, + -0.15707893669605255 + ], + [ + 0.06112179532647133, + 0.005362508442701954, + 0.9981159281580364, + 0.6496729254722595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.03593685301380221, + -0.06510160845940953, + 0.07371770590543747 + ], + [ + -0.036126427352428436, + 0.9993457284585187, + -0.0017367582755951061, + -0.1624729335308075 + ], + [ + 0.06499660760164261, + 0.004083834699184297, + 0.9978771310737108, + 0.6760969758033752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.03901965225698363, + -0.06861245400569574, + 0.07341931015253067 + ], + [ + -0.03916091471910477, + 0.999232646179293, + -0.000714530393181213, + -0.1649850457906723 + ], + [ + 0.06853192299604416, + 0.0033992307166673644, + 0.9976431088331126, + 0.6972318291664124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.041399459708504636, + -0.0718632046580781, + 0.07040812075138092 + ], + [ + -0.0414595790207386, + 0.9991399801213017, + 0.0006555133039071731, + -0.16635465621948242 + ], + [ + 0.07182854413986206, + 0.002326159185640475, + 0.9974142983445834, + 0.7153209447860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.04380657316230775, + -0.07545492911832763, + 0.0740055963397026 + ], + [ + -0.04378388449549675, + 0.9990390827441411, + 0.0019557095743305366, + -0.16787941753864288 + ], + [ + 0.07546810060739517, + 0.001355457559753701, + 0.9971473152863345, + 0.7420604825019836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.04559271139510966, + -0.07829590042403314, + 0.07287690043449402 + ], + [ + -0.04545895755290985, + 0.9989600811101047, + 0.003490734809221214, + -0.1683085709810257 + ], + [ + 0.07837364077568054, + 8.286914409024078e-05, + 0.9969240334108146, + 0.7691407799720764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.99561083316803, + 0.047642226435074465, + -0.08055612106645461, + 0.0709199383854866 + ], + [ + -0.047402102500200285, + 0.9988639352119089, + 0.004891650546735539, + -0.1683942973613739 + ], + [ + 0.08069764822721483, + -0.0010516483777654718, + 0.9967381018848147, + 0.7909477353096008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.049492204406917296, + -0.08354785036800029, + 0.07385289669036865 + ], + [ + -0.0491487979888916, + 0.9987724238876212, + 0.006163331124957137, + -0.16800661385059357 + ], + [ + 0.08375032991170883, + -0.0020279249616713454, + 0.9964847030800404, + 0.8174052834510803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.051022853276970974, + -0.08552091596686731, + 0.0714811384677887 + ], + [ + -0.050564780831336975, + 0.9986925332405494, + 0.00751532419644164, + -0.16951480507850647 + ], + [ + 0.08579254895448685, + -0.0031536201687185077, + 0.9963080336197204, + 0.8376771807670593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.05213469304510593, + -0.08753367142471422, + 0.07082971185445786 + ], + [ + -0.05155248939990997, + 0.9986306537039308, + 0.008900232662244259, + -0.16980305314064026 + ], + [ + 0.08787781745195389, + -0.004341340036740209, + 0.9961217952940336, + 0.8566818833351135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.053568122512971335, + -0.08907000392640316, + 0.07080356031656265 + ], + [ + -0.052854835987091064, + 0.9985485491885742, + 0.010349205685408482, + -0.17085255682468414 + ], + [ + 0.08949511498212814, + -0.005585372399098681, + 0.9959715958854204, + 0.8822411894798279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.053027614489120106, + -0.09264821621972101, + 0.08188579976558685 + ], + [ + -0.05211786925792694, + 0.9985662459131919, + 0.012213113217658538, + -0.17407503724098206 + ], + [ + 0.09316302090883255, + -0.0073146960527862865, + 0.995623997457533, + 0.9157395362854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765139, + 0.05505991046993302, + -0.09322927319660816, + 0.07453989237546921 + ], + [ + -0.05403901264071466, + 0.9984483602898798, + 0.013441627707346642, + -0.17464807629585266 + ], + [ + 0.09382470697164538, + -0.008324588500851321, + 0.9955539145452657, + 0.9289947152137756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.055037650170887624, + -0.09476566543662159, + 0.07486782968044281 + ], + [ + -0.05387471988797188, + 0.9984381574426389, + 0.014788670422597103, + -0.17889899015426636 + ], + [ + 0.09543158859014511, + -0.009594127764552398, + 0.9953897784177789, + 0.9530528783798218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.05655613605960697, + -0.09561192154956247, + 0.06916491687297821 + ], + [ + -0.055279895663261414, + 0.9983435646419774, + 0.015946743920864856, + -0.182663694024086 + ], + [ + 0.09635543823242188, + -0.010562626560324253, + 0.9952909295314464, + 0.9670724868774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.05612996312076126, + -0.09643518408691265, + 0.07360483705997467 + ], + [ + -0.05466962233185768, + 0.9983472325634053, + 0.017721402770803914, + -0.19068002700805664 + ], + [ + 0.09727050364017487, + -0.012338663509972212, + 0.9951814695175791, + 0.9938499331474304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.05628092478794307, + -0.09647125197454275, + 0.07176998257637024 + ], + [ + -0.0546448640525341, + 0.9983150378401274, + 0.01952009085450012, + -0.1986122578382492 + ], + [ + 0.09740731120109558, + -0.014126303737538438, + 0.9951443429605098, + 1.008057713508606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.0562663540195326, + -0.09785039104147361, + 0.07655530422925949 + ], + [ + -0.05446717515587807, + 0.9982954888877366, + 0.02096419620928223, + -0.204254150390625 + ], + [ + 0.09886317700147629, + -0.015500584640150706, + 0.9949802981497743, + 1.0334086418151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113039, + 0.055921107605967094, + -0.09944030962541207, + 0.08309309184551239 + ], + [ + -0.05396375805139543, + 0.9982945458386133, + 0.02226777665579075, + -0.2063247710466385 + ], + [ + 0.10051596164703372, + -0.016756219992259437, + 0.994794331638878, + 1.0545014142990112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186587, + 0.05537909151714963, + -0.09934507890005057, + 0.08448261767625809 + ], + [ + -0.05329246446490289, + 0.9983015024111855, + 0.023538062121356725, + -0.212349072098732 + ], + [ + 0.10047986358404162, + -0.018090971248429826, + 0.9947746055291735, + 1.0818454027175903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.05550446424653313, + -0.09885735437609709, + 0.0846405029296875 + ], + [ + -0.053322337567806244, + 0.998274741385502, + 0.024582526674784007, + -0.21730796992778778 + ], + [ + 0.10005123913288116, + -0.01915272919293832, + 0.9947979503730496, + 1.1113868951797485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.05521245401980091, + -0.09867600816435527, + 0.08686169981956482 + ], + [ + -0.05287175253033638, + 0.9982579874568406, + 0.026182703061509955, + -0.2224653661251068 + ], + [ + 0.09994973242282867, + -0.020797614687148767, + 0.9947751129806933, + 1.1361624002456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.05519446751293316, + -0.09855764440708616, + 0.09036635607481003 + ], + [ + -0.052760183811187744, + 0.9982383965120168, + 0.027138852315755736, + -0.2260599434375763 + ], + [ + 0.09988193213939667, + -0.021765230187437853, + 0.9947611919508198, + 1.1659711599349976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.05524120981879933, + -0.09870881949385144, + 0.09206686913967133 + ], + [ + -0.052687227725982666, + 0.99821005185734, + 0.02829789115355934, + -0.22811259329319 + ], + [ + 0.10009534657001495, + -0.02291557788307065, + 0.9947139350535134, + 1.1890132427215576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9935597181320193, + 0.055068345814075596, + -0.09902825121529275, + 0.09507430344820023 + ], + [ + -0.052363969385623946, + 0.9981861600980062, + 0.029705989044462443, + -0.23006196320056915 + ], + [ + 0.10048449039459231, + -0.024329158588072237, + 0.9946411011113687, + 1.212133526802063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.05512514999535905, + -0.09922024007633114, + 0.09615301340818405 + ], + [ + -0.052275508642196655, + 0.9981484134140787, + 0.03109656081303314, + -0.2311616986989975 + ], + [ + 0.10075072944164276, + -0.025708810727814623, + 0.994579454766051, + 1.2305383682250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.05552533358471653, + -0.0990949317871149, + 0.09817158430814743 + ], + [ + -0.05256624519824982, + 0.9980972346554962, + 0.03222833608125943, + -0.23103871941566467 + ], + [ + 0.10069587081670761, + -0.0268106962129819, + 0.994555939032499, + 1.2521753311157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9935167431831362, + 0.05583927952644971, + -0.09902750981962223, + 0.10122676193714142 + ], + [ + -0.0527734011411667, + 0.9980506353346957, + 0.03331566870492292, + -0.23089724779129028 + ], + [ + 0.10069478303194049, + -0.02787365976794589, + 0.9945268492061317, + 1.2751091718673706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.05638529543138927, + -0.09899272692032023, + 0.10408520698547363 + ], + [ + -0.05320417508482933, + 0.9979879235620275, + 0.03448798814710491, + -0.2324981838464737 + ], + [ + 0.10073816031217575, + -0.028996621718911295, + 0.9944903448757767, + 1.2976222038269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.993451774120331, + 0.056596713365778754, + -0.09924894206959552, + 0.10833510756492615 + ], + [ + -0.05330852046608926, + 0.9979476799010044, + 0.03547758190199313, + -0.23290222883224487 + ], + [ + 0.10105316340923312, + -0.029954449520310275, + 0.9944299761083044, + 1.3229337930679321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.057039138387859296, + -0.09932128854375355, + 0.11374779045581818 + ], + [ + -0.05362820625305176, + 0.9978869693198267, + 0.03668219856481712, + -0.23532190918922424 + ], + [ + 0.10120373964309692, + -0.031114381117551312, + 0.9943790486718093, + 1.349088191986084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.05743226002592353, + -0.09934465195474651, + 0.11882618069648743 + ], + [ + -0.05391266942024231, + 0.9978315049008565, + 0.037759226375704745, + -0.23679757118225098 + ], + [ + 0.10129782557487488, + -0.03215386272882218, + 0.9943364264891741, + 1.3730560541152954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.05820411641616558, + -0.09934360971829921, + 0.12386736273765564 + ], + [ + -0.05455721169710159, + 0.997747091391993, + 0.03904234347287008, + -0.24063362181186676 + ], + [ + 0.1013922169804573, + -0.03336277926244331, + 0.994286944110798, + 1.3949401378631592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.05871314052796857, + -0.09968872881492968, + 0.12918072938919067 + ], + [ + -0.05496644973754883, + 0.9976896412272525, + 0.03992577805479774, + -0.24447979032993317 + ], + [ + 0.10180258005857468, + -0.03417813857077436, + 0.9942173544884165, + 1.4170817136764526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.05939494337261113, + -0.10006839604967463, + 0.13450504839420319 + ], + [ + -0.05555019527673721, + 0.9976227098353744, + 0.040781554837244494, + -0.2501409947872162 + ], + [ + 0.10225272178649902, + -0.03494567201360434, + 0.9941444639371512, + 1.4455851316452026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.059718624297734696, + -0.10047324610097809, + 0.13826434314250946 + ], + [ + -0.05577006936073303, + 0.9975740293017751, + 0.041662127564235076, + -0.2541849613189697 + ], + [ + 0.10271751135587692, + -0.03577317293372955, + 0.9940671147490968, + 1.4720470905303955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.05992808839822951, + -0.10101520852964462, + 0.1423759162425995 + ], + [ + -0.05584421008825302, + 0.997522356757469, + 0.04278497780240597, + -0.2599090337753296 + ], + [ + 0.10332895815372467, + -0.03684772022951221, + 0.9939644592466501, + 1.4920158386230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.060084020382262564, + -0.10147865368757578, + 0.14758631587028503 + ], + [ + -0.05589934065937996, + 0.9974843401109028, + 0.043591599184146075, + -0.265959769487381 + ], + [ + 0.10384252667427063, + -0.03761481692135273, + 0.9938822190496469, + 1.5159271955490112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.06108787657930515, + -0.10159807992391363, + 0.151600643992424 + ], + [ + -0.05684170126914978, + 0.9974052345055978, + 0.044179001984645666, + -0.2708657681941986 + ], + [ + 0.10403325408697128, + -0.0380924543318834, + 0.9938440873296488, + 1.5431513786315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.06164979027691807, + -0.10203085667631374, + 0.1565379947423935 + ], + [ + -0.0573040209710598, + 0.9973424578810094, + 0.04499187919958052, + -0.2772789001464844 + ], + [ + 0.10453344881534576, + -0.03882426678281197, + 0.9937632635487417, + 1.5735336542129517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.0621676484731623, + -0.10234586077184685, + 0.15860912203788757 + ], + [ + -0.057733550667762756, + 0.9972839444884699, + 0.045733909324180894, + -0.28304070234298706 + ], + [ + 0.10491105169057846, + -0.03949603287143686, + 0.9936969996841075, + 1.6026612520217896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.06297015416612795, + -0.10290021857024072, + 0.16132429242134094 + ], + [ + -0.058432359248399734, + 0.997206116447237, + 0.04653655308435758, + -0.28722113370895386 + ], + [ + 0.10554314404726028, + -0.040183973050383945, + 0.9936025042743766, + 1.6240131855010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.06376588120646408, + -0.10345491111067907, + 0.1644982099533081 + ], + [ + -0.05914818122982979, + 0.9971370717113524, + 0.047107939133393846, + -0.29109352827072144 + ], + [ + 0.10616260766983032, + -0.04063960861906932, + 0.993517940122921, + 1.646033525466919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104922, + 0.0645174994145716, + -0.10402176687782705, + 0.1665574461221695 + ], + [ + -0.05983088165521623, + 0.997074639216876, + 0.04756501063194897, + -0.2918578088283539 + ], + [ + 0.10678624361753467, + -0.040983621461587336, + 0.993436984012311, + 1.6688311100006104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960818, + 0.06497253980724556, + -0.10493593935478919, + 0.16837209463119507 + ], + [ + -0.06019476801156999, + 0.9970282400436166, + 0.04807619671694404, + -0.29382315278053284 + ], + [ + 0.1077477186918259, + -0.04139202455067213, + 0.9933162527393055, + 1.6922814846038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.06534556226009956, + -0.10609736012156588, + 0.17045429348945618 + ], + [ + -0.060452621430158615, + 0.9969823847370666, + 0.04869964263908989, + -0.2957051694393158 + ], + [ + 0.10895949602127075, + -0.041906224832607177, + 0.9931624723415088, + 1.7147574424743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.06583251419224473, + -0.10724005940171089, + 0.17130285501480103 + ], + [ + -0.06084806099534035, + 0.996938168887245, + 0.049109962377835624, + -0.29528334736824036 + ], + [ + 0.11014474183320999, + -0.042194253255874864, + 0.9930195481762388, + 1.7402452230453491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.06662283873183102, + -0.10796213953090668, + 0.17131811380386353 + ], + [ + -0.06155562028288841, + 0.9968699422043932, + 0.049610386823663886, + -0.29473307728767395 + ], + [ + 0.11092939227819443, + -0.04256387080061212, + 0.9929164137553391, + 1.7620388269424438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.06704480536561619, + -0.10953889221249348, + 0.17536699771881104 + ], + [ + -0.06184430792927742, + 0.9968222494272048, + 0.050206706650590856, + -0.2963918447494507 + ], + [ + 0.11255689710378647, + -0.043016584197093, + 0.9927137408735202, + 1.7900599241256714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883303, + 0.06748240968913072, + -0.11071476262115836, + 0.1756380945444107 + ], + [ + -0.06215563789010049, + 0.9967686190015892, + 0.05088203407694559, + -0.2984146177768707 + ], + [ + 0.11379064619541171, + -0.04357097086089401, + 0.9925488567215139, + 1.813180923461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9913847446441653, + 0.06794676327773608, + -0.11197991108345035, + 0.17665638029575348 + ], + [ + -0.06248658522963525, + 0.996712410712138, + 0.05157292676254247, + -0.3014122247695923 + ], + [ + 0.11511598527431491, + -0.04413137626833566, + 0.9923712689423793, + 1.8363631963729858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.06791081982661497, + -0.11296629051142264, + 0.1784420907497406 + ], + [ + -0.06231111288070679, + 0.9966809704124965, + 0.05238689928245846, + -0.3020624816417694 + ], + [ + 0.11614898592233658, + -0.04489078616485836, + 0.9922168339576086, + 1.8579559326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.06842390305292192, + -0.11405937951958871, + 0.18074941635131836 + ], + [ + -0.0626719743013382, + 0.9966110896390423, + 0.05327835824181131, + -0.30515825748443604 + ], + [ + 0.11731836199760437, + -0.04565664282232872, + 0.9920442657255895, + 1.8792160749435425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050661, + 0.06879670826363715, + -0.115289677618698, + 0.18231303989887238 + ], + [ + -0.0628713145852089, + 0.9965449481702974, + 0.054271039489077265, + -0.30948886275291443 + ], + [ + 0.11862501502037051, + -0.04653129597388379, + 0.9918482441110608, + 1.901930332183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.06931841804100844, + -0.11619862158517048, + 0.1846565455198288 + ], + [ + -0.06325745582580566, + 0.9964769827005092, + 0.055064855760708284, + -0.31515267491340637 + ], + [ + 0.11960625648498535, + -0.04720806265392471, + 0.9916984249668087, + 1.924636960029602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.06966000907549662, + -0.11621507173910803, + 0.18529953062534332 + ], + [ + -0.06350911408662796, + 0.99641894059752, + 0.055819815620477484, + -0.32271143794059753 + ], + [ + 0.11968730390071869, + -0.04792434653833436, + 0.9916542779601387, + 1.952830195426941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207705, + 0.07011922916786537, + -0.11649236869252029, + 0.18579018115997314 + ], + [ + -0.06386278569698335, + 0.996352196865492, + 0.056602317374379325, + -0.3306446373462677 + ], + [ + 0.12003634124994281, + -0.04863714088074973, + 0.9915773651881828, + 1.9821538925170898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090945, + 0.07037328443115565, + -0.1174385084623505, + 0.18758368492126465 + ], + [ + -0.0639709383249283, + 0.9962980612218041, + 0.05742752039146782, + -0.3363960087299347 + ], + [ + 0.12104511260986331, + -0.04937410325894584, + 0.9914183236207441, + 2.006002187728882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.07070284638397094, + -0.11856380851853333, + 0.18896545469760895 + ], + [ + -0.0641416609287262, + 0.9962378952949753, + 0.05827480552956919, + -0.3415833115577698 + ], + [ + 0.12223795056343079, + -0.050112005938198194, + 0.9912349522792384, + 2.0258820056915283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9903060197830202, + 0.07101102506191558, + -0.11937953886025307, + 0.19028586149215698 + ], + [ + -0.06430143117904664, + 0.9961759463321156, + 0.05915068172849407, + -0.3466446101665497 + ], + [ + 0.12312337756156924, + -0.050901001407108445, + 0.9910851327935404, + 2.0440919399261475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.07172915986726469, + -0.12003708157720946, + 0.19311504065990448 + ], + [ + -0.06489454954862595, + 0.9960918541626802, + 0.05991389544960295, + -0.35486382246017456 + ], + [ + 0.1238655298948288, + -0.05153547907596836, + 0.990959838158718, + 2.068341016769409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.0725010694673244, + -0.11964993865966211, + 0.19386011362075806 + ], + [ + -0.06566489487886429, + 0.996028631089872, + 0.06012570917172681, + -0.3632994592189789 + ], + [ + 0.1235339492559433, + -0.051677593225903096, + 0.9909938361223307, + 2.1010220050811768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.07291395696253845, + -0.11858712668737127, + 0.1914517730474472 + ], + [ + -0.0661093145608902, + 0.9959861949890214, + 0.06034123977747888, + -0.37222325801849365 + ], + [ + 0.1225108653306961, + -0.051913981890933825, + 0.9911085061883187, + 2.135103225708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745669, + 0.07327106247027651, + -0.11825404265697387, + 0.19129885733127594 + ], + [ + -0.06645040959119798, + 0.9959459409999009, + 0.06063003987516988, + -0.37646371126174927 + ], + [ + 0.12221705913543704, + -0.05218247183816829, + 0.9911306604083756, + 2.1578474044799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.0733369135939653, + -0.11871127350141003, + 0.19327694177627563 + ], + [ + -0.06646739691495895, + 0.995932460877463, + 0.060832296542498596, + -0.3795700967311859 + ], + [ + 0.12268966436386108, + -0.05234673894189285, + 0.991063603636491, + 2.17822527885437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.07300019963737453, + -0.11937586466909433, + 0.1963244378566742 + ], + [ + -0.06609850376844406, + 0.9959595111814258, + 0.060791465330096085, + -0.3802831768989563 + ], + [ + 0.12333131581544876, + -0.0523028196412296, + 0.9909862526589881, + 2.194075345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426638, + 0.07271054570157987, + -0.11955247703403676, + 0.1989990472793579 + ], + [ + -0.06584563106298448, + 0.9959996587955801, + 0.06040732969398809, + -0.38362130522727966 + ], + [ + 0.12346646934747699, + -0.05194102512973776, + 0.990988486556023, + 2.2171709537506104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.07245155526087185, + -0.11953439401949845, + 0.20115137100219727 + ], + [ + -0.06563419103622437, + 0.996036953106785, + 0.060020992206695926, + -0.38726121187210083 + ], + [ + 0.12340929359197617, + -0.05158622000891469, + 0.9910141325684703, + 2.2418320178985596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737795, + 0.07199855585697712, + -0.11951253158160394, + 0.20346683263778687 + ], + [ + -0.06527245044708253, + 0.9961054036545368, + 0.059275421476620384, + -0.39056214690208435 + ], + [ + 0.1233148202300072, + -0.050894752734251515, + 0.9910616627994441, + 2.26326584815979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.0707807342784626, + -0.12001758163931632, + 0.20554691553115845 + ], + [ + -0.0641215369105339, + 0.9962276389742123, + 0.058471986509814625, + -0.3934527039527893 + ], + [ + 0.12370351701974869, + -0.05020589779137484, + 0.991048356654798, + 2.2872095108032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.07000113444490916, + -0.1210489913484177, + 0.20841920375823975 + ], + [ + -0.06343141198158264, + 0.9963396266009681, + 0.057304801822565775, + -0.39628711342811584 + ], + [ + 0.12461730092763901, + -0.04906348272382768, + 0.9909910453221344, + 2.3162689208984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.06919568922230042, + -0.1222162270700693, + 0.21176932752132416 + ], + [ + -0.06270050257444382, + 0.996447760826843, + 0.056218781035950426, + -0.40185070037841797 + ], + [ + 0.12567219138145447, + -0.04799854068172269, + 0.9909100317616016, + 2.3381738662719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.06828236846224967, + -0.1235509980798136, + 0.21439680457115173 + ], + [ + -0.061909448355436325, + 0.996581166589415, + 0.05470958770360977, + -0.4049588739871979 + ], + [ + 0.12686429917812347, + -0.04651276157372503, + 0.9908289488227416, + 2.356189489364624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843081, + 0.0688167123321666, + -0.12733692458880705, + 0.2183028906583786 + ], + [ + -0.0624096989631653, + 0.9966079732721882, + 0.053643515069915534, + -0.41242653131484985 + ], + [ + 0.13059656322002414, + -0.04513155245476833, + 0.9904078172772779, + 2.378558397293091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522097, + 0.07054654996886127, + -0.1320668552829245, + 0.2209877073764801 + ], + [ + -0.06403107196092607, + 0.9965420065187058, + 0.05295301522481768, + -0.418954998254776 + ], + [ + 0.13534583151340487, + -0.043899711871807766, + 0.9898253797530743, + 2.405810594558716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.07211519160305875, + -0.13710687343321504, + 0.22302114963531494 + ], + [ + -0.06544817984104156, + 0.9964721460218507, + 0.052533524923746994, + -0.4261404871940613 + ], + [ + 0.1404116451740265, + -0.042925926597770836, + 0.9891622181053755, + 2.4314913749694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9870764613151553, + 0.07368248407135067, + -0.14230565817453777, + 0.22751161456108093 + ], + [ + -0.06680734455585481, + 0.9963833494752651, + 0.052506952256246804, + -0.43346884846687317 + ], + [ + 0.14565981924533847, + -0.042321313867878615, + 0.988429100796969, + 2.458634376525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369448, + 0.07517165255750335, + -0.1473609192167961, + 0.2307860255241394 + ], + [ + -0.06803636997938158, + 0.9962802610480227, + 0.05288420596977283, + -0.44142401218414307 + ], + [ + 0.1507881730794907, + -0.04212966889229303, + 0.9876679639795521, + 2.4874775409698486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.07709966459830025, + -0.1516240476306412, + 0.22961892187595367 + ], + [ + -0.06978537887334824, + 0.9961535515045735, + 0.05299110919637876, + -0.4483893811702728 + ], + [ + 0.1551264226436615, + -0.041637716205580294, + 0.9870167390913003, + 2.518907070159912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.07870511140776103, + -0.15630660970000534, + 0.23227980732917786 + ], + [ + -0.07116874307394028, + 0.9960419700876932, + 0.05324877755654567, + -0.45568907260894775 + ], + [ + 0.1598788946866989, + -0.041302877708481275, + 0.9862721536841351, + 2.551299810409546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203188, + 0.08050814885700738, + -0.16073924997309497, + 0.23190416395664215 + ], + [ + -0.07271014899015428, + 0.9958994426916513, + 0.053829194510007373, + -0.4624689519405365 + ], + [ + 0.16441380977630618, + -0.04126483133987023, + 0.9855279135693938, + 2.5818064212799072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231814, + 0.0819739991058734, + -0.1643689519312967, + 0.23257674276828766 + ], + [ + -0.07392840087413789, + 0.9957736653472188, + 0.05449267420538024, + -0.46698570251464844 + ], + [ + 0.1681412607431412, + -0.041414052934666316, + 0.9848926050811251, + 2.6015138626098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.08359890938843072, + -0.1677905393733981, + 0.23155944049358368 + ], + [ + -0.07530439645051956, + 0.9956308239660199, + 0.0552133555475198, + -0.47090569138526917 + ], + [ + 0.17167320847511292, + -0.041599152339724416, + 0.9842752536858516, + 2.6195974349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.981427311897278, + 0.0848090775401496, + -0.17206936751457833, + 0.23178941011428833 + ], + [ + -0.07624726742506029, + 0.995527278184168, + 0.05578332488900356, + -0.4728037118911743 + ], + [ + 0.17603069543838504, + -0.0416274615964069, + 0.9835041208758037, + 2.642474412918091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.08585649998667808, + -0.17563043699894404, + 0.23009881377220154 + ], + [ + -0.07698187232017517, + 0.9954163253222731, + 0.05674665882433833, + -0.4755118787288666 + ], + [ + 0.17969746887683868, + -0.04213137913972091, + 0.9828193004977738, + 2.666901111602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.086852047118328, + -0.178815649556278, + 0.22723305225372314 + ], + [ + -0.07769296318292618, + 0.9953111758648522, + 0.057615050803722055, + -0.4767349660396576 + ], + [ + 0.1829811930656433, + -0.04257243882067933, + 0.9821942333210585, + 2.692185163497925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.0878282966083185, + -0.18187843683381982, + 0.22458747029304504 + ], + [ + -0.07838138937950134, + 0.9952051761331446, + 0.058506947419687046, + -0.4784906804561615 + ], + [ + 0.18614491820335388, + -0.043045287185360874, + 0.98157890296128, + 2.7166550159454346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.08873468776147225, + -0.18496834838073853, + 0.22210220992565155 + ], + [ + -0.07894695550203323, + 0.9950931766442453, + 0.05963997197343141, + -0.4803415536880493 + ], + [ + 0.1893528699874878, + -0.04376877021617694, + 0.9809331491712042, + 2.7430315017700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466799, + 0.08923721487791847, + -0.18802589514798368, + 0.21838055551052094 + ], + [ + -0.07910254597663881, + 0.9950138881813708, + 0.060746564857151616, + -0.48138362169265747 + ], + [ + 0.19250921905040747, + -0.044542989209655215, + 0.980283698998597, + 2.76874041557312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369448, + 0.08960233233290206, + -0.19130115145626705, + 0.2166198343038559 + ], + [ + -0.07907367497682573, + 0.994939214173608, + 0.06199467302429892, + -0.4834441840648651 + ], + [ + 0.1958878934383393, + -0.04546876135073141, + 0.9795716118378089, + 2.791365385055542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.09001387720844815, + -0.19414859676592555, + 0.21307064592838287 + ], + [ + -0.07907991856336594, + 0.9948522743699795, + 0.06336688413476305, + -0.4858551323413849 + ], + [ + 0.19885307550430298, + -0.04654564398820676, + 0.9789233512828038, + 2.8139820098876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144167, + 0.09039639309025545, + -0.19718767599066306, + 0.21010401844978333 + ], + [ + -0.07910490781068803, + 0.9947824429987162, + 0.06442279388671066, + -0.48698660731315613 + ], + [ + 0.2019824236631394, + -0.047290333015111305, + 0.9782467448676222, + 2.8353588581085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.09062184334346178, + -0.20029484166002576, + 0.20628689229488373 + ], + [ + -0.07898080348968506, + 0.994729750322886, + 0.0653819147936096, + -0.4918223023414612 + ], + [ + 0.20516426861286163, + -0.0479629281793612, + 0.9775516040858843, + 2.8615097999572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110171, + 0.09115138278894822, + -0.2029340292893127, + 0.19987577199935913 + ], + [ + -0.07913570106029512, + 0.9946383579853662, + 0.06657359744901159, + -0.4986318349838257 + ], + [ + 0.20791424810886389, + -0.048845982713104606, + 0.9769267033173543, + 2.895617723464966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593935, + 0.09152259403621674, + -0.20523491168563032, + 0.1942530870437622 + ], + [ + -0.07909855246543886, + 0.9945474997233438, + 0.06796130758448853, + -0.5065174102783203 + ], + [ + 0.21033586561679846, + -0.04998934736635154, + 0.9763502710381368, + 2.926750659942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.09157126193137184, + -0.2076274580817117, + 0.19080966711044312 + ], + [ + -0.07869853079319, + 0.9944762821118204, + 0.06945114966127792, + -0.5128702521324158 + ], + [ + 0.21284030377864838, + -0.05129936871080806, + 0.9757394156172404, + 2.95116925239563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.09164897229821672, + -0.2106482616424663, + 0.1852531135082245 + ], + [ + -0.07834260910749435, + 0.9944173742217528, + 0.07068604623736024, + -0.518166184425354 + ], + [ + 0.215950608253479, + -0.05229290322301998, + 0.9750029850826152, + 2.973803997039795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213625, + 0.09189035503042824, + -0.21371179375415156, + 0.18175701797008514 + ], + [ + -0.07813214510679246, + 0.9943415466212784, + 0.0719743905469473, + -0.5230071544647217 + ], + [ + 0.21911627054214483, + -0.05330203491400546, + 0.9742417613366663, + 2.9957966804504395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.09226066851593492, + -0.21585361182582563, + 0.1767697036266327 + ], + [ + -0.07807713001966476, + 0.9942448127441578, + 0.07335646056646516, + -0.5276845693588257 + ], + [ + 0.22137926518917084, + -0.054453439902150944, + 0.9736662760936287, + 3.022843837738037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.09278463153652643, + -0.21803739016966353, + 0.17158247530460358 + ], + [ + -0.078162781894207, + 0.9941325307038406, + 0.07477400201580496, + -0.5322170257568359 + ], + [ + 0.22369594871997833, + -0.055602009981747795, + 0.97307168458067, + 3.0497078895568848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.09309981243269412, + -0.22037849954943067, + 0.16778068244457245 + ], + [ + -0.07798706740140915, + 0.9940280926087908, + 0.0763296118946433, + -0.5362734794616699 + ], + [ + 0.2261686772108078, + -0.056926431345052694, + 0.9724233493978998, + 3.0756919384002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895205, + 0.09357444427751946, + -0.22268775484600692, + 0.16413834691047668 + ], + [ + -0.07792828232049943, + 0.9938983931997295, + 0.07805894693266467, + -0.54071044921875 + ], + [ + 0.22863332927227026, + -0.05839382514124217, + 0.971759708947531, + 3.100410223007202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.09388261045524394, + -0.22510816510127987, + 0.15943598747253418 + ], + [ + -0.07773470878601074, + 0.9937933662875205, + 0.07957409807256431, + -0.5426737666130066 + ], + [ + 0.23118162155151367, + -0.05967225450957699, + 0.9710789168113884, + 3.124173641204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.0943743349808304, + -0.22746998409681102, + 0.15534549951553345 + ], + [ + -0.07768621295690536, + 0.9936613358425226, + 0.0812527364627154, + -0.5452781319618225 + ], + [ + 0.23369631171226501, + -0.061078964461230276, + 0.9703893174644376, + 3.147465229034424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.09481362518528794, + -0.2293531064586854, + 0.1514352560043335 + ], + [ + -0.07760753482580185, + 0.9935288158402722, + 0.08293121734938726, + -0.5465380549430847 + ], + [ + 0.23573192954063416, + -0.0625371287043959, + 0.969803881828802, + 3.171132802963257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.0954170409535116, + -0.23141218017057646, + 0.14892810583114624 + ], + [ + -0.07771814614534378, + 0.9933923039983372, + 0.08444906329368479, + -0.5469090342521667 + ], + [ + 0.2379409670829773, + -0.06377572343095654, + 0.9691835389921741, + 3.1932692527770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.0959534407848938, + -0.23359744998821202, + 0.1456974595785141 + ], + [ + -0.0776672288775444, + 0.9932388891149261, + 0.08628034678355705, + -0.5477164387702942 + ], + [ + 0.24029697477817535, + -0.06534090393135085, + 0.9684977505925039, + 3.2198166847229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.09640484837114012, + -0.23541609067720945, + 0.14199799299240112 + ], + [ + -0.07759416848421097, + 0.9931006094449121, + 0.0879220861462519, + -0.5472844243049622 + ], + [ + 0.24226799607276917, + -0.066762671977254, + 0.967909565604984, + 3.247213363647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.0969920712404626, + -0.23737663427306926, + 0.1385962814092636 + ], + [ + -0.07766281068325043, + 0.9929552524813535, + 0.08948962559147451, + -0.5477268695831299 + ], + [ + 0.24438415467739105, + -0.06806206457545215, + 0.967286883852104, + 3.276353120803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331545, + 0.09764968068725827, + -0.23882521263982862, + 0.13360626995563507 + ], + [ + -0.0777852386236191, + 0.9927850789211322, + 0.09125373959554856, + -0.5497037768363953 + ], + [ + 0.2460130006074906, + -0.0695868398692613, + 0.9667653680303143, + 3.309363842010498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.965792775154114, + 0.09801548997284347, + -0.24007775647253088, + 0.13356706500053406 + ], + [ + -0.07760594040155412, + 0.99263126770858, + 0.09306145555306174, + -0.5530457496643066 + ], + [ + 0.24743016064167028, + -0.07124662046527212, + 0.9662826724672204, + 3.335237979888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.09835820456298502, + -0.2414626311836229, + 0.1329692155122757 + ], + [ + -0.07743817567825317, + 0.9924920360218128, + 0.09467280799224347, + -0.5567901134490967 + ], + [ + 0.24896156787872314, + -0.07269988503974506, + 0.9657809345756719, + 3.360527276992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.09880318162082613, + -0.24315573836506105, + 0.12835809588432312 + ], + [ + -0.07726442068815231, + 0.9923198917810374, + 0.09659929417812953, + -0.5662592649459839 + ], + [ + 0.25083258748054504, + -0.07442542947381237, + 0.9651651815411567, + 3.3955254554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.09955368617606161, + -0.24439289258329985, + 0.12624940276145935 + ], + [ + -0.07742083072662354, + 0.9921130018817084, + 0.09857923389329848, + -0.5727143287658691 + ], + [ + 0.25227928161621094, + -0.07616372110361817, + 0.9646523909305386, + 3.42537522315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.09984952913037037, + -0.24555449847783425, + 0.12726791203022003 + ], + [ + -0.07715117931365967, + 0.9919510099922866, + 0.10040382476217037, + -0.5786241888999939 + ], + [ + 0.2536033093929291, + -0.07786721950371268, + 0.9641691025336293, + 3.445805788040161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.1000871097934838, + -0.24774014943376085, + 0.12686535716056824 + ], + [ + -0.07691413909196854, + 0.9918543334981342, + 0.10153413300778766, + -0.5833244919776917 + ], + [ + 0.2558843791484833, + -0.07878791618068492, + 0.9634913809300498, + 3.4671988487243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.10070528268388212, + -0.24969084250998647, + 0.12397776544094086 + ], + [ + -0.07698395848274231, + 0.9916938645366355, + 0.10303742604176663, + -0.5895022749900818 + ], + [ + 0.25799328088760376, + -0.08001056627737073, + 0.9628280376733711, + 3.4948294162750244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.10118068072787381, + -0.25145529785148485, + 0.12055547535419464 + ], + [ + -0.07693955302238464, + 0.9915488445377078, + 0.10445679233315149, + -0.5940004587173462 + ], + [ + 0.25989919900894165, + -0.08119967201788124, + 0.9622157109280147, + 3.521357297897339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.10183873261531508, + -0.2533482237949679, + 0.11536276340484619 + ], + [ + -0.07695553451776505, + 0.9913533305677023, + 0.10628438873447257, + -0.6003946661949158 + ], + [ + 0.2619814872741699, + -0.08274901193172433, + 0.9615187684969768, + 3.548494577407837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385256, + 0.10251241860352968, + -0.25525363369757714, + 0.11298323422670364 + ], + [ + -0.07697233557701112, + 0.9911517180555928, + 0.10813666342585396, + -0.605558454990387 + ], + [ + 0.26408043503761297, + -0.08431775034455866, + 0.9608080292945657, + 3.570949077606201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.10305226327612861, + -0.256629826787096, + 0.11093010008335114 + ], + [ + -0.07690270245075226, + 0.9909574110506828, + 0.10995171878615197, + -0.6089813113212585 + ], + [ + 0.2656400203704834, + -0.08592810248834458, + 0.9602352734169384, + 3.590113878250122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.1036419347793856, + -0.2583467478208936, + 0.1079016849398613 + ], + [ + -0.07685604691505432, + 0.9907617193893863, + 0.1117336524029942, + -0.6120966076850891 + ], + [ + 0.2675403654575348, + -0.08746204264153422, + 0.959568939967783, + 3.609499931335449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.10433061536028794, + -0.2600099258216619, + 0.10356198996305466 + ], + [ + -0.07691517472267151, + 0.9905566265871737, + 0.11349726527867622, + -0.6148660778999329 + ], + [ + 0.26939576864242554, + -0.08895335285537305, + 0.9589125331724896, + 3.6322808265686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.10524057290649232, + -0.2613700641183515, + 0.09930528700351715 + ], + [ + -0.07721234112977982, + 0.9903242878794517, + 0.11530877898968768, + -0.6158156991004944 + ], + [ + 0.27097630500793457, + -0.09045595511812361, + 0.9583264454509898, + 3.654810905456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.10588901495378913, + -0.26282811126235134, + 0.09388045966625214 + ], + [ + -0.07716385275125504, + 0.9900902640747222, + 0.11733304305377233, + -0.6175334453582764 + ], + [ + 0.27264782786369324, + -0.09224326156475413, + 0.9576817695887947, + 3.6791093349456787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.10668816687017461, + -0.2638421776112049, + 0.09084109216928482 + ], + [ + -0.07736720144748688, + 0.9898567618633576, + 0.11915503841161167, + -0.6177564859390259 + ], + [ + 0.2738783657550812, + -0.09381495007577365, + 0.9571778588520209, + 3.698031187057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036623, + 0.1073571026528884, + -0.2648341870021301, + 0.08728057146072388 + ], + [ + -0.07741895318031312, + 0.989625224753568, + 0.12102961060873835, + -0.6188214421272278 + ], + [ + 0.2750799953937531, + -0.09547940242324232, + 0.95666853201263, + 3.7197930812835693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + 0.10795988144666922, + -0.26597240199882866, + 0.08385452628135681 + ], + [ + -0.07735580205917358, + 0.9893875780466055, + 0.1229969578634469, + -0.6199841499328613 + ], + [ + 0.27642855048179626, + -0.09724626168772019, + 0.9561016762012963, + 3.7431139945983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9576909542083742, + 0.10844760489989569, + -0.2665843009790043, + 0.0814058929681778 + ], + [ + -0.07718496024608613, + 0.9891369952297017, + 0.12510189090316823, + -0.6208928227424622 + ], + [ + 0.2772554159164429, + -0.09923265329644569, + 0.9556580670468313, + 3.761702537536621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + 0.10899610081492303, + -0.2670161855825222, + 0.0781201720237732 + ], + [ + -0.07708007097244263, + 0.9888708823014031, + 0.12725167182708477, + -0.6220806837081909 + ], + [ + 0.27791449427604675, + -0.10126291536435895, + 0.9552535300470754, + 3.7804956436157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + 0.10948457595280668, + -0.26735076897107507, + 0.07657571136951447 + ], + [ + -0.07694832980632782, + 0.9886142835011993, + 0.1293088584198274, + -0.6234437823295593 + ], + [ + 0.27846410870552063, + -0.10322282586690087, + 0.9548836510694924, + 3.7966012954711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + 0.10976032208452698, + -0.2675750375506719, + 0.07425221800804138 + ], + [ + -0.07667873799800873, + 0.988396432870437, + 0.13112148740011745, + -0.6255053877830505 + ], + [ + 0.2788621783256531, + -0.10500068829032132, + 0.9545735693742923, + 3.81516432762146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + 0.10972385933492695, + -0.26715185766980554, + 0.07121533900499344 + ], + [ + -0.07610487937927246, + 0.9881731171769725, + 0.13312398798366099, + -0.6303151845932007 + ], + [ + 0.27859917283058167, + -0.10711966190323013, + 0.9544149233431337, + 3.8356215953826904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + 0.10969671799750388, + -0.26554511976465134, + 0.0641087219119072 + ], + [ + -0.07572971284389496, + 0.9879525962635394, + 0.13496164162675597, + -0.6355550289154053 + ], + [ + 0.27715086936950684, + -0.10916164955485932, + 0.9546052121985167, + 3.8604438304901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831484, + 0.10921923780813951, + -0.2639282242908933, + 0.0580485574901104 + ], + [ + -0.07479287683963777, + 0.9877207515897396, + 0.1371630475782607, + -0.6403672695159912 + ], + [ + 0.2756682634353638, + -0.11170871040400918, + 0.9547398481433043, + 3.8851029872894287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + 0.10864903170390056, + -0.2628996924388593, + 0.05539363622665405 + ], + [ + -0.07379191368818283, + 0.9875347914103759, + 0.13903176417157806, + -0.6423278450965881 + ], + [ + 0.2747282385826111, + -0.11388796914738553, + 0.9547533557385744, + 3.90224552154541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + 0.10728561389895494, + -0.2614103107377791, + 0.0518047958612442 + ], + [ + -0.07208303362131119, + 0.9874192564743529, + 0.14073836239337478, + -0.6439288854598999 + ], + [ + 0.2732207775115967, + -0.11615958331183457, + 0.9549122403141882, + 3.9203405380249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + 0.10606183697494116, + -0.25983142640113077, + 0.0477847084403038 + ], + [ + -0.07061650604009628, + 0.987321049057313, + 0.14216345502800498, + -0.647725522518158 + ], + [ + 0.2716151773929596, + -0.11810176454422391, + 0.9551320218812034, + 3.9414658546447754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9603019356727602, + 0.10484176811902031, + -0.25851191070906127, + 0.04393615946173668 + ], + [ + -0.06914079934358598, + 0.9872264974964254, + 0.143538951038858, + -0.6535623073577881 + ], + [ + 0.2702586948871613, + -0.11996700723367823, + 0.9552843631643543, + 3.964451789855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + 0.10391666420003116, + -0.25727801409931544, + 0.040213920176029205 + ], + [ + -0.0679871141910553, + 0.9871186080692199, + 0.14482603054873333, + -0.6592620015144348 + ], + [ + 0.26901373267173767, + -0.12164767447253742, + 0.9554231882239106, + 3.98814058303833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + 0.10307752104660163, + -0.2558991547320916, + 0.03424626216292381 + ], + [ + -0.06693345308303833, + 0.9869946591476887, + 0.14615539668741642, + -0.6636805534362793 + ], + [ + 0.2676364481449127, + -0.12335523351722621, + 0.9555910328995848, + 4.013459205627441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + 0.1022840581684165, + -0.25542945794802596, + 0.032873865216970444 + ], + [ + -0.06578322499990463, + 0.9868602305153846, + 0.1475786900598186, + -0.6659021377563477 + ], + [ + 0.2671681344509125, + -0.1250794643818513, + 0.9554979562063598, + 4.033565998077393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + 0.10146610089247407, + -0.25573090370526697, + 0.032948415726423264 + ], + [ + -0.06457062810659409, + 0.9867619784733336, + 0.14876630540562227, + -0.6663355827331543 + ], + [ + 0.2674402892589569, + -0.12651248103175833, + 0.9552330928303698, + 4.049020767211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + 0.10086184590117356, + -0.2560450911977463, + 0.033137962222099304 + ], + [ + -0.06356251984834671, + 0.9866410376335938, + 0.14999763733410357, + -0.6669132113456726 + ], + [ + 0.26775360107421875, + -0.1279311231761432, + 0.9549563427761135, + 4.064321517944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137026, + 0.10044022607077063, + -0.25634689036139974, + 0.030398011207580566 + ], + [ + -0.0628054514527321, + 0.9865358041721229, + 0.15100522413132575, + -0.6690821647644043 + ], + [ + 0.2680624127388001, + -0.1290692270302495, + 0.9547165411752487, + 4.086428165435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + 0.10041764735356214, + -0.25687365621046165, + 0.026524469256401062 + ], + [ + -0.06239153817296028, + 0.9863886326109343, + 0.15213397618606547, + -0.6716946363449097 + ], + [ + 0.2686541974544525, + -0.13020654892743272, + 0.9543957105978205, + 4.110477924346924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + 0.10092095076771618, + -0.2581600066587668, + 0.02381231263279915 + ], + [ + -0.062385059893131256, + 0.9862013783173235, + 0.15334592111214232, + -0.674898087978363 + ], + [ + 0.2700735628604889, + -0.13123196514424013, + 0.9538545078192787, + 4.131576061248779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + 0.10124867321836022, + -0.2603640747815023, + 0.025148287415504456 + ], + [ + -0.06213310360908508, + 0.9860659005406074, + 0.15431644529428457, + -0.6756753921508789 + ], + [ + 0.2723604738712311, + -0.13199542463091393, + 0.9530986320842496, + 4.147819519042969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.959350645542145, + 0.10185768697513387, + -0.2631944912411893, + 0.024881873279809952 + ], + [ + -0.062207899987697615, + 0.9859805879675057, + 0.1548304126227964, + -0.6764649152755737 + ], + [ + 0.27527531981468206, + -0.13216387660845175, + 0.9522374741519792, + 4.165367603302002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672671, + 0.10315337730964336, + -0.2661365550995476, + 0.021570660173892975 + ], + [ + -0.0629313886165619, + 0.9858326884132498, + 0.1554785290332922, + -0.6783549785614014 + ], + [ + 0.2784042656421662, + -0.13226228792824257, + 0.9513136767835201, + 4.185593605041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + 0.10462805049662084, + -0.26911396860258247, + 0.018788587301969528 + ], + [ + -0.06376131623983383, + 0.9856392156845377, + 0.1563645796210015, + -0.6829540133476257 + ], + [ + 0.2816093862056732, + -0.13254567416657598, + 0.9503303504060886, + 4.207207679748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.956168055534363, + 0.10621162005762151, + -0.27287677613864164, + 0.01810530573129654 + ], + [ + -0.06462265551090242, + 0.9854612627403408, + 0.15713070694311743, + -0.6873165965080261 + ], + [ + 0.2855986058712006, + -0.13260933522629795, + 0.9491302612633213, + 4.225802898406982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + 0.10826394104669464, + -0.27685993966141764, + 0.011757560074329376 + ], + [ + -0.06592939049005508, + 0.9852505008613497, + 0.1579074875248971, + -0.6937571167945862 + ], + [ + 0.28987210988998413, + -0.13251556674001397, + 0.9478469059136088, + 4.24937629699707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + 0.11083107346682444, + -0.2811175863133343, + 0.005464412271976471 + ], + [ + -0.06760751456022263, + 0.9849504278813823, + 0.15906552965772822, + -0.7009696364402771 + ], + [ + 0.29451632499694824, + -0.13262387665546882, + 0.946398974570956, + 4.272458553314209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + 0.11318347657397267, + -0.285909299873946, + 0.003559403121471405 + ], + [ + -0.06917662918567657, + 0.98475400550007, + 0.15960633652615808, + -0.7065115571022034 + ], + [ + 0.29961511492729187, + -0.13209499073455735, + 0.9448712597616116, + 4.288443565368652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + 0.11591411519173944, + -0.2908008821858534, + -0.00038358569145202637 + ], + [ + -0.07104375958442688, + 0.984492480778411, + 0.16039751997630966, + -0.7117745876312256 + ], + [ + 0.30488359928131104, + -0.1316757390709097, + 0.9432430736498938, + 4.305908203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + 0.11867732232645774, + -0.29619638433622464, + -0.004233911633491516 + ], + [ + -0.07295786589384079, + 0.9842660243856995, + 0.16092710517187675, + -0.7159978151321411 + ], + [ + 0.31063443422317505, + -0.13090485763950382, + 0.9414723730758099, + 4.322268962860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + 0.12198268615502308, + -0.3014053005547263, + -0.011902719736099243 + ], + [ + -0.07538000494241714, + 0.9839544680968187, + 0.16171401474253994, + -0.7206006646156311 + ], + [ + 0.3162953853607178, + -0.13020673467142227, + 0.9396826338012118, + 4.3422017097473145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + 0.12553841718362388, + -0.30671768428337853, + -0.02444695681333542 + ], + [ + -0.07800152152776718, + 0.9835967441385506, + 0.1626443291191881, + -0.7267484068870544 + ], + [ + 0.32210463285446167, + -0.1295280876760885, + 0.9378012194803972, + 4.366855144500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025454, + 0.12900272483131198, + -0.31209364377738186, + -0.03448352962732315 + ], + [ + -0.0805163159966469, + 0.9832378579430698, + 0.1635861460190374, + -0.7312196493148804 + ], + [ + 0.3279653191566468, + -0.12884720153807452, + 0.9358616933313864, + 4.388391971588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447451, + 0.13260924474170152, + -0.31708902009656337, + -0.04671056196093559 + ], + [ + -0.08324984461069108, + 0.9828592861090495, + 0.16449022963171278, + -0.7362006902694702 + ], + [ + 0.33346682786941534, + -0.1280717087383931, + 0.9340222094562234, + 4.4102911949157715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + 0.13606542126015564, + -0.32185093367390344, + -0.05337987467646599 + ], + [ + -0.08590073883533478, + 0.9824972609349814, + 0.16528816849612585, + -0.7387470602989197 + ], + [ + 0.33870765566825867, + -0.12722154194515528, + 0.9322509362501269, + 4.423278331756592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + 0.13953032480393326, + -0.3264308518068297, + -0.05733919516205788 + ], + [ + -0.08866459876298904, + 0.9821509187928454, + 0.1658860473640224, + -0.7395451664924622 + ], + [ + 0.3437504768371582, + -0.12613835367022544, + 0.930550769062378, + 4.430767059326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + 0.14263902550210805, + -0.3312382639455577, + -0.06692428141832352 + ], + [ + -0.09096928685903549, + 0.9818124918371166, + 0.1666396376795314, + -0.7407567501068115 + ], + [ + 0.34898319840431213, + -0.12529282521003474, + 0.9287154932462112, + 4.444777011871338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684634, + 0.14588015230329593, + -0.33495844567543703, + -0.07761810719966888 + ], + [ + -0.09364401549100877, + 0.9814653643982777, + 0.16720212731403275, + -0.7434065341949463 + ], + [ + 0.3531415760517121, + -0.12427685783432028, + 0.9272789844881417, + 4.457869052886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611147, + 0.14855230472761485, + -0.33797898134425736, + -0.08694348484277725 + ], + [ + -0.09592612087726596, + 0.9811952020629195, + 0.1674935770073896, + -0.7429921627044678 + ], + [ + 0.35650491714477545, + -0.12324013669474326, + 0.9261296211650863, + 4.468251705169678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + 0.1512250069818655, + -0.34070333037491185, + -0.09908070415258408 + ], + [ + -0.0982513502240181, + 0.9809135531732928, + 0.16779517742191574, + -0.7441890835762024 + ], + [ + 0.3595753312110901, + -0.12222745957462725, + 0.9250762343707487, + 4.48206090927124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + 0.1533325301739033, + -0.3423552618383353, + -0.11138144135475159 + ], + [ + -0.1001288890838623, + 0.9806705726748784, + 0.16810536537721277, + -0.7446824908256531 + ], + [ + 0.36151373386383057, + -0.12154976436417422, + 0.9244098044512149, + 4.494311809539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497378, + 0.15501987990394972, + -0.3435538452175922, + -0.12195773422718048 + ], + [ + -0.10174871981143954, + 0.9805040501782523, + 0.16810416769821546, + -0.7454928755760193 + ], + [ + 0.3629154264926911, + -0.12075037437035224, + 0.9239652439486877, + 4.504021167755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + 0.15659386886660348, + -0.3441799277906023, + -0.13324406743049622 + ], + [ + -0.10340899229049683, + 0.9803652488669601, + 0.16790055441238486, + -0.74534672498703 + ], + [ + 0.3637142479419708, + -0.1198431297387942, + 0.9237692405227848, + 4.51368522644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + 0.15779502640716941, + -0.34388663453564666, + -0.14531803131103516 + ], + [ + -0.10492381453514099, + 0.980292297546845, + 0.1673856360887657, + -0.7447479367256165 + ], + [ + 0.3635220527648926, + -0.11885996409918344, + 0.9239718781429724, + 4.52192497253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155825, + 0.15843133310367444, + -0.34330263042206555, + -0.1567508578300476 + ], + [ + -0.10592018812894824, + 0.980290652092419, + 0.1667666935029361, + -0.7440330982208252 + ], + [ + 0.36295744776725775, + -0.1180242651027763, + 0.9243009252880305, + 4.529851913452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + 0.15859371420642607, + -0.3420497756315721, + -0.16810524463653564 + ], + [ + -0.1065094843506813, + 0.9803344893575359, + 0.1661325408257601, + -0.7428040504455566 + ], + [ + 0.36167076230049133, + -0.11744072914284194, + 0.9248794050678608, + 4.536086082458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919375, + 0.15769527734233144, + -0.34028058728604865, + -0.1799682378768921 + ], + [ + -0.10605581104755404, + 0.9804962223784209, + 0.16546690928525049, + -0.742423951625824 + ], + [ + 0.3597371876239777, + -0.11730019530806955, + 0.9256510088292688, + 4.539231777191162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + 0.1576103889863461, + -0.3385381078045262, + -0.18839603662490845 + ], + [ + -0.1064617857336998, + 0.9805664456791527, + 0.16478867385498652, + -0.7455016374588013 + ], + [ + 0.3579314947128296, + -0.1168263046928026, + 0.9264106330858874, + 4.542272567749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + 0.15713509693653294, + -0.33502798868091394, + -0.20744463801383972 + ], + [ + -0.1069190502166748, + 0.9807318321698277, + 0.16350343053424887, + -0.7483713030815125 + ], + [ + 0.3542647659778595, + -0.11607592399754316, + 0.92791320152655, + 4.5569305419921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + 0.1554171221595914, + -0.33057171800287444, + -0.22910377383232117 + ], + [ + -0.106063611805439, + 0.9809864480798165, + 0.16253016651515917, + -0.7535409927368164 + ], + [ + 0.3495463728904724, + -0.11623710303713217, + 0.9296807294312922, + 4.5721049308776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + 0.15354165156746505, + -0.32598716694857804, + -0.24614118039608002 + ], + [ + -0.10516964644193649, + 0.9812941891003898, + 0.16124851239302795, + -0.7568133473396301 + ], + [ + 0.34464767575263977, + -0.11613224662472306, + 0.9315209518127281, + 4.583345413208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + 0.1513361620310762, + -0.32159687867714243, + -0.26165828108787537 + ], + [ + -0.10375655442476273, + 0.9815915552452568, + 0.16035155610606297, + -0.7602130174636841 + ], + [ + 0.3399437367916107, + -0.11651357288826374, + 0.9332003349176315, + 4.5924272537231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + 0.1489882538095394, + -0.3169331290299401, + -0.27960366010665894 + ], + [ + -0.10227642208337784, + 0.9819145668417589, + 0.15932131636225563, + -0.7639407515525818 + ], + [ + 0.33493828773498535, + -0.11681716210279591, + 0.9349706697540185, + 4.603875637054443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413027, + 0.14622148823220715, + -0.3131041209429667, + -0.29776623845100403 + ], + [ + -0.10000381618738177, + 0.9822044765154628, + 0.15897689747172805, + -0.767507016658783 + ], + [ + 0.33077809214591986, + -0.11787151481373416, + 0.9363184058620988, + 4.6161980628967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + 0.143735498149302, + -0.3093713467378237, + -0.3130647540092468 + ], + [ + -0.09803208708763123, + 0.9824655921951356, + 0.15859090633721068, + -0.7683972120285034 + ], + [ + 0.32674187421798706, + -0.11874961741022773, + 0.9376237439764672, + 4.624852180480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/tilt_up/transforms.json b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f725b4a0158a69c1017fa4fb660e54ff607a8094 --- /dev/null +++ b/dynpose_eval/camera_controls/480b59d9-be01-41ca-b170-05351d995f4d/tilt_up/transforms.json @@ -0,0 +1,7293 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 208, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2001599063514732e-05, + 6.036841114109848e-06, + -0.00021642206411343068 + ], + [ + -2.2001042452757247e-05, + 1.0, + -9.214176679961383e-05, + 0.0003124280192423612 + ], + [ + -6.0388683778000996e-06, + 9.214163583237678e-05, + 1.0, + 0.00036164268385618925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + 0.002233096026136834, + -0.0026141985107514007, + 0.001194173120893538 + ], + [ + -0.002242674818262458, + 0.9999907379375292, + -0.0036670287579804264, + -0.007240426726639271 + ], + [ + 0.0026059853844344616, + 0.0036728698090609346, + 0.9999898364797782, + 0.02368771843612194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999980688095093, + 0.004051525250269649, + -0.0047101863373985075, + 0.0029152745846658945 + ], + [ + -0.00408406462520361, + 0.9999676963182567, + -0.006919289018240475, + -0.015726715326309204 + ], + [ + 0.004682000726461411, + 0.006938391980474654, + 0.999964965780328, + 0.05117582529783249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999956488609314, + 0.005339771781229526, + -0.007645721257391753, + 0.003859743243083358 + ], + [ + -0.005417895969003439, + 0.9999329625087784, + -0.010234028125569195, + -0.021772125735878944 + ], + [ + 0.007590561639517546, + 0.01027500717429296, + 0.9999183825977085, + 0.06950080394744873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999182820320129, + 0.006835969214237343, + -0.010804738984126767, + 0.008227568119764328 + ], + [ + -0.006981814280152321, + 0.9998842642336874, + -0.013518646970775686, + -0.02743411809206009 + ], + [ + 0.01071107480674982, + 0.013592977731298715, + 0.9998502111414684, + 0.09131264686584473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998801350593567, + 0.007876786046865345, + -0.01332730887546104, + 0.010066553018987179 + ], + [ + -0.008098271675407887, + 0.999828649612694, + -0.016647457497519495, + -0.0319373793900013 + ], + [ + 0.013193896040320396, + 0.016753391474203832, + 0.9997726058915076, + 0.10996730625629425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998539090156555, + 0.009320530197851182, + -0.014329111809070101, + 0.011218965984880924 + ], + [ + -0.009610596112906933, + 0.999747533968597, + -0.02030934786841915, + -0.03783909231424332 + ], + [ + 0.014136199839413166, + 0.020444091771967415, + 0.9996910775442659, + 0.1414240151643753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998453259468079, + 0.009644327150050033, + -0.014708157005662676, + 0.012742291204631329 + ], + [ + -0.009989832527935505, + 0.9996715684233595, + -0.023601000631373357, + -0.04391228035092354 + ], + [ + 0.01447570975869894, + 0.023744282486679553, + 0.9996132560183257, + 0.17333948612213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999825656414032, + 0.010439280668137528, + -0.015480667163641807, + 0.01416004914790392 + ], + [ + -0.01085029449313879, + 0.9995843626777737, + -0.026708197431132865, + -0.04967191070318222 + ], + [ + 0.015195419080555439, + 0.026871512944379734, + 0.9995234005620824, + 0.2031428962945938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997983574867249, + 0.01070096069121803, + -0.016993908110333876, + 0.018322164192795753 + ], + [ + -0.011200395412743092, + 0.9994999347936492, + -0.02957103940067627, + -0.055265601724386215 + ], + [ + 0.01666897162795067, + 0.029755413215448962, + 0.9994181990885557, + 0.22732163965702057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997653961181641, + 0.010912617360037655, + -0.018710689245320128, + 0.02193235605955124 + ], + [ + -0.011516496539115906, + 0.9994061640781174, + -0.03247648494928116, + -0.060601606965065 + ], + [ + 0.018345175310969353, + 0.03268434541962493, + 0.9992973706984579, + 0.2526627779006958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997290968894958, + 0.010833929430838132, + -0.02060032443337852, + 0.024640263989567757 + ], + [ + -0.011560274288058281, + 0.9993037637441967, + -0.03547300244948018, + -0.0632689818739891 + ], + [ + 0.02020167000591755, + 0.0357015367149132, + 0.9991582941035123, + 0.27060452103614807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99969482421875, + 0.01086508806833202, + -0.022186260220134958, + 0.028237326070666313 + ], + [ + -0.01170697994530201, + 0.9992024558570074, + -0.038176093443601095, + -0.06869565695524216 + ], + [ + 0.02175377868115902, + 0.038424177136331464, + 0.9990246844597329, + 0.29556170105934143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996605515480042, + 0.010796437658448555, + -0.02371001424040564, + 0.03128468245267868 + ], + [ + -0.01175733096897602, + 0.9990994517342933, + -0.040768671681010525, + -0.07415857911109924 + ], + [ + 0.02324850670993328, + 0.041033600404024546, + 0.9988872856352183, + 0.3200038969516754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996233582496643, + 0.010798724982037856, + -0.025230419273229217, + 0.03680737316608429 + ], + [ + -0.01187987346202135, + 0.9990000769382655, + -0.04310158147978538, + -0.08152249455451965 + ], + [ + 0.02473974972963333, + 0.04338508061040548, + 0.998752070089734, + 0.3482968211174011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995909333229065, + 0.011208720681329684, + -0.026311469084703287, + 0.04017125815153122 + ], + [ + -0.01241482887417078, + 0.9988581622281407, + -0.046133089806188146, + -0.08730066567659378 + ], + [ + 0.025764333084225655, + 0.04644087230463485, + 0.9985887034192398, + 0.37555423378944397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995472431182861, + 0.011491853628246215, + -0.0278083069152012, + 0.043024107813835144 + ], + [ + -0.012837381102144718, + 0.998730875535196, + -0.04870128513677341, + -0.09516654908657074 + ], + [ + 0.02721334621310234, + 0.04903622033684134, + 0.9984261915596597, + 0.4017683267593384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995170831680298, + 0.011783566140208748, + -0.028753969147459448, + 0.04450707510113716 + ], + [ + -0.013229986652731895, + 0.9986292098724401, + -0.05064289815003383, + -0.09816394746303558 + ], + [ + 0.028117800131440163, + 0.050998855472030695, + 0.9983028353611725, + 0.413612425327301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994329810142517, + 0.01278365835085255, + -0.031150453123807365, + 0.05061492323875427 + ], + [ + -0.01442603301256895, + 0.9984859348778331, + -0.05308269889006206, + -0.10435748845338821 + ], + [ + 0.0304246973246336, + 0.05350197325591626, + 0.9981041205166208, + 0.43514296412467957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993304014205935, + 0.013078703443577672, + -0.03417175262958165, + 0.056786734610795975 + ], + [ + -0.01496725901961327, + 0.9983404856156446, + -0.055608425740173294, + -0.11421182751655579 + ], + [ + 0.033387757837772376, + 0.05608264615011254, + 0.99786773401884, + 0.45638012886047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991598129272463, + 0.015134317061483615, + -0.03808635160598301, + 0.06025134027004242 + ], + [ + -0.017323853448033336, + 0.9981760157851957, + -0.057831384878795744, + -0.12277241796255112 + ], + [ + 0.037141643464565284, + 0.05844259749116765, + 0.9975996121538659, + 0.48245570063591003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989538192749023, + 0.01710294327430999, + -0.04241229549983359, + 0.06475876271724701 + ], + [ + -0.019634105265140533, + 0.9980052599052133, + -0.059999938232125474, + -0.12957628071308136 + ], + [ + 0.04130151867866516, + 0.06076989504505643, + 0.9972969637672159, + 0.5103181600570679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987382888793948, + 0.01927032151251432, + -0.04637363268523385, + 0.06710069626569748 + ], + [ + -0.02212438359856606, + 0.9978408152170046, + -0.06184023241323643, + -0.1370459794998169 + ], + [ + 0.04508182406425477, + 0.06278819256484085, + 0.9970081461883648, + 0.534497082233429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985052943229675, + 0.020903460638161918, + -0.05049950946490334, + 0.0694136917591095 + ], + [ + -0.024098118767142296, + 0.9976906070005889, + -0.06350388398744244, + -0.14487244188785553 + ], + [ + 0.04905543848872185, + 0.06462591026539041, + 0.9967031062429698, + 0.5568401217460632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9982303380966187, + 0.023550113954133714, + -0.05460344585841768, + 0.0722988173365593 + ], + [ + -0.027118520811200142, + 0.9974800876201254, + -0.06555923791117328, + -0.14993655681610107 + ], + [ + 0.052921924740076065, + 0.06692398848838026, + 0.9963535839311192, + 0.586819589138031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979203939437866, + 0.02604752705635443, + -0.05896072982026763, + 0.07277791202068329 + ], + [ + -0.03001503273844719, + 0.9972719208930159, + -0.06743717778173143, + -0.15412038564682007 + ], + [ + 0.05704331025481224, + 0.06906664279221277, + 0.9959798669800186, + 0.6181150674819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975698590278625, + 0.02908023757777278, + -0.06331459796840908, + 0.07354079931974411 + ], + [ + -0.0334443524479866, + 0.9970561778642577, + -0.06899587983416997, + -0.15707893669605255 + ], + [ + 0.06112179532647133, + 0.0709457289355872, + 0.9956057784511774, + 0.6496729254722595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9972313046455383, + 0.031410385039669385, + -0.06740225916241682, + 0.07371770590543747 + ], + [ + -0.036126427352428436, + 0.9968975023308754, + -0.0699304737868789, + -0.1624729335308075 + ], + [ + 0.06499660760164261, + 0.07217185800379693, + 0.9952721584260407, + 0.6760969758033752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996880054473877, + 0.03406641613576267, + -0.0712016951947402, + 0.07341931015253067 + ], + [ + -0.03916091471910477, + 0.9966769667853993, + -0.07142419494548698, + -0.1649850457906723 + ], + [ + 0.06853192299604416, + 0.07398967980522032, + 0.9949014296170168, + 0.6972318291664124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996554970741272, + 0.03602136979111672, + -0.07470405856616187, + 0.07040812075138092 + ], + [ + -0.0414595790207386, + 0.9965011054797088, + -0.07257187025428462, + -0.16635465621948242 + ], + [ + 0.07182854413986206, + 0.07541905145486905, + 0.994561541703892, + 0.7153209447860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961864948272705, + 0.03796018740288597, + -0.07855880824461536, + 0.0740055963397026 + ], + [ + -0.04378388449549675, + 0.996312312202559, + -0.07378814405976493, + -0.16787941753864288 + ], + [ + 0.07546810060739517, + 0.07694636539394319, + 0.994174965738226, + 0.7420604825019836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995887041091919, + 0.039319462638152516, + -0.08162673099796906, + 0.07287690043449402 + ], + [ + -0.04545895755290985, + 0.9961639650211134, + -0.07477154321283766, + -0.1683085709810257 + ], + [ + 0.07837364077568054, + 0.07817467662151792, + 0.993854242429192, + 0.7691407799720764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.99561083316803, + 0.040972921169727734, + -0.08414445978068597, + 0.0709199383854866 + ], + [ + -0.047402102500200285, + 0.9959890857382545, + -0.07588695805187967, + -0.1683942973613739 + ], + [ + 0.08069764822721483, + 0.07954250466169616, + 0.9935597313022493, + 0.7909477353096008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9952739477157593, + 0.04235405025835332, + -0.08738338529081333, + 0.07385289669036865 + ], + [ + -0.0491487979888916, + 0.9958087805921101, + -0.0771311471752153, + -0.16800661385059357 + ], + [ + 0.08375032991170883, + 0.08106141516782502, + 0.9931842341293765, + 0.8174052834510803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995029091835022, + 0.04348839581936007, + -0.08958748826367414, + 0.0714811384677887 + ], + [ + -0.050564780831336975, + 0.9956470298442877, + -0.0782959003425587, + -0.16951480507850647 + ], + [ + 0.08579254895448685, + 0.0824366656843593, + 0.9928966911649004, + 0.8376771807670593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9947963953018188, + 0.04419117520495908, + -0.09180038064192249, + 0.07082971185445786 + ], + [ + -0.05155248939990997, + 0.99550660863864, + -0.07942914336297284, + -0.16980305314064026 + ], + [ + 0.08787781745195389, + 0.08374835967329057, + 0.9926044985517425, + 0.8566818833351135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945838451385498, + 0.04524661280321394, + -0.09357218271927943, + 0.07080356031656265 + ], + [ + -0.052854835987091064, + 0.9953525089033834, + -0.0804965475325816, + -0.17085255682468414 + ], + [ + 0.08949511498212814, + 0.08500630861363406, + 0.9923530337996006, + 0.8822411894798279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942858815193176, + 0.044137241750129716, + -0.09719837322606548, + 0.08188579976558685 + ], + [ + -0.05211786925792694, + 0.9953375199418661, + -0.08115989777967716, + -0.17407503724098206 + ], + [ + 0.09316302090883255, + 0.08576191414316293, + 0.9919503733424183, + 0.9157395362854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941210746765139, + 0.045858391204544914, + -0.09808312330801745, + 0.07453989237546921 + ], + [ + -0.05403901264071466, + 0.9951296061367866, + -0.0824431471440555, + -0.17464807629585266 + ], + [ + 0.09382470697164538, + 0.08725878173544303, + 0.9917574302974276, + 0.9289947152137756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9939770102500916, + 0.04543667717201565, + -0.09972553659692553, + 0.07486782968044281 + ], + [ + -0.05387471988797188, + 0.9950404017957322, + -0.083618525486329, + -0.17889899015426636 + ], + [ + 0.09543158859014511, + 0.08848758077461079, + 0.9914952376662302, + 0.9530528783798218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9938107132911682, + 0.0466095232231647, + -0.10083545216490941, + 0.06916491687297821 + ], + [ + -0.055279895663261414, + 0.9948485721557843, + -0.0849734675256061, + -0.182663694024086 + ], + [ + 0.09635543823242188, + 0.0900217151798151, + 0.9912677207916677, + 0.9670724868774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9937553405761719, + 0.0458452057772071, + -0.1017277474294024, + 0.07360483705997467 + ], + [ + -0.05466962233185768, + 0.9948178173055824, + -0.08572488118704027, + -0.19068002700805664 + ], + [ + 0.09727050364017487, + 0.09075097312676081, + 0.991111830604865, + 0.9938499331474304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937433004379272, + 0.04573402885342959, + -0.10189525777657905, + 0.07176998257637024 + ], + [ + -0.0546448640525341, + 0.9947565126830921, + -0.08644899767652868, + -0.1986122578382492 + ], + [ + 0.09740731120109558, + 0.09147616200144912, + 0.9910317490217327, + 1.008057713508606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9936092495918274, + 0.0453119488188988, + -0.10338002184104127, + 0.07655530422925949 + ], + [ + -0.05446717515587807, + 0.9946719889976002, + -0.08752722410692658, + -0.204254150390625 + ], + [ + 0.09886317700147629, + 0.09259867715193809, + 0.9907832996271745, + 1.0334086418151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9934709072113039, + 0.044530610816140875, + -0.10503604216942568, + 0.08309309184551239 + ], + [ + -0.05396375805139543, + 0.9945912575469334, + -0.08874730722407725, + -0.2063247710466385 + ], + [ + 0.10051596164703372, + 0.09383600626553086, + 0.9905005487617895, + 1.0545014142990112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9935107827186587, + 0.04373709160441675, + -0.10499216778840678, + 0.08448261767625809 + ], + [ + -0.05329246446490289, + 0.9945147838133434, + -0.09000152699570245, + -0.212349072098732 + ], + [ + 0.10047986358404162, + 0.0950127832280621, + 0.9903920284764471, + 1.0818454027175903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935524463653564, + 0.043652524563341275, + -0.10463259131256764, + 0.0846405029296875 + ], + [ + -0.053322337567806244, + 0.9943786218672357, + -0.09147631540144349, + -0.21730796992778778 + ], + [ + 0.10005123913288116, + 0.09646576773474325, + 0.9902949786590384, + 1.1113868951797485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9935867786407471, + 0.043119280430504954, + -0.10452797386965851, + 0.08686169981956482 + ], + [ + -0.05287175253033638, + 0.994317208169828, + -0.09240039501185945, + -0.2224653661251068 + ], + [ + 0.09994973242282867, + 0.0973343869132653, + 0.9902202196009962, + 1.1361624002456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9935994744300842, + 0.04285122482400285, + -0.10451703710971066, + 0.09036635607481003 + ], + [ + -0.052760183811187744, + 0.9941766625289797, + -0.09396370181425427, + -0.2260599434375763 + ], + [ + 0.09988193213939667, + 0.09887661964536619, + 0.9900742236539811, + 1.1659711599349976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9935818910598755, + 0.042614410554068685, + -0.10478088719439074, + 0.09206686913967133 + ], + [ + -0.052687227725982666, + 0.9940509654324581, + -0.09532447951901038, + -0.22811259329319 + ], + [ + 0.10009534657001495, + 0.10023329109322943, + 0.9899162710330507, + 1.1890132427215576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9935597181320193, + 0.04213745992214988, + -0.10518341941944538, + 0.09507430344820023 + ], + [ + -0.052363969385623946, + 0.9939605771546354, + -0.09643872178091384, + -0.23006196320056915 + ], + [ + 0.10048449039459231, + 0.10132544670208485, + 0.9897656196434905, + 1.212133526802063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993537425994873, + 0.04190290162358835, + -0.10548736909383748, + 0.09615301340818405 + ], + [ + -0.052275508642196655, + 0.9938549166952534, + -0.09756872375977993, + -0.2311616986989975 + ], + [ + 0.10075072944164276, + 0.1024525763909233, + 0.9896225060004628, + 1.2305383682250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9935275912284851, + 0.042049102919243485, + -0.10552128277875451, + 0.09817158430814743 + ], + [ + -0.05256624519824982, + 0.9937026402590088, + -0.09895361648666545, + -0.23103871941566467 + ], + [ + 0.10069587081670761, + 0.10386000747130542, + 0.989481393531127, + 1.2521753311157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9935167431831362, + 0.04210219714826788, + -0.10560245183894523, + 0.10122676193714142 + ], + [ + -0.0527734011411667, + 0.9935483141265528, + -0.10038302630191415, + -0.23089724779129028 + ], + [ + 0.10069478303194049, + 0.10530521485042481, + 0.9893287655911157, + 1.2751091718673706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9934893846511841, + 0.04238061183734407, + -0.10574850005696776, + 0.10408520698547363 + ], + [ + -0.05320417508482933, + 0.9933887239669428, + -0.10172590622555797, + -0.2324981838464737 + ], + [ + 0.10073816031217575, + 0.10668987220084787, + 0.9891759809518312, + 1.2976222038269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.993451774120331, + 0.0422868350500873, + -0.10613841927967815, + 0.10833510756492615 + ], + [ + -0.05330852046608926, + 0.9932256086357011, + -0.10325270450526355, + -0.23290222883224487 + ], + [ + 0.10105316340923312, + 0.1082346668863605, + 0.9889759872276103, + 1.3229337930679321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9934192299842834, + 0.04244600712687396, + -0.10637912457341563, + 0.11374779045581818 + ], + [ + -0.05362820625305176, + 0.9930712188998418, + -0.10456357598437414, + -0.23532190918922424 + ], + [ + 0.10120373964309692, + 0.10958039185092495, + 0.9888123860832136, + 1.349088191986084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9933942556381226, + 0.04256247540161103, + -0.10656575459021658, + 0.11882618069648743 + ], + [ + -0.05391266942024231, + 0.9929034114166907, + -0.10600135351162976, + -0.23679757118225098 + ], + [ + 0.10129782557487488, + 0.11104638258472686, + 0.988639216724934, + 1.3730560541152954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9933494329452515, + 0.043056502545232654, + -0.10678487509109463, + 0.12386736273765564 + ], + [ + -0.05455721169710159, + 0.9927361722090449, + -0.107230850750934, + -0.24063362181186676 + ], + [ + 0.1013922169804573, + 0.11234358738386738, + 0.9884829389741773, + 1.3949401378631592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932849407196045, + 0.043238308837056, + -0.10731041036313738, + 0.12918072938919067 + ], + [ + -0.05496644973754883, + 0.992536302045472, + -0.10885943729114325, + -0.24447979032993317 + ], + [ + 0.10180258005857468, + 0.1140269128211066, + 0.98824802366339, + 1.4170817136764526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9932062029838562, + 0.043583298594532124, + -0.1078978186517692, + 0.13450504839420319 + ], + [ + -0.05555019527673721, + 0.9923209905081282, + -0.11051361088656139, + -0.2501409947872162 + ], + [ + 0.10225272178649902, + 0.11575655093078922, + 0.9880004231203425, + 1.4455851316452026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9931459426879883, + 0.043567851810093525, + -0.10845750116398326, + 0.13826434314250946 + ], + [ + -0.05577006936073303, + 0.9921255054748849, + -0.11214570075023596, + -0.2541849613189697 + ], + [ + 0.10271751135587692, + 0.11742573065918605, + 0.987755205659022, + 1.4720470905303955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.993078351020813, + 0.0434156208545199, + -0.10913538380914858, + 0.1423759162425995 + ], + [ + -0.05584421008825302, + 0.9919629970484708, + -0.1135377428133186, + -0.2599090337753296 + ], + [ + 0.10332895815372467, + 0.11884644874093032, + 0.9875214541230319, + 1.4920158386230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9930216670036316, + 0.04321984399194078, + -0.10972716958370603, + 0.14758631587028503 + ], + [ + -0.05589934065937996, + 0.9917630962654076, + -0.11524407651574346, + -0.265959769487381 + ], + [ + 0.10384252667427063, + 0.12057353714810512, + 0.9872582042883573, + 1.5159271955490112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9929481744766235, + 0.04391363708176641, + -0.11011580716429985, + 0.151600643992424 + ], + [ + -0.05684170126914978, + 0.9914850241981269, + -0.11715986013292187, + -0.2708657681941986 + ], + [ + 0.10403325408697128, + 0.12259284314039956, + 0.9869894122065761, + 1.5431513786315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928690791130066, + 0.044118464072553015, + -0.11074544452558446, + 0.1565379947423935 + ], + [ + -0.0573040209710598, + 0.991256619075139, + -0.11885521707425235, + -0.2772789001464844 + ], + [ + 0.10453344881534576, + 0.12435382890220618, + 0.9867162068739064, + 1.5735336542129517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928043484687805, + 0.044296510949735295, + -0.11125336332665597, + 0.15860912203788757 + ], + [ + -0.057733550667762756, + 0.9910184118091315, + -0.12062074387044866, + -0.28304070234298706 + ], + [ + 0.10491105169057846, + 0.12617585258160344, + 0.9864447871113133, + 1.6026612520217896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9926964640617371, + 0.04471246684952154, + -0.11204682327375313, + 0.16132429242134094 + ], + [ + -0.058432359248399734, + 0.9907688000939039, + -0.12232282785007723, + -0.28722113370895386 + ], + [ + 0.10554314404726028, + 0.12797659909996692, + 0.9861453636625955, + 1.6240131855010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925880432128906, + 0.0451179517340694, + -0.11284226455667035, + 0.1644982099533081 + ], + [ + -0.05914818122982979, + 0.990485990425098, + -0.12425377451851828, + -0.29109352827072144 + ], + [ + 0.10616260766983032, + 0.13000721908136856, + 0.9858131659303057, + 1.646033525466919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9924802184104922, + 0.0454741433724018, + -0.11364478870428019, + 0.1665574461221695 + ], + [ + -0.05983088165521623, + 0.9901864124495757, + -0.1262978028554711, + -0.2918578088283539 + ], + [ + 0.10678624361753467, + 0.13214753373878046, + 0.9854611751653848, + 1.6688311100006104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9923542737960818, + 0.04547344284412962, + -0.11473948009808037, + 0.16837209463119507 + ], + [ + -0.06019476801156999, + 0.9899081454060987, + -0.12829066916146317, + -0.29382315278053284 + ], + [ + 0.1077477186918259, + 0.13421651229775913, + 0.9850768525750083, + 1.6922814846038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9922062754631042, + 0.04534262918819032, + -0.1160635098131883, + 0.17045429348945618 + ], + [ + -0.060452621430158615, + 0.9896467195866657, + -0.13017258190776798, + -0.2957051694393158 + ], + [ + 0.10895949602127075, + 0.13617439568911233, + 0.9846747493999854, + 1.7147574424743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9920512437820435, + 0.04532084334243483, + -0.11738982674867982, + 0.17130285501480103 + ], + [ + -0.06084806099534035, + 0.9893451182423441, + -0.1322638952966665, + -0.29528334736824036 + ], + [ + 0.11014474183320999, + 0.13835550462728607, + 0.9842387578262154, + 1.7402452230453491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9919201731681824, + 0.04566807858529993, + -0.11835899970473474, + 0.17131811380386353 + ], + [ + -0.06155562028288841, + 0.9890322097081592, + -0.1342615369760817, + -0.29473307728767395 + ], + [ + 0.11092939227819443, + 0.14046238455025972, + 0.9838521262510693, + 1.7620388269424438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9917188286781311, + 0.04548972768680822, + -0.12010187137856618, + 0.17536699771881104 + ], + [ + -0.06184430792927742, + 0.9887535454373257, + -0.13616804592461823, + -0.2963918447494507 + ], + [ + 0.11255689710378647, + 0.142468028772919, + 0.9833787971136264, + 1.7900599241256714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915585517883303, + 0.04539380418996117, + -0.12145384646389175, + 0.1756380945444107 + ], + [ + -0.06215563789010049, + 0.988480631527344, + -0.137995298157024, + -0.2984146177768707 + ], + [ + 0.11379064619541171, + 0.1443794570676162, + 0.982957900857308, + 1.813180923461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9913847446441653, + 0.045300530170863065, + -0.12289884089126664, + 0.17665638029575348 + ], + [ + -0.06248658522963525, + 0.9882052429174705, + -0.1398062742257282, + -0.3014122247695923 + ], + [ + 0.11511598527431491, + 0.14628133630777837, + 0.9825223073506556, + 1.8363631963729858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9912753105163574, + 0.04476335027829112, + -0.12397380656129388, + 0.1784420907497406 + ], + [ + -0.06231111288070679, + 0.9879751372112694, + -0.14150078533774843, + -0.3020624816417694 + ], + [ + 0.11614898592233658, + 0.14799117859167218, + 0.982144612228977, + 1.8579559326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9911148548126221, + 0.04473848167974784, + -0.12525909476912284, + 0.18074941635131836 + ], + [ + -0.0626719743013382, + 0.987720275226041, + -0.1431115137082126, + -0.30515825748443604 + ], + [ + 0.11731836199760437, + 0.14969017485678887, + 0.9817480357730153, + 1.8792160749435425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9909466505050661, + 0.04454267282003561, + -0.1266516763859941, + 0.18231303989887238 + ], + [ + -0.0628713145852089, + 0.9874873428080223, + -0.1446233979856543, + -0.30948886275291443 + ], + [ + 0.11862501502037051, + 0.15127682973141277, + 0.9813477577483003, + 1.901930332183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.990804135799408, + 0.0445505560981615, + -0.12775919023438673, + 0.1846565455198288 + ], + [ + -0.06325745582580566, + 0.9872113262234828, + -0.1463294665060003, + -0.31515267491340637 + ], + [ + 0.11960625648498535, + 0.15306555754181453, + 0.980951223229575, + 1.924636960029602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9907782673835754, + 0.04455835128096021, + -0.1279570752043311, + 0.18529953062534332 + ], + [ + -0.06350911408662796, + 0.986934806539785, + -0.14807513173272988, + -0.32271143794059753 + ], + [ + 0.11968730390071869, + 0.1548360606121015, + 0.9806634205077174, + 1.952830195426941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907132983207705, + 0.04462681945672883, + -0.12843529595818368, + 0.18579018115997314 + ], + [ + -0.06386278569698335, + 0.986652928043994, + -0.1497915956022077, + -0.3306446373462677 + ], + [ + 0.12003634124994281, + 0.15660275882810906, + 0.9803401545147572, + 1.9821538925170898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9905835390090945, + 0.044353099862605445, + -0.12952607831656007, + 0.18758368492126465 + ], + [ + -0.0639709383249283, + 0.9863899105308761, + -0.15146844983536428, + -0.3363960087299347 + ], + [ + 0.12104511260986331, + 0.1583280633640567, + 0.9799389362786738, + 2.006002187728882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9904260635375977, + 0.04411017470870394, + -0.13080734560559834, + 0.18896545469760895 + ], + [ + -0.0641416609287262, + 0.9861234839639734, + -0.15312207991020232, + -0.3415833115577698 + ], + [ + 0.12223795056343079, + 0.1600462951527991, + 0.9795116779125388, + 2.0258820056915283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9903060197830202, + 0.043906207238721635, + -0.13178120102936194, + 0.19028586149215698 + ], + [ + -0.06430143117904664, + 0.9858593601139687, + -0.15474702347802258, + -0.3466446101665497 + ], + [ + 0.12312337756156924, + 0.16172062529106987, + 0.9791256771957835, + 2.0440919399261475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9901747703552246, + 0.04413202948484365, + -0.13268887407158952, + 0.19311504065990448 + ], + [ + -0.06489454954862595, + 0.9855473879759664, + -0.15647684445611101, + -0.35486382246017456 + ], + [ + 0.1238655298948288, + 0.16355020106060117, + 0.9787280716216221, + 2.068341016769409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9901654124259949, + 0.044634061008659916, + -0.1325907745397165, + 0.19386011362075806 + ], + [ + -0.06566489487886429, + 0.9851329719462651, + -0.15874873995873703, + -0.3632994592189789 + ], + [ + 0.1235339492559433, + 0.16589406593098188, + 0.9783754472404557, + 2.1010220050811768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9902629256248474, + 0.044935861473183535, + -0.13175780845765617, + 0.1914517730474472 + ], + [ + -0.0661093145608902, + 0.9847344630448729, + -0.16102050527283207, + -0.37222325801849365 + ], + [ + 0.1225108653306961, + 0.1681630546592532, + 0.9781167208479169, + 2.135103225708008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902763962745669, + 0.045024889058389084, + -0.13162608618932767, + 0.19129885733127594 + ], + [ + -0.06645040959119798, + 0.9843492471472907, + -0.163220338101613, + -0.37646371126174927 + ], + [ + 0.12221705913543704, + 0.17037985408667586, + 0.977769759038439, + 2.1578474044799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9902167916297913, + 0.04465276160310798, + -0.132199849595343, + 0.19327694177627563 + ], + [ + -0.06646739691495895, + 0.9839657538732219, + -0.16550960738511816, + -0.3795700967311859 + ], + [ + 0.12268966436386108, + 0.17267737557802545, + 0.9773074089017662, + 2.17822527885437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9901617765426636, + 0.043838762331554246, + -0.13288261409916635, + 0.1963244378566742 + ], + [ + -0.06609850376844406, + 0.9835609772060304, + -0.1680439058319084, + -0.3802831768989563 + ], + [ + 0.12333131581544876, + 0.17517399616269433, + 0.976782170685931, + 2.194075345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9901617765426638, + 0.043179924941362184, + -0.1330981303522095, + 0.1989990472793579 + ], + [ + -0.06584563106298448, + 0.9830832480268986, + -0.17091428626815658, + -0.38362130522727966 + ], + [ + 0.12346646934747699, + 0.17799672464770114, + 0.9762546883845503, + 2.2171709537506104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901829361915588, + 0.04259547769820461, + -0.133128976909573, + 0.20115137100219727 + ], + [ + -0.06563419103622437, + 0.9825940032199016, + -0.17378479880591394, + -0.38726121187210083 + ], + [ + 0.12340929359197617, + 0.1808165631006512, + 0.9757435726427891, + 2.2418320178985596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9902186393737795, + 0.0418234917826975, + -0.1331083497968357, + 0.20346683263778687 + ], + [ + -0.06527245044708253, + 0.9820421945177059, + -0.17701039225945733, + -0.39056214690208435 + ], + [ + 0.1233148202300072, + 0.18396729739690182, + 0.9751664108320998, + 2.26326584815979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902453422546387, + 0.040183637609813215, + -0.13341442019508795, + 0.20554691553115845 + ], + [ + -0.0641215369105339, + 0.9815188233893043, + -0.1803033033391604, + -0.3934527039527893 + ], + [ + 0.12370351701974869, + 0.18709924850003026, + 0.9745210867969648, + 2.2872095108032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9901752471923828, + 0.03884131341311473, + -0.13432933224872276, + 0.20841920375823975 + ], + [ + -0.06343141198158264, + 0.9808876671238262, + -0.18394530799033176, + -0.39628711342811584 + ], + [ + 0.12461730092763901, + 0.1906587802236798, + 0.9737143866500415, + 2.3162689208984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9900884628295898, + 0.0374365603344454, + -0.13536378214469832, + 0.21176932752132416 + ], + [ + -0.06270050257444382, + 0.9802603442830607, + -0.18750559678060982, + -0.40185070037841797 + ], + [ + 0.12567219138145447, + 0.1941345109055139, + 0.9728917425021297, + 2.3381738662719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9899861812591553, + 0.03588114542395127, + -0.13652792524753973, + 0.21439680457115173 + ], + [ + -0.061909448355436325, + 0.9795419580922419, + -0.1914803199397652, + -0.4049588739871979 + ], + [ + 0.12686429917812347, + 0.1980152495726451, + 0.9719544247294091, + 2.356189489364624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9894693493843081, + 0.03511518391370847, + -0.1404185034767503, + 0.2183028906583786 + ], + [ + -0.0624096989631653, + 0.978816272105093, + -0.19499688346494984, + -0.41242653131484985 + ], + [ + 0.13059656322002414, + 0.20170690438127017, + 0.9707001732130496, + 2.378558397293091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9887272119522097, + 0.03525098067949696, + -0.1455192026433752, + 0.2209877073764801 + ], + [ + -0.06403107196092607, + 0.9780832335206828, + -0.1981241552245798, + -0.418954998254776 + ], + [ + 0.13534583151340487, + 0.2052084895101009, + 0.9693146769438336, + 2.405810594558716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879276752471924, + 0.0351268699775707, + -0.1508807429997492, + 0.22302114963531494 + ], + [ + -0.06544817984104156, + 0.9774053567729019, + -0.20098576464501947, + -0.4261404871940613 + ], + [ + 0.1404116451740265, + 0.20843427027880945, + 0.9679047907076211, + 2.4314913749694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9870764613151553, + 0.03493404548484569, + -0.15639572012518746, + 0.22751161456108093 + ], + [ + -0.06680734455585481, + 0.9768012069807371, + -0.20346046590864558, + -0.43346884846687317 + ], + [ + 0.14565981924533847, + 0.21127942394579752, + 0.9665113480590594, + 2.458634376525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9862220883369448, + 0.034675028522107645, + -0.16175184777193774, + 0.2307860255241394 + ], + [ + -0.06803636997938158, + 0.9762810070610469, + -0.20553951699572937, + -0.44142401218414307 + ], + [ + 0.1507881730794907, + 0.21371261052714988, + 0.9651890157757489, + 2.4874775409698486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9854267239570618, + 0.035018870857036394, + -0.1664568676413429, + 0.22961892187595367 + ], + [ + -0.06978537887334824, + 0.9756634285871087, + -0.20787214807829682, + -0.4483893811702728 + ], + [ + 0.1551264226436615, + 0.21645901739890738, + 0.9638886016775694, + 2.518907070159912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9845678210258484, + 0.034917779008299, + -0.1714846917562774, + 0.23227980732917786 + ], + [ + -0.07116874307394028, + 0.9750944673772675, + -0.21006146285714278, + -0.45568907260894775 + ], + [ + 0.1598788946866989, + 0.2190241002580457, + 0.9625316266730655, + 2.551299810409546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9837079644203188, + 0.035048214289070984, + -0.1763243919298817, + 0.23190416395664215 + ], + [ + -0.07271014899015428, + 0.9745763362562153, + -0.21192981608199932, + -0.4624689519405365 + ], + [ + 0.16441380977630618, + 0.22129760619267475, + 0.9612468071329768, + 2.5818064212799072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9829868078231814, + 0.03504414704430834, + -0.18030195962978204, + 0.23257674276828766 + ], + [ + -0.07392840087413789, + 0.9740933399780459, + -0.21372133527447312, + -0.46698570251464844 + ], + [ + 0.1681412607431412, + 0.2234146879149918, + 0.9601116833722039, + 2.6015138626098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9822716116905212, + 0.035229489299903806, + -0.18412312684130386, + 0.23155944049358368 + ], + [ + -0.07530439645051956, + 0.9736065172646797, + -0.2154520870212525, + -0.47090569138526917 + ], + [ + 0.17167320847511292, + 0.22549774244726845, + 0.958998974266874, + 2.6195974349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.981427311897278, + 0.03476327465684394, + -0.1886583197349403, + 0.23178941011428833 + ], + [ + -0.07624726742506029, + 0.9731139537849651, + -0.21733746546199195, + -0.4728037118911743 + ], + [ + 0.17603069543838504, + 0.22768560383192457, + 0.9576912170143046, + 2.642474412918091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807051420211792, + 0.03431499863489879, + -0.1924574494767334, + 0.23009881377220154 + ], + [ + -0.07698187232017517, + 0.9727190024132905, + -0.2188414639640222, + -0.4755118787288666 + ], + [ + 0.17969746887683868, + 0.22943468420662708, + 0.956592157725618, + 2.666901111602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9800416827201843, + 0.03390202978281429, + -0.1958799810891431, + 0.22723305225372314 + ], + [ + -0.07769296318292618, + 0.9723019357069181, + -0.22043769346726985, + -0.4767349660396576 + ], + [ + 0.1829811930656433, + 0.23125661946403145, + 0.9555303765293652, + 2.692185163497925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9793908596038818, + 0.0334876582742292, + -0.19917869417570996, + 0.22458747029304504 + ], + [ + -0.07838138937950134, + 0.9718887703026435, + -0.22201041340033745, + -0.4784906804561615 + ], + [ + 0.18614491820335388, + 0.23304685519485868, + 0.9544837362529163, + 2.7166550159454346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9787302613258362, + 0.0329821434017826, + -0.20248287071119986, + 0.22210220992565155 + ], + [ + -0.07894695550203323, + 0.9715360991052971, + -0.22334942264574809, + -0.4803415536880493 + ], + [ + 0.1893528699874878, + 0.23458423574203377, + 0.9534756340518087, + 2.7430315017700195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9781017303466799, + 0.03208214184242928, + -0.20563986466677758, + 0.21838055551052094 + ], + [ + -0.07910254597663881, + 0.9712067147633334, + -0.2247227180646553, + -0.48138362169265747 + ], + [ + 0.19250921905040747, + 0.2360683207168025, + 0.9524767484637366, + 2.76874041557312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9774330258369448, + 0.030972305994915923, + -0.20896273536051052, + 0.2166198343038559 + ], + [ + -0.07907367497682573, + 0.9709216052039664, + -0.22596153639931618, + -0.4834441840648651 + ], + [ + 0.1958878934383393, + 0.23738570843512033, + 0.9514599184453588, + 2.791365385055542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9768335819244385, + 0.03001404606336561, + -0.2118851876729039, + 0.21307064592838287 + ], + [ + -0.07907991856336594, + 0.9706605928520224, + -0.22707801150316093, + -0.4858551323413849 + ], + [ + 0.19885307550430298, + 0.2385732775792714, + 0.9505473243800735, + 2.8139820098876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9761892557144167, + 0.02895754634397966, + -0.21497894770433446, + 0.21010401844978333 + ], + [ + -0.07910490781068803, + 0.97032425912377, + -0.2285021606606175, + -0.48698660731315613 + ], + [ + 0.2019824236631394, + 0.24006724159900278, + 0.9495108156055017, + 2.8353588581085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9755355715751648, + 0.02771544803647329, + -0.2180875879703365, + 0.20628689229488373 + ], + [ + -0.07898080348968506, + 0.9699748484096711, + -0.23002361707473734, + -0.4918223023414612 + ], + [ + 0.20516426861286163, + 0.2416209502330089, + 0.9484339183827842, + 2.8615097999572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9749405980110171, + 0.026886976737409616, + -0.2208345201952244, + 0.19987577199935913 + ], + [ + -0.07913570106029512, + 0.9696559381021221, + -0.23131119461976296, + -0.4986318349838257 + ], + [ + 0.20791424810886389, + 0.24299058034470708, + 0.9474847183704154, + 2.895617723464966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9744240641593935, + 0.025994815760592187, + -0.22320847597548685, + 0.1942530870437622 + ], + [ + -0.07909855246543886, + 0.9693958198961196, + -0.2324117314217979, + -0.5065174102783203 + ], + [ + 0.21033586561679846, + 0.24412303785540454, + 0.9466587183323278, + 2.926750659942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9739124774932861, + 0.02475564645242888, + -0.22556953546500733, + 0.19080966711044312 + ], + [ + -0.07869853079319, + 0.9691858372340146, + -0.2334209733019384, + -0.5128702521324158 + ], + [ + 0.21284030377864838, + 0.245083595892801, + 0.9458504445436686, + 2.95116925239563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9732562899589539, + 0.023341559786085663, + -0.22853313948542525, + 0.1852531135082245 + ], + [ + -0.07834260910749435, + 0.968911245063347, + -0.23467729007415772, + -0.518166184425354 + ], + [ + 0.215950608253479, + 0.24630503284324173, + 0.9448276030279769, + 2.973803997039795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9725654125213625, + 0.022055378305573275, + -0.23158179640255236, + 0.18175701797008514 + ], + [ + -0.07813214510679246, + 0.9686367507621367, + -0.2358776574938174, + -0.5230071544647217 + ], + [ + 0.21911627054214483, + 0.24750043262089652, + 0.9437858084919548, + 2.9957966804504395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9720572233200073, + 0.02116095015977443, + -0.23378842332672717, + 0.1767697036266327 + ], + [ + -0.07807713001966476, + 0.968371412525952, + -0.23698254234858157, + -0.5276845693588257 + ], + [ + 0.22137926518917084, + 0.2486141203956454, + 0.9429645875954786, + 3.022843837738037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9715197682380676, + 0.020388487801870366, + -0.23607964953913338, + 0.17158247530460358 + ], + [ + -0.078162781894207, + 0.9681029322253792, + -0.23804905502375961, + -0.5322170257568359 + ], + [ + 0.22369594871997833, + 0.24972199883440424, + 0.9421247317339796, + 3.0497078895568848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9709612727165222, + 0.019357004338886683, + -0.23845243660253415, + 0.16778068244457245 + ], + [ + -0.07798706740140915, + 0.9678859620292843, + -0.23898707716967507, + -0.5362734794616699 + ], + [ + 0.2261686772108078, + 0.2506433917395018, + 0.9412893706067393, + 3.0756919384002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9703885912895205, + 0.01847500221959144, + -0.2408416223853094, + 0.16413834691047668 + ], + [ + -0.07792828232049943, + 0.967701321874532, + -0.23975272020046845, + -0.54071044921875 + ], + [ + 0.22863332927227026, + 0.25142167462481163, + 0.9404859979166471, + 3.100410223007202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9698001742362976, + 0.017387859234678154, + -0.24328027641465547, + 0.15943598747253418 + ], + [ + -0.07773470878601074, + 0.9674742476236113, + -0.24072987381351513, + -0.5426737666130066 + ], + [ + 0.23118162155151367, + 0.2523711967985619, + 0.9396083331156109, + 3.124173641204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9692011475563049, + 0.016481154284681204, + -0.24571829464148975, + 0.15534549951553345 + ], + [ + -0.07768621295690536, + 0.9672752448132789, + -0.24154390553776595, + -0.5452781319618225 + ], + [ + 0.23369631171226501, + 0.25319356183663666, + 0.9387646603879114, + 3.147465229034424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9687143564224243, + 0.015667192192416104, + -0.24768328577405307, + 0.1514352560043335 + ], + [ + -0.07760753482580185, + 0.9670777971208853, + -0.24235847216848125, + -0.5465380549430847 + ], + [ + 0.23573192954063416, + 0.2539982242673251, + 0.9380380396049238, + 3.171132802963257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9681652784347534, + 0.014941351254730029, + -0.24986549353263293, + 0.14892810583114624 + ], + [ + -0.07771814614534378, + 0.9668263808457951, + -0.24332419369007907, + -0.5469090342521667 + ], + [ + 0.2379409670829773, + 0.2549971096061854, + 0.9372089144075765, + 3.1932692527770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9675872921943665, + 0.014099899637761426, + -0.25214286480021675, + 0.1456974595785141 + ], + [ + -0.0776672288775444, + 0.9666630143838056, + -0.24398853602937545, + -0.5477164387702942 + ], + [ + 0.24029697477817535, + 0.25566343650811035, + 0.9364259361327886, + 3.2198166847229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.967101514339447, + 0.013287823483901657, + -0.25404342992146695, + 0.14199799299240112 + ], + [ + -0.07759416848421097, + 0.9664541867292825, + -0.2448375352465503, + -0.5472844243049622 + ], + [ + 0.24226799607276917, + 0.25649503770049875, + 0.9356903746401322, + 3.247213363647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9665634632110596, + 0.012547129895097065, + -0.25612047538945615, + 0.1385962814092636 + ], + [ + -0.07766281068325043, + 0.9662159005634811, + -0.24575467445627983, + -0.5477268695831299 + ], + [ + 0.24438415467739105, + 0.2574285062421942, + 0.9348833748016377, + 3.276353120803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9661402702331545, + 0.012033783583505252, + -0.257736552284398, + 0.13360626995563507 + ], + [ + -0.0777852386236191, + 0.9660216008549415, + -0.2464786493801583, + -0.5497037768363953 + ], + [ + 0.2460130006074906, + 0.25818105160378746, + 0.9342484411004076, + 3.309363842010498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.965792775154114, + 0.011303752240036085, + -0.25906869863570225, + 0.13356706500053406 + ], + [ + -0.07760594040155412, + 0.9658599268541339, + -0.2471676957851174, + -0.5530457496643066 + ], + [ + 0.24743016064167028, + 0.25881803941077586, + 0.9336977597240331, + 3.335237979888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9654126167297363, + 0.010500392201247726, + -0.26051541303076925, + 0.1329692155122757 + ], + [ + -0.07743817567825317, + 0.9656479643442024, + -0.24804715498823515, + -0.5567901134490967 + ], + [ + 0.24896156787872314, + 0.2596416763381099, + 0.9330617807964201, + 3.360527276992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9649420976638794, + 0.009680460193183239, + -0.2622843313823839, + 0.12835809588432312 + ], + [ + -0.07726442068815231, + 0.9655145842056743, + -0.24861974769954692, + -0.5662592649459839 + ], + [ + 0.25083258748054504, + 0.26016890684828786, + 0.9324135949894244, + 3.3955254554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9645523428916931, + 0.009295512638555076, + -0.2637279200639564, + 0.12624940276145935 + ], + [ + -0.07742083072662354, + 0.9653702716779411, + -0.24913111491377915, + -0.5727143287658691 + ], + [ + 0.25227928161621094, + 0.260718023657722, + 0.9318697655146698, + 3.42537522315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9642266631126404, + 0.008503070092829015, + -0.26494270699389677, + 0.12726791203022003 + ], + [ + -0.07715117931365967, + 0.9652177884482369, + -0.2498046338935379, + -0.5786241888999939 + ], + [ + 0.2536033093929291, + 0.26130893024805546, + 0.9313447294779524, + 3.445805788040161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9636427760124207, + 0.007292410359945312, + -0.2670944251372859, + 0.12686535716056824 + ], + [ + -0.07691413909196854, + 0.9648868740704708, + -0.2511523826110087, + -0.5833244919776917 + ], + [ + 0.2558843791484833, + 0.26256451571254075, + 0.9303671597553452, + 3.4671988487243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9630747437477112, + 0.0065098175790410705, + -0.26915551836972446, + 0.12397776544094086 + ], + [ + -0.07698395848274231, + 0.9646267016746901, + -0.2521284564287175, + -0.5895022749900818 + ], + [ + 0.25799328088760376, + 0.2635392048176164, + 0.9295087995119135, + 3.4948294162750244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9625657200813293, + 0.005649214332890538, + -0.2709896369744717, + 0.12055547535419464 + ], + [ + -0.07693955302238464, + 0.9643525120391993, + -0.2531887933781443, + -0.5940004587173462 + ], + [ + 0.25989919900894165, + 0.26456066763607466, + 0.928687307026682, + 3.521357297897339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.961999773979187, + 0.004904279267145885, + -0.27300622338259734, + 0.11536276340484619 + ], + [ + -0.07695553451776505, + 0.96417737508917, + -0.25384992945142687, + -0.6003946661949158 + ], + [ + 0.2619814872741699, + 0.2652129250345731, + 0.9279158612407837, + 3.548494577407837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9614243507385256, + 0.004159296451334285, + -0.2750380223474422, + 0.11298323422670364 + ], + [ + -0.07697233557701112, + 0.9640082174160246, + -0.25448658694675497, + -0.605558454990387 + ], + [ + 0.26408043503761297, + 0.2658399274294696, + 0.9271411355151752, + 3.570949077606201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9610002040863037, + 0.0034702772645971757, + -0.27652593755164134, + 0.11093010008335114 + ], + [ + -0.07690270245075226, + 0.9638353829993472, + -0.2551613714079833, + -0.6089813113212585 + ], + [ + 0.2656400203704834, + 0.2664757173435814, + 0.9265128769626322, + 3.590113878250122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9604766368865967, + 0.0026963853161924406, + -0.27834766437078906, + 0.1079016849398613 + ], + [ + -0.07685604691505432, + 0.9636519758760185, + -0.25586727629177547, + -0.6120966076850891 + ], + [ + 0.2675403654575348, + 0.26714723226155307, + 0.9257723887375968, + 3.609499931335449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9599531292915344, + 0.002025104562750209, + -0.28015341828853774, + 0.10356198996305466 + ], + [ + -0.07691517472267151, + 0.9634557119368872, + -0.2565875110711459, + -0.6148660778999329 + ], + [ + 0.26939576864242554, + 0.2678600241743459, + 0.9250280821190308, + 3.6322808265686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9594842791557312, + 0.0016619798937220858, + -0.28175721184337194, + 0.09930528700351715 + ], + [ + -0.07721234112977982, + 0.9632542624499768, + -0.25725383485574543, + -0.6158156991004944 + ], + [ + 0.27097630500793457, + 0.26858615043189255, + 0.9243556326778334, + 3.654810905456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9590145349502563, + 0.0010115724354240341, + -0.2833550357393117, + 0.09388045966625214 + ], + [ + -0.07716385275125504, + 0.963132837046268, + -0.25772254889904145, + -0.6175334453582764 + ], + [ + 0.27264782786369324, + 0.2690244430342646, + 0.9237364560073033, + 3.6791093349456787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9586474895477295, + 0.0006584264515963973, + -0.28459554829854355, + 0.09084109216928482 + ], + [ + -0.07736720144748688, + 0.9629402925939468, + -0.2583801948380888, + -0.6177564859390259 + ], + [ + 0.2738783657550812, + 0.2697138817199575, + 0.9231712302394458, + 3.698031187057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9582991600036623, + 0.0001865723826967009, + -0.2857667917828242, + 0.08728057146072388 + ], + [ + -0.07741895318031312, + 0.9627721224274881, + -0.25899052567443936, + -0.6188214421272278 + ], + [ + 0.2750799953937531, + 0.2703141697844019, + 0.9226381988862532, + 3.7197930812835693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9579161405563354, + -0.00040764927437083513, + -0.2870478852893268, + 0.08385452628135681 + ], + [ + -0.07735580205917358, + 0.9626363799251378, + -0.2595134510602797, + -0.6199841499328613 + ], + [ + 0.27642855048179626, + 0.2707969523596836, + 0.9220934124262423, + 3.7431139945983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9576909542083742, + -0.0009149134991482897, + -0.2877972124088024, + 0.0814058929681778 + ], + [ + -0.07718496024608613, + 0.9625444312594545, + -0.2599051678805261, + -0.6208928227424622 + ], + [ + 0.2772554159164429, + 0.27112243840133027, + 0.9217494692090988, + 3.761702537536621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9575083255767822, + -0.0013010280529811072, + -0.28840267107275924, + 0.0781201720237732 + ], + [ + -0.07708007097244263, + 0.9624594410472945, + -0.2602507140917635, + -0.6220806837081909 + ], + [ + 0.27791449427604675, + 0.27142231771240677, + 0.921462647177363, + 3.7804956436157227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.957359254360199, + -0.0017082158736065828, + -0.2888951159841928, + 0.07657571136951447 + ], + [ + -0.07694832980632782, + 0.9623520440365367, + -0.26068664282453824, + -0.6234437823295593 + ], + [ + 0.27846410870552063, + 0.2718007626484701, + 0.9211851520098784, + 3.7966012954711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9572650194168091, + -0.0022714126347253756, + -0.28920333626876676, + 0.07425221800804138 + ], + [ + -0.07667873799800873, + 0.9621897414204067, + -0.2613642180451534, + -0.6255053877830505 + ], + [ + 0.2788621783256531, + 0.27237056106796603, + 0.9208963684112015, + 3.81516432762146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9573873281478882, + -0.0028718633807759946, + -0.2887926466593307, + 0.07121533900499344 + ], + [ + -0.07610487937927246, + 0.9620990098792561, + -0.26186561606534664, + -0.6303151845932007 + ], + [ + 0.27859917283058167, + 0.2726853425495433, + 0.9208828219838724, + 3.8356215953826904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9578373432159424, + -0.002998394651574069, + -0.28729530138824116, + 0.0641087219119072 + ], + [ + -0.07572971284389496, + 0.9619499402165022, + -0.26252102714244563, + -0.6355550289154053 + ], + [ + 0.27715086936950684, + 0.2732092375833113, + 0.9211645289465171, + 3.8604438304901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9583386778831484, + -0.0035273318532954025, + -0.2856125127068696, + 0.0580485574901104 + ], + [ + -0.07479287683963777, + 0.9619365279080928, + -0.26283854553333585, + -0.6403672695159912 + ], + [ + 0.2756682634353638, + 0.27325012944491994, + 0.9215971898672223, + 3.8851029872894287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9586861729621887, + -0.004365957765482637, + -0.28443241514889267, + 0.05539363622665405 + ], + [ + -0.07379191368818283, + 0.9618380202027487, + -0.26348134390702643, + -0.6423278450965881 + ], + [ + 0.2747282385826111, + 0.27358471811502133, + 0.9217786295117223, + 3.90224552154541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.959246814250946, + -0.0057425751379038235, + -0.28251119684091, + 0.0518047958612442 + ], + [ + -0.07208303362131119, + 0.9617424183230838, + -0.26430209137197413, + -0.6439288854598999 + ], + [ + 0.2732207775115967, + 0.27389519465690965, + 0.9221344033495847, + 3.9203405380249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9598116874694824, + -0.006945692403369447, + -0.28055880090487806, + 0.0477847084403038 + ], + [ + -0.07061650604009628, + 0.9615518852894085, + -0.26538891038156953, + -0.647725522518158 + ], + [ + 0.2716151773929596, + 0.274535463693106, + 0.9224182810342314, + 3.9414658546447754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9603019356727602, + -0.008240107626012587, + -0.27884100298751585, + 0.04393615946173668 + ], + [ + -0.06914079934358598, + 0.9613453609992954, + -0.2665233286403459, + -0.6535623073577881 + ], + [ + 0.2702586948871613, + 0.27522216415881745, + 0.9226120840779554, + 3.964451789855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9607337713241577, + -0.009290933366432134, + -0.27731629630176824, + 0.040213920176029205 + ], + [ + -0.0679871141910553, + 0.9610912143954505, + -0.2677338288914846, + -0.6592620015144348 + ], + [ + 0.26901373267173767, + 0.27607486512498913, + 0.9227211356345629, + 3.98814058303833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9611923098564148, + -0.010196506971431879, + -0.2756907397488953, + 0.03424626216292381 + ], + [ + -0.06693345308303833, + 0.9608396662565465, + -0.26889959634578575, + -0.6636805534362793 + ], + [ + 0.2676364481449127, + 0.2769171625154613, + 0.9228692328269322, + 4.013459205627441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9614019989967346, + -0.011424978840004783, + -0.2749103606660321, + 0.032873865216970444 + ], + [ + -0.06578322499990463, + 0.9606173158159106, + -0.269975845007077, + -0.6659021377563477 + ], + [ + 0.2671681344509125, + 0.27763980895696455, + 0.9227878159181133, + 4.033565998077393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9614084959030151, + -0.01298980330564036, + -0.274817993861965, + 0.032948415726423264 + ], + [ + -0.06457062810659409, + 0.9603314602638712, + -0.2712823293399471, + -0.6663355827331543 + ], + [ + 0.2674402892589569, + 0.278558315701462, + 0.9224320756828925, + 4.049020767211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9613884687423706, + -0.014365038466868006, + -0.2748196615144188, + 0.033137962222099304 + ], + [ + -0.06356251984834671, + 0.9600426157759444, + -0.2725399131184099, + -0.6669132113456726 + ], + [ + 0.26775360107421875, + 0.27948496126538486, + 0.9220608143240476, + 4.064321517944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9613521695137026, + -0.015569187947121674, + -0.27488100625138545, + 0.030398011207580566 + ], + [ + -0.0628054514527321, + 0.9596745539212977, + -0.27400770278305536, + -0.6690821647644043 + ], + [ + 0.2680624127388001, + 0.28068192161466615, + 0.9216073991882415, + 4.086428165435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9612139463424683, + -0.016505745846733262, + -0.27530953399582414, + 0.026524469256401062 + ], + [ + -0.06239153817296028, + 0.959317920915185, + -0.2753477943714424, + -0.6716946363449097 + ], + [ + 0.2686541974544525, + 0.28184512812405416, + 0.9210799322229565, + 4.110477924346924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.960816502571106, + -0.017287821335077704, + -0.27664554682011555, + 0.02381231263279915 + ], + [ + -0.062385059893131256, + 0.9589593612415829, + -0.27659550539344474, + -0.674898087978363 + ], + [ + 0.2700735628604889, + 0.2830160696184771, + 0.9203054683638943, + 4.131576061248779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9601870775222778, + -0.01862469294172941, + -0.2787361944171089, + 0.025148287415504456 + ], + [ + -0.06213310360908508, + 0.9585452174927858, + -0.2780837850701315, + -0.6756753921508789 + ], + [ + 0.2723604738712311, + 0.28433120638068804, + 0.9192255216661827, + 4.147819519042969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.959350645542145, + -0.019984622046983418, + -0.28150833646141293, + 0.024881873279809952 + ], + [ + -0.062207899987697615, + 0.9579805449138272, + -0.28000616437553705, + -0.6764649152755737 + ], + [ + 0.27527531981468206, + 0.2861361431149607, + 0.9177960585352337, + 4.165367603302002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9584000706672671, + -0.020786020563468306, + -0.28467038230166347, + 0.021570660173892975 + ], + [ + -0.0629313886165619, + 0.9574131860810502, + -0.28177944150094447, + -0.6783549785614014 + ], + [ + 0.2784042656421662, + 0.28797212974052294, + 0.9162767469144355, + 4.185593605041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9574083089828491, + -0.02145722781721281, + -0.2879391331899077, + 0.018788587301969528 + ], + [ + -0.06376131623983383, + 0.956904314058868, + -0.28331727619545244, + -0.6829540133476257 + ], + [ + 0.2816093862056732, + 0.289609683880173, + 0.9147799525820718, + 4.207207679748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.956168055534363, + -0.022386943725061108, + -0.29196141515915053, + 0.01810530573129654 + ], + [ + -0.06462265551090242, + 0.9563558611690369, + -0.2849691671635036, + -0.6873165965080261 + ], + [ + 0.2855986058712006, + 0.2913457434057822, + 0.9129902225293945, + 4.225802898406982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9547918438911438, + -0.023011003745271402, + -0.29638319929935486, + 0.011757560074329376 + ], + [ + -0.06592939049005508, + 0.9557802697659805, + -0.28659623163962805, + -0.6937571167945862 + ], + [ + 0.28987210988998413, + 0.2931801094870847, + 0.9110540905344587, + 4.24937629699707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9532520174980164, + -0.02331471544590609, + -0.30127570135030807, + 0.005464412271976471 + ], + [ + -0.06760751456022263, + 0.9552890405665329, + -0.2878402978779812, + -0.7009696364402771 + ], + [ + 0.29451632499694824, + 0.29475283587932105, + 0.9090549364417864, + 4.272458553314209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9515489339828491, + -0.024071030112595756, + -0.3065537679316624, + 0.003559403121471405 + ], + [ + -0.06917662918567657, + 0.9546193031705913, + -0.28968365508227717, + -0.7065115571022034 + ], + [ + 0.29961511492729187, + 0.29685452887930425, + 0.9067018102907395, + 4.288443565368652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9497361779212952, + -0.024559055803990888, + -0.312086667383871, + -0.00038358569145202637 + ], + [ + -0.07104375958442688, + 0.953998622203007, + -0.2912721029527972, + -0.7117745876312256 + ], + [ + 0.30488359928131104, + 0.2988034526116265, + 0.9043022132869857, + 4.305908203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9477254152297974, + -0.02526992777278365, + -0.31808495041228957, + -0.004233911633491516 + ], + [ + -0.07295786589384079, + 0.953291208969087, + -0.29310921316343347, + -0.7159978151321411 + ], + [ + 0.31063443422317505, + 0.3009938453936676, + 0.9016146716051978, + 4.322268962860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.945661187171936, + -0.025442881790817988, + -0.32415673784491694, + -0.011902719736099243 + ], + [ + -0.07538000494241714, + 0.9526193661197518, + -0.2946763667915129, + -0.7206006646156311 + ], + [ + 0.3162953853607178, + 0.3030989513125069, + 0.8989373013367701, + 4.3422017097473145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9434852004051208, + -0.025469418049540598, + -0.3304344727557123, + -0.02444695681333542 + ], + [ + -0.07800152152776718, + 0.9519687970509906, + -0.2960931311528151, + -0.7267484068870544 + ], + [ + 0.32210463285446167, + 0.3051338915077705, + 0.8961818794247453, + 4.366855144500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9412522912025454, + -0.025638151968266253, + -0.33672961061332074, + -0.03448352962732315 + ], + [ + -0.0805163159966469, + 0.9513213061034373, + -0.2974977058995381, + -0.7312196493148804 + ], + [ + 0.3279653191566468, + 0.3071326196561808, + 0.8933690527057756, + 4.388391971588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9390789866447451, + -0.025539614928623493, + -0.3427512020782143, + -0.04671056196093559 + ], + [ + -0.08324984461069108, + 0.9506381478763537, + -0.29892561572622034, + -0.7362006902694702 + ], + [ + 0.33346682786941534, + 0.30924875025781906, + 0.8905981477639812, + 4.4102911949157715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9369622468948364, + -0.02549918861542151, + -0.3484990871572294, + -0.05337987467646599 + ], + [ + -0.08590073883533478, + 0.949920225995931, + -0.3004540075175967, + -0.7387470602989197 + ], + [ + 0.33870765566825867, + 0.31145037851845175, + 0.8878489683470124, + 4.423278331756592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9348658919334412, + -0.025396930142263838, + -0.3540915255842372, + -0.05733919516205788 + ], + [ + -0.08866459876298904, + 0.949123006123682, + -0.30216572810700126, + -0.7395451664924622 + ], + [ + 0.3437504768371582, + 0.313879798281247, + 0.8850508970110939, + 4.430767059326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9327032566070557, + -0.025744062089473135, + -0.35972478697608723, + -0.06692428141832352 + ], + [ + -0.09096928685903549, + 0.9484018699415177, + -0.3037407300063761, + -0.7407567501068115 + ], + [ + 0.34898319840431213, + 0.31602388096596135, + 0.8822356069122792, + 4.444777011871338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9308715462684634, + -0.025499796684337682, + -0.3644556756786687, + -0.07761810719966888 + ], + [ + -0.09364401549100877, + 0.947582775784268, + -0.30547945254757103, + -0.7434065341949463 + ], + [ + 0.3531415760517121, + 0.3184912153220199, + 0.8796899443720122, + 4.457869052886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9293559193611147, + -0.025458468604157597, + -0.368306184372078, + -0.08694348484277725 + ], + [ + -0.09592612087726596, + 0.9467031982489922, + -0.30749175162132936, + -0.7429921627044678 + ], + [ + 0.35650491714477545, + 0.3210994639222517, + 0.8773820950764655, + 4.468251705169678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9279290437698364, + -0.025298046234781105, + -0.37189752744798465, + -0.09908070415258408 + ], + [ + -0.0982513502240181, + 0.9458140840228005, + -0.3094872191694144, + -0.7441890835762024 + ], + [ + 0.3595753312110901, + 0.323721609650023, + 0.8751627909807579, + 4.48206090927124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9269746541976929, + -0.02515212925386039, + -0.3742797890775338, + -0.11138144135475159 + ], + [ + -0.1001288890838623, + 0.9449591118667265, + -0.31149071074291723, + -0.7446824908256531 + ], + [ + 0.36151373386383057, + 0.3262202213525512, + 0.8734347136238703, + 4.494311809539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9262502789497378, + -0.02517538037909663, + -0.37606729178698334, + -0.12195773422718048 + ], + [ + -0.10174871981143954, + 0.9440207490155423, + -0.31380253192350277, + -0.7454928755760193 + ], + [ + 0.3629154264926911, + 0.3289240521178488, + 0.871837939570258, + 4.504021167755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9257529377937317, + -0.025036617883744887, + -0.3772991256622503, + -0.13324406743049622 + ], + [ + -0.10340899229049683, + 0.94300531353947, + -0.31630301293899915, + -0.74534672498703 + ], + [ + 0.3637142479419708, + 0.3318345759284311, + 0.8704009419227614, + 4.51368522644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9256579875946045, + -0.024794838647818278, + -0.3775480151550546, + -0.14531803131103516 + ], + [ + -0.10492381453514099, + 0.9418930995052687, + -0.31910551374564333, + -0.7447479367256165 + ], + [ + 0.3635220527648926, + 0.3349963490419944, + 0.8692693304110328, + 4.52192497253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9257660508155825, + -0.024911706786753446, + -0.37727521814808823, + -0.1567508578300476 + ], + [ + -0.10592018812894824, + 0.9407856610036366, + -0.3220298630432166, + -0.7440330982208252 + ], + [ + 0.36295744776725775, + 0.3380853962850557, + 0.8683088116909425, + 4.529851913452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9262019395828247, + -0.02512192486602068, + -0.37618998403256876, + -0.16810524463653564 + ], + [ + -0.1065094843506813, + 0.9397020501740772, + -0.32498582898914136, + -0.7428040504455566 + ], + [ + 0.36167076230049133, + 0.3410702957849265, + 0.867678103972588, + 4.536086082458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9270066618919375, + -0.02600699068305734, + -0.3741421053763187, + -0.1799682378768921 + ], + [ + -0.10605581104755404, + 0.9386975943604446, + -0.3280228140064062, + -0.742423951625824 + ], + [ + 0.3597371876239777, + 0.34375926621777764, + 0.867420712719825, + 4.539231777191162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9276588559150696, + -0.026183155109032265, + -0.3725097683831025, + -0.18839603662490845 + ], + [ + -0.1064617857336998, + 0.9375976330891735, + -0.33102347325878756, + -0.7455016374588013 + ], + [ + 0.3579314947128296, + 0.3467349097397858, + 0.8669832460494914, + 4.542272567749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9290128350257874, + -0.025831769995207525, + -0.3691448381702593, + -0.20744463801383972 + ], + [ + -0.1069190502166748, + 0.9362761346371244, + -0.3345972177658092, + -0.7483713030815125 + ], + [ + 0.3542647659778595, + 0.350313717288095, + 0.8670506497194567, + 4.5569305419921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9308962821960449, + -0.026084829479285625, + -0.36435110027935674, + -0.22910377383232117 + ], + [ + -0.106063611805439, + 0.9351729520878655, + -0.3379378878240301, + -0.7535409927368164 + ], + [ + 0.3495463728904724, + 0.35322950757650795, + 0.8677823677487473, + 4.5721049308776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9328222274780273, + -0.026387979708226567, + -0.3593693730803213, + -0.24614118039608002 + ], + [ + -0.10516964644193649, + 0.9339536505397791, + -0.34156982734804964, + -0.7568133473396301 + ], + [ + 0.34464767575263977, + 0.3564186722211899, + 0.8684375121240908, + 4.583345413208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9347046613693237, + -0.02704899929758742, + -0.3543946076764938, + -0.26165828108787537 + ], + [ + -0.10375655442476273, + 0.9329027522760787, + -0.3448580253816855, + -0.7602130174636841 + ], + [ + 0.3399437367916107, + 0.3591111654272696, + 0.8691820572371687, + 4.5924272537231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9366727471351624, + -0.027673188364394377, + -0.34911073128116976, + -0.27960366010665894 + ], + [ + -0.10227642208337784, + 0.9317974133152657, + -0.34827155922127934, + -0.7639407515525818 + ], + [ + 0.33493828773498535, + 0.3619222973195377, + 0.8699589952204513, + 4.603875637054443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9383949637413027, + -0.029049632100229112, + -0.34434144834328434, + -0.29776623845100403 + ], + [ + -0.10000381618738177, + 0.9309934740169307, + -0.35107041879747936, + -0.767507016658783 + ], + [ + 0.33077809214591986, + 0.3638781527628312, + 0.8707344836989839, + 4.6161980628967285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9400156736373901, + -0.030207080546005127, + -0.3397911945526103, + -0.3130647540092468 + ], + [ + -0.09803208708763123, + 0.9301356143537153, + -0.35388904240034486, + -0.7683972120285034 + ], + [ + 0.32674187421798706, + 0.36597168662129353, + 0.871380790180211, + 4.624852180480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 708.6665852864583, + "fy": 708.6314290364583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/boom_down/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ae0549ed00f02946b9a7562268efd7031e14531c --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/boom_down/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0004863918584305793, + -0.011884978972375393, + -0.0038701718514099013 + ], + [ + -0.0004851055273320526, + 0.9999998807907104, + 0.00011111380445072427, + -0.00017894603927243527 + ], + [ + 0.011885031126439571, + -0.00010534047760302201, + 0.9999293684959412, + 0.0015530767559298602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0011968958424404263, + -0.024077866226434708, + -0.008554889639031562 + ], + [ + -0.0011860182275995612, + 0.9999991655349731, + 0.00046604720409959555, + -0.0008538892356962557 + ], + [ + 0.024078402668237686, + -0.00043735496001318097, + 0.999709963798523, + 0.0039905686908253525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0017863846151158214, + -0.03649692237377167, + -0.013131954869030302 + ], + [ + -0.0017505328869447112, + 0.9999979734420776, + 0.001014251378364861, + -0.0032016485195532933 + ], + [ + 0.03649865835905075, + -0.0009496849379502237, + 0.9993332624435425, + 0.00558968966203088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151672, + 0.0018534658011049032, + -0.04948023706674576, + -0.015257955618227357 + ], + [ + -0.001837058924138546, + 0.9999982118606567, + 0.00037706014700233936, + -0.0018209976921265093 + ], + [ + 0.049480848014354706, + -0.0002856995561160147, + 0.9987750053405762, + 0.007129830653495495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286682, + 0.0018996521830558777, + -0.06185787543654442, + -0.019950341346938877 + ], + [ + -0.0019415044225752354, + 0.9999979138374329, + -0.0006164890946820378, + 9.13563054918457e-05 + ], + [ + 0.061856579035520554, + 0.0007354046683758497, + 0.9980847835540771, + 0.009559953291530395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002014815341681242, + -0.07438942790031433, + -0.023866867406651476 + ], + [ + -0.0020942697301506996, + 0.9999973177909851, + -0.0009900982258841395, + 0.0004661112188034701 + ], + [ + 0.07438723742961884, + 0.0011431443272158504, + 0.9972288012504578, + 0.011172854576710094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0024909127969294786, + -0.08745445311069489, + -0.025668938834966463 + ], + [ + -0.002623689593747258, + 0.9999955892562866, + -0.0014033232582733035, + 0.0010289304420993423 + ], + [ + 0.08745056390762329, + 0.0016273952787742019, + 0.9961675405502319, + 0.012725234535346979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0026894090697169304, + -0.10018683969974518, + -0.02855882492187797 + ], + [ + -0.0028831977397203445, + 0.9999942183494568, + -0.0017895271303132176, + 0.0028265672877726966 + ], + [ + 0.100181445479393, + 0.0020693752449005842, + 0.9949670433998108, + 0.01506032706392522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.003340879688039422, + -0.11246424168348312, + -0.03355373729572366 + ], + [ + -0.003594657639041543, + 0.9999914169311523, + -0.0020538191311061382, + 0.004698663508667556 + ], + [ + 0.11245641857385635, + 0.002445048186928034, + 0.9936536550521851, + 0.017460789330710737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0036670309491455555, + -0.12474638968706131, + -0.03790860642549514 + ], + [ + -0.003980346955358982, + 0.9999895095825195, + -0.0022624770645052195, + 0.006239309911007087 + ], + [ + 0.12473677843809128, + 0.0027413226198405027, + 0.9921860694885254, + 0.019077538696136202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0042276340536773205, + -0.13722291588783264, + -0.039881266294269274 + ], + [ + -0.00458436319604516, + 0.9999868869781494, + -0.0022836981806904078, + 0.006802882143760421 + ], + [ + 0.13721147179603577, + 0.002891153795644641, + 0.9905375838279724, + 0.021274019489280684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.005210375878959894, + -0.1495237499475479, + -0.041981447129109443 + ], + [ + -0.005534265656024218, + 0.9999831318855286, + -0.0017501292750239372, + 0.006037633210907856 + ], + [ + 0.1495121270418167, + 0.0025579347275197506, + 0.9887565970420837, + 0.0240887542989179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.005594636779278517, + -0.16168241202831268, + -0.044584596923410595 + ], + [ + -0.006048411596566439, + 0.9999790191650391, + -0.002314514247700572, + 0.00812740393117107 + ], + [ + 0.16166608035564423, + 0.003261946840211749, + 0.9868401288986206, + 0.02587613079385425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.005581590346992016, + -0.1734739989042282, + -0.05009865949658171 + ], + [ + -0.006080773659050465, + 0.99997878074646, + -0.0023462402168661356, + 0.008172958942025358 + ], + [ + 0.17345722019672394, + 0.003365486627444625, + 0.984835684299469, + 0.0280327072061771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.98223477602005, + 0.005800416227430105, + -0.1875665783882141, + -0.05061475836227815 + ], + [ + -0.006495876703411341, + 0.9999741315841675, + -0.0030933539383113384, + 0.010103163931080116 + ], + [ + 0.18754377961158752, + 0.004256809130311012, + 0.982246994972229, + 0.029927360307153882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0061881085857748985, + -0.20237918198108673, + -0.05210354126348401 + ], + [ + -0.006918664090335369, + 0.999971866607666, + -0.0029026130214333534, + 0.009736490529801524 + ], + [ + 0.2023555189371109, + 0.004242686554789543, + 0.9793029427528381, + 0.03244029984667601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.006859282962977886, + -0.21706269681453705, + -0.05552490210802054 + ], + [ + -0.007583028636872768, + 0.9999681115150452, + -0.0025015086866915226, + 0.010104908028444807 + ], + [ + 0.2170386165380478, + 0.0040877992287278175, + 0.9761544466018677, + 0.03559505128862941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.007622532080858946, + -0.23202507197856903, + -0.057894359208914815 + ], + [ + -0.00841778889298439, + 0.9999616146087646, + -0.0024375603534281254, + 0.011461778225250765 + ], + [ + 0.23199759423732758, + 0.00432410417124629, + 0.9727067351341248, + 0.03790332999092755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290222, + 0.007998919114470482, + -0.24641965329647064, + -0.06012206648827981 + ], + [ + -0.008887644857168198, + 0.9999573826789856, + -0.002494553569704294, + 0.01222145777382265 + ], + [ + 0.24638919532299042, + 0.004607637412846088, + 0.9691600203514099, + 0.041190121524554014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.00830158032476902, + -0.25930365920066833, + -0.06356275922908688 + ], + [ + -0.00933983363211155, + 0.9999525547027588, + -0.002772246953099966, + 0.013085574355933953 + ], + [ + 0.25926831364631653, + 0.00509917875751853, + 0.9657918810844421, + 0.043436779850316756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262634, + 0.008982736617326736, + -0.2716941833496094, + -0.06585849662440897 + ], + [ + -0.01037854515016079, + 0.9999393224716187, + -0.003700912930071354, + 0.01622457520709379 + ], + [ + 0.2716444730758667, + 0.00638133380562067, + 0.9623765349388123, + 0.04596953037571137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958745002746582, + 0.009593034163117409, + -0.2841055989265442, + -0.06660953102176947 + ], + [ + -0.011181702837347984, + 0.9999296069145203, + -0.0039705075323581696, + 0.0171320029913713 + ], + [ + 0.2840474843978882, + 0.006983487866818905, + 0.9587847590446472, + 0.0485493066998211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.010277467779815197, + -0.296245276927948, + -0.067776717183285 + ], + [ + -0.011924072168767452, + 0.9999218583106995, + -0.0037519545294344425, + 0.017138378375475077 + ], + [ + 0.29618358612060547, + 0.0071157789789140224, + 0.9551045298576355, + 0.05115251487262843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.010673862881958485, + -0.30833154916763306, + -0.06958623122399217 + ], + [ + -0.012424084357917309, + 0.9999158978462219, + -0.003713734447956085, + 0.01786525283989478 + ], + [ + 0.3082659840583801, + 0.007363311946392059, + 0.9512717127799988, + 0.053383505887148394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.010835468769073486, + -0.32070890069007874, + -0.06900369366075819 + ], + [ + -0.012816676869988441, + 0.9999095797538757, + -0.004067201167345047, + 0.01888961074812128 + ], + [ + 0.3206358253955841, + 0.007962532341480255, + 0.9471690654754639, + 0.05563992205143764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.010755755007266998, + -0.331837922334671, + -0.07087513869566633 + ], + [ + -0.013014215975999832, + 0.9999048113822937, + -0.00458433385938406, + 0.020342745300727764 + ], + [ + 0.3317570388317108, + 0.008642897941172123, + 0.9433252811431885, + 0.057686668102759006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135193, + 0.010849849320948124, + -0.3431485593318939, + -0.07199791247789927 + ], + [ + -0.0133688198402524, + 0.9998982548713684, + -0.004975970834493637, + 0.02132253132464475 + ], + [ + 0.34305962920188904, + 0.009261014871299267, + 0.9392679929733276, + 0.05945463993753128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060486, + 0.010827329009771347, + -0.3545053005218506, + -0.07265188458147429 + ], + [ + -0.013684280216693878, + 0.999890923500061, + -0.005552908405661583, + 0.023232547246807855 + ], + [ + 0.35440653562545776, + 0.010043070651590824, + 0.9350374937057495, + 0.06125636585056782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.010438570752739906, + -0.3656938374042511, + -0.07357232708681301 + ], + [ + -0.01359538920223713, + 0.9998892545700073, + -0.006058342754840851, + 0.0257832431037053 + ], + [ + 0.36559006571769714, + 0.010610107332468033, + 0.9307155013084412, + 0.06319079982573228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.010770156048238277, + -0.3767916262149811, + -0.07498324323840291 + ], + [ + -0.013901258818805218, + 0.9998877644538879, + -0.005591662600636482, + 0.025409012326711652 + ], + [ + 0.3766891062259674, + 0.010417073965072632, + 0.9262811541557312, + 0.06411463717948522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.011013920418918133, + -0.3877599537372589, + -0.0764827768996802 + ], + [ + -0.014093865640461445, + 0.9998876452445984, + -0.005099950358271599, + 0.024980079015063137 + ], + [ + 0.3876602351665497, + 0.010165633633732796, + 0.9217462539672852, + 0.06548089556618045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.010770684108138084, + -0.39851656556129456, + -0.07748510996434863 + ], + [ + -0.01427946425974369, + 0.9998810291290283, + -0.0058373091742396355, + 0.028565411422006935 + ], + [ + 0.3984062969684601, + 0.011043987236917019, + 0.9171425700187683, + 0.06764379111149453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.010726790875196457, + -0.4089179039001465, + -0.07942354530342761 + ], + [ + -0.014440299943089485, + 0.9998777508735657, + -0.005994876846671104, + 0.029603271035859916 + ], + [ + 0.40880364179611206, + 0.011375270783901215, + 0.9125514626502991, + 0.06908258306763031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.01060201320797205, + -0.4190731346607208, + -0.08107287759294375 + ], + [ + -0.01432447973638773, + 0.9998809695243835, + -0.005737208761274815, + 0.029155466171437938 + ], + [ + 0.41896238923072815, + 0.011211763136088848, + 0.9079343676567078, + 0.06958376843580939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523499, + 0.010560670867562294, + -0.4294537901878357, + -0.08204699068990172 + ], + [ + -0.014666726812720299, + 0.9998728632926941, + -0.0062524136155843735, + 0.03109081679745423 + ], + [ + 0.4293331503868103, + 0.011944780126214027, + 0.9030672311782837, + 0.07164193163718412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.01073315367102623, + -0.4390795826911926, + -0.08473007424382974 + ], + [ + -0.015065105631947517, + 0.9998661279678345, + -0.006382744759321213, + 0.03226578870282465 + ], + [ + 0.43895232677459717, + 0.01234893687069416, + 0.8984254598617554, + 0.07175474818672566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.011067933402955532, + -0.4490206241607666, + -0.085067324456913 + ], + [ + -0.015340826474130154, + 0.9998650550842285, + -0.00587916374206543, + 0.031225773685346576 + ], + [ + 0.4488949775695801, + 0.01214110292494297, + 0.8935020565986633, + 0.07256041021265139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.011033737100660801, + -0.4585636258125305, + -0.08695238631909454 + ], + [ + -0.015641024336218834, + 0.9998581409454346, + -0.006250678561627865, + 0.03361113761237126 + ], + [ + 0.45842957496643066, + 0.01272671390324831, + 0.8886395692825317, + 0.07347846457376978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472046, + 0.011236707679927349, + -0.46845918893814087, + -0.08762483585144806 + ], + [ + -0.016084803268313408, + 0.9998504519462585, + -0.006349554285407066, + 0.035433642006176984 + ], + [ + 0.46831780672073364, + 0.01314435712993145, + 0.8834623098373413, + 0.07548035367558531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004211, + 0.011081221513450146, + -0.47735270857810974, + -0.09038959756888301 + ], + [ + -0.015823325142264366, + 0.9998573064804077, + -0.005914696026593447, + 0.03546552483411815 + ], + [ + 0.4772190749645233, + 0.012750206515192986, + 0.8786918520927429, + 0.07557017020634468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.011335542425513268, + -0.4867357313632965, + -0.09135514966132033 + ], + [ + -0.016187697649002075, + 0.9998523592948914, + -0.005764305591583252, + 0.03610054303380038 + ], + [ + 0.48659852147102356, + 0.012914111837744713, + 0.8735302686691284, + 0.07655455311575275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325684, + 0.011563494801521301, + -0.49545857310295105, + -0.09390676814988749 + ], + [ + -0.016600852832198143, + 0.999845564365387, + -0.005766450427472591, + 0.03707582066267334 + ], + [ + 0.49531540274620056, + 0.013233511708676815, + 0.8686124086380005, + 0.07538649034593871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022583, + 0.011870907619595528, + -0.5048052072525024, + -0.09469738060497487 + ], + [ + -0.017190923914313316, + 0.9998348951339722, + -0.005882324650883675, + 0.03840920101629188 + ], + [ + 0.5046520233154297, + 0.013755405321717262, + 0.863213300704956, + 0.07784332674342079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.012344984337687492, + -0.5133175849914551, + -0.09717386224313287 + ], + [ + -0.017671290785074234, + 0.9998287558555603, + -0.005495703313499689, + 0.038424731576383514 + ], + [ + 0.5131617784500122, + 0.013786900788545609, + 0.8581811785697937, + 0.07823118042472182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.01265900582075119, + -0.5219429135322571, + -0.09871278458971851 + ], + [ + -0.018154555931687355, + 0.9998205304145813, + -0.0054163821041584015, + 0.0394008324438373 + ], + [ + 0.5217806696891785, + 0.014095200225710869, + 0.8529632091522217, + 0.07817555154174172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.012931415811181068, + -0.5304490923881531, + -0.10044201201210354 + ], + [ + -0.018431654199957848, + 0.9998172521591187, + -0.0050786263309419155, + 0.03953935033240855 + ], + [ + 0.5302864909172058, + 0.014081789180636406, + 0.8477016091346741, + 0.07866951781047496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298462, + 0.013244349509477615, + -0.5390504002571106, + -0.10224236476154912 + ], + [ + -0.018967323005199432, + 0.9998072385787964, + -0.005067991092801094, + 0.04088543060402207 + ], + [ + 0.5388793349266052, + 0.014492450281977654, + 0.8422582745552063, + 0.07806734896776889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.013627559877932072, + -0.5479176044464111, + -0.10379642018221862 + ], + [ + -0.019596006721258163, + 0.9997952580451965, + -0.0050477455370128155, + 0.0428882596459215 + ], + [ + 0.547736644744873, + 0.01495903730392456, + 0.8365170955657959, + 0.0788761979992816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.013762841001152992, + -0.5570093989372253, + -0.10471385857892154 + ], + [ + -0.019926106557250023, + 0.9997889399528503, + -0.005002694204449654, + 0.04478688324672102 + ], + [ + 0.5568229556083679, + 0.015253225341439247, + 0.8304911851882935, + 0.07977464829281664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.013394848443567753, + -0.5660153031349182, + -0.106531466049025 + ], + [ + -0.019328225404024124, + 0.9998031258583069, + -0.004487108904868364, + 0.04461397258379799 + ], + [ + 0.5658437609672546, + 0.014638731256127357, + 0.8243825435638428, + 0.07997685558600537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.012859703972935677, + -0.5745726823806763, + -0.1085915537723741 + ], + [ + -0.01881125010550022, + 0.9998133182525635, + -0.004415334202349186, + 0.04529042191408723 + ], + [ + 0.5744086503982544, + 0.014421730302274227, + 0.81844162940979, + 0.07917019964460999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182373, + 0.012150449678301811, + -0.5833437442779541, + -0.10973319263746407 + ], + [ + -0.017797311767935753, + 0.9998338222503662, + -0.003952008672058582, + 0.04507411453527528 + ], + [ + 0.5831987857818604, + 0.013591513969004154, + 0.8122157454490662, + 0.08028940032698856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938904, + 0.011548399925231934, + -0.5913549661636353, + -0.11220945437617649 + ], + [ + -0.017339786514639854, + 0.9998411536216736, + -0.004117665346711874, + 0.04711690860991644 + ], + [ + 0.5912134647369385, + 0.013574158772826195, + 0.8064008951187134, + 0.07921138576398425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.010826105251908302, + -0.5994647741317749, + -0.11385175909674325 + ], + [ + -0.016626477241516113, + 0.9998531937599182, + -0.00414055772125721, + 0.04849640565449434 + ], + [ + 0.5993319749832153, + 0.01328079029917717, + 0.8003904819488525, + 0.0785111834029883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7943386435508728, + 0.01026931218802929, + -0.6073883771896362, + -0.11533576365412268 + ], + [ + -0.016307000070810318, + 0.9998572468757629, + -0.0044212802313268185, + 0.05057006933732538 + ], + [ + 0.607256293296814, + 0.013416675850749016, + 0.7943927049636841, + 0.0791811305375782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311462, + 0.009605573490262032, + -0.6148615479469299, + -0.1185503392720854 + ], + [ + -0.014743058010935783, + 0.9998859167098999, + -0.003287816420197487, + 0.04864650400269111 + ], + [ + 0.6147598624229431, + 0.011657634750008583, + 0.7886282205581665, + 0.07847266772527568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.008899434469640255, + -0.6226077079772949, + -0.12019708038720962 + ], + [ + -0.01374885905534029, + 0.9999009966850281, + -0.002986959181725979, + 0.0494428121836375 + ], + [ + 0.6225194931030273, + 0.01089739054441452, + 0.7825284600257874, + 0.07715178725636558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.0077556101605296135, + -0.6300268173217773, + -0.12167432054704586 + ], + [ + -0.012501758523285389, + 0.9999170303344727, + -0.0030999979935586452, + 0.05114350609037261 + ], + [ + 0.6299505233764648, + 0.01028369925916195, + 0.7765672206878662, + 0.07621680503797452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.006658867001533508, + -0.6370848417282104, + -0.12430083089514284 + ], + [ + -0.011066295206546783, + 0.9999344348907471, + -0.002936943434178829, + 0.0506477886909582 + ], + [ + 0.6370235681533813, + 0.009313861839473248, + 0.7707880735397339, + 0.07459613975470528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.005289234220981598, + -0.6443486213684082, + -0.12617070745948133 + ], + [ + -0.009799103252589703, + 0.999946117401123, + -0.003421375062316656, + 0.05244872637635825 + ], + [ + 0.6442958116531372, + 0.008930409327149391, + 0.7647242546081543, + 0.07485469620650177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592346, + 0.005259272176772356, + -0.6512006521224976, + -0.1280391962258207 + ], + [ + -0.00947636365890503, + 0.9999507069587708, + -0.002967563923448324, + 0.05092354043331368 + ], + [ + 0.6511529684066772, + 0.008423060178756714, + 0.7588997483253479, + 0.0731430364760342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.0054379841312766075, + -0.6581783890724182, + -0.13034477583101844 + ], + [ + -0.009595428593456745, + 0.9999502897262573, + -0.0027137508150190115, + 0.050218054134127325 + ], + [ + 0.658130943775177, + 0.008358529768884182, + 0.7528571486473083, + 0.07281089755799004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844727, + 0.005608484148979187, + -0.6653628349304199, + -0.1321607793897193 + ], + [ + -0.010697361081838608, + 0.9999364018440247, + -0.0035731527023017406, + 0.05331885147815114 + ], + [ + 0.6653004884719849, + 0.009784981608390808, + 0.7465115785598755, + 0.07247003959306818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.006018341518938541, + -0.6717082858085632, + -0.13493895135967937 + ], + [ + -0.01101385522633791, + 0.9999342560768127, + -0.0031874277628958225, + 0.05209926447232827 + ], + [ + 0.6716449856758118, + 0.009759316220879555, + 0.7408088445663452, + 0.06944407378600922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.00578389223664999, + -0.6787058115005493, + -0.1364120474079044 + ], + [ + -0.010729682631790638, + 0.9999376535415649, + -0.003088544122874737, + 0.05205726143688161 + ], + [ + 0.6786456108093262, + 0.009550485759973526, + 0.7344037294387817, + 0.07002470446195429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446777, + 0.005525314249098301, + -0.6847578883171082, + -0.14043469658824584 + ], + [ + -0.010778908617794514, + 0.9999361038208008, + -0.0034029053058475256, + 0.05412346970610666 + ], + [ + 0.684695303440094, + 0.009860808029770851, + 0.7287627458572388, + 0.06688971919383829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.005478494800627232, + -0.691051721572876, + -0.1426681698287609 + ], + [ + -0.010956338606774807, + 0.9999337196350098, + -0.003532210597768426, + 0.05545614227553867 + ], + [ + 0.6909866333007812, + 0.01012442447245121, + 0.7227966785430908, + 0.0661896359434487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.005495008081197739, + -0.6972485184669495, + -0.14475547403886618 + ], + [ + -0.010774627327919006, + 0.9999368190765381, + -0.003196398261934519, + 0.0552725842210236 + ], + [ + 0.6971868872642517, + 0.00980379804968834, + 0.7168223857879639, + 0.06573059803602711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.005751725286245346, + -0.70326828956604, + -0.14756992409215464 + ], + [ + -0.01132161170244217, + 0.9999305605888367, + -0.0032664949540048838, + 0.05634855078471615 + ], + [ + 0.7032006978988647, + 0.010284285992383957, + 0.710917055606842, + 0.06379655630926027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.005315891467034817, + -0.7089744210243225, + -0.14940990842508756 + ], + [ + -0.010684940032660961, + 0.9999380111694336, + -0.0031307318713515997, + 0.05696155269019651 + ], + [ + 0.7089138627052307, + 0.00978318601846695, + 0.705227255821228, + 0.06254358678464068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.005222121253609657, + -0.7142776250839233, + -0.15234701123878064 + ], + [ + -0.010238460265100002, + 0.9999439120292664, + -0.002720913151279092, + 0.056683436615873654 + ], + [ + 0.7142233848571777, + 0.00921731535345316, + 0.699857234954834, + 0.059973676156696694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479492, + 0.004453210160136223, + -0.7193988561630249, + -0.15580784089320543 + ], + [ + -0.009380107745528221, + 0.9999518990516663, + -0.002866653958335519, + 0.05828525029270855 + ], + [ + 0.7193515300750732, + 0.00873916782438755, + 0.6945912837982178, + 0.05938500762972611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.003815949894487858, + -0.7244514226913452, + -0.1575636830495436 + ], + [ + -0.008435632102191448, + 0.9999606013298035, + -0.002759345108643174, + 0.058583695244118085 + ], + [ + 0.7244123220443726, + 0.008013264276087284, + 0.68932044506073, + 0.057228538695574795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.00299663539044559, + -0.7291480302810669, + -0.16129120780765666 + ], + [ + -0.006998141296207905, + 0.9999724626541138, + -0.0024585160426795483, + 0.05830701461172855 + ], + [ + 0.7291206121444702, + 0.006785165052860975, + 0.6843516230583191, + 0.05667140568415357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.0021717692725360394, + -0.7339073419570923, + -0.1635948868317295 + ], + [ + -0.006026202347129583, + 0.9999784231185913, + -0.002618249040096998, + 0.059060018343098514 + ], + [ + 0.7338857650756836, + 0.006201109383255243, + 0.6792445778846741, + 0.054263784326551275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.0016479046316817403, + -0.7387893795967102, + -0.1655523766686412 + ], + [ + -0.004829217214137316, + 0.9999859929084778, + -0.002174766268581152, + 0.05795957135986413 + ], + [ + 0.7387754321098328, + 0.005033424124121666, + 0.6739329099655151, + 0.05427268473616499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6692056655883789, + 0.00024994288105517626, + -0.7430772185325623, + -0.16945665580866587 + ], + [ + -0.003476889804005623, + 0.9999900460243225, + -0.002794883446767926, + 0.059645353009714595 + ], + [ + 0.7430691123008728, + 0.0044539496302604675, + 0.6691998839378357, + 0.051541565284626376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.0007921459618955851, + -0.7475818395614624, + -0.1711038353152894 + ], + [ + -0.001662318129092455, + 0.9999954104423523, + -0.0025364491157233715, + 0.058904629566441505 + ], + [ + 0.7475804090499878, + 0.0029273503459990025, + 0.6641649007797241, + 0.04983990725980985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.0008249189122579992, + -0.7522561550140381, + -0.17278680629995097 + ], + [ + -0.0014781635254621506, + 0.9999960660934448, + -0.0023912517353892326, + 0.0592379036933085 + ], + [ + 0.7522552013397217, + 0.002687482163310051, + 0.6588664650917053, + 0.0492519696434306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.0008845060365274549, + -0.7567735314369202, + -0.17412908084764583 + ], + [ + -0.0012954537523910403, + 0.999996542930603, + -0.00228775292634964, + 0.059818678433754 + ], + [ + 0.7567729353904724, + 0.0024758153595030308, + 0.6536731719970703, + 0.04821583784080499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.0011688161175698042, + -0.7607991099357605, + -0.17726303036710161 + ], + [ + -0.0007480338681489229, + 0.9999973773956299, + -0.002174394205212593, + 0.06009595822234521 + ], + [ + 0.7607995867729187, + 0.001980255823582411, + 0.648983895778656, + 0.046331389729143274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.001442446606233716, + -0.7650463581085205, + -0.1785171887353186 + ], + [ + -0.0003252641763538122, + 0.999997615814209, + -0.0021592217963188887, + 0.06076974154863236 + ], + [ + 0.7650476694107056, + 0.0016393241239711642, + 0.6439716219902039, + 0.044878862435399056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877441, + -0.0014531849883496761, + -0.769130527973175, + -0.1800679632792533 + ], + [ + -0.0005189653020352125, + 0.9999971985816956, + -0.0023206027690321207, + 0.06273055459798271 + ], + [ + 0.7691317200660706, + 0.0018822263227775693, + 0.6390875577926636, + 0.04477689178708311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.0012736815260723233, + -0.7733120322227478, + -0.17982579646231175 + ], + [ + -0.000546193914487958, + 0.9999976754188538, + -0.002094858093187213, + 0.06288060956196674 + ], + [ + 0.7733128666877747, + 0.0017505694413557649, + 0.6340222358703613, + 0.04534357399371335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705933, + -0.002225269563496113, + -0.7768340110778809, + -0.1815947486821636 + ], + [ + 0.00028024002676829696, + 0.9999964833259583, + -0.0026373642031103373, + 0.06532564666122198 + ], + [ + 0.7768371105194092, + 0.0014430524315685034, + 0.6296999454498291, + 0.045115632547022444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.0025507272221148014, + -0.779694139957428, + -0.18235624015072224 + ], + [ + 0.0010803568875417113, + 0.999996542930603, + -0.002403823658823967, + 0.06527028553656593 + ], + [ + 0.779697597026825, + 0.000662819598801434, + 0.6261559724807739, + 0.04436658857720256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.0030336659401655197, + -0.7827765345573425, + -0.1810898152321873 + ], + [ + 0.002056846395134926, + 0.9999953508377075, + -0.0022403402253985405, + 0.06534582147288401 + ], + [ + 0.7827797532081604, + -0.000215897336602211, + 0.6222988963127136, + 0.04642735756810335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903442, + -0.003761997679248452, + -0.7847548127174377, + -0.18251425174268468 + ], + [ + 0.0032785104122012854, + 0.9999921917915344, + -0.0022044642828404903, + 0.06613547900161207 + ], + [ + 0.7847569584846497, + -0.0012065107002854347, + 0.6198024749755859, + 0.046520208725274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.004539810586720705, + -0.7858691811561584, + -0.1833891402439689 + ], + [ + 0.004675140138715506, + 0.9999868869781494, + -0.0020980031695216894, + 0.06680445361709753 + ], + [ + 0.7858683466911316, + -0.0023766930680722, + 0.6183892488479614, + 0.04464402308036875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.005660193972289562, + -0.7870671153068542, + -0.18359643247422597 + ], + [ + 0.006203397177159786, + 0.9999780654907227, + -0.002329607494175434, + 0.06866094684043271 + ], + [ + 0.7870630621910095, + -0.003445491660386324, + 0.616862952709198, + 0.04546102873721956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.0064145904034376144, + -0.787406325340271, + -0.18430823960668402 + ], + [ + 0.007700510323047638, + 0.9999681115150452, + -0.002118071774020791, + 0.06899665844632892 + ], + [ + 0.7873947620391846, + -0.004757847636938095, + 0.6164308190345764, + 0.04392364314010996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.0074282484129071236, + -0.7878191471099854, + -0.18448591627772676 + ], + [ + 0.009217723272740841, + 0.9999550580978394, + -0.00222267908975482, + 0.07019212614769572 + ], + [ + 0.7878001928329468, + -0.005893034394830465, + 0.6159027814865112, + 0.04329839861328831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6151977777481079, + -0.00841560773551464, + -0.7883278727531433, + -0.18475147109133322 + ], + [ + 0.010718902572989464, + 0.9999398589134216, + -0.002309769857674837, + 0.07101810608453901 + ], + [ + 0.7882999777793884, + -0.007029043976217508, + 0.6152510643005371, + 0.04319647835253041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.009412487968802452, + -0.7889751195907593, + -0.18357184479222788 + ], + [ + 0.012299969792366028, + 0.9999215602874756, + -0.0023514367640018463, + 0.07203915825002635 + ], + [ + 0.7889354228973389, + -0.008259756490588188, + 0.6144207119941711, + 0.04398738933073369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.010227596387267113, + -0.7890461683273315, + -0.18417976407445227 + ], + [ + 0.013775398954749107, + 0.999902606010437, + -0.002236975822597742, + 0.07313632804727713 + ], + [ + 0.788992166519165, + -0.009495366364717484, + 0.6143298745155334, + 0.04260222309127154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.010898209176957607, + -0.7895479202270508, + -0.1839602510463323 + ], + [ + 0.015464217402040958, + 0.9998788237571716, + -0.0017835102044045925, + 0.073266847843662 + ], + [ + 0.7894717454910278, + -0.011115392670035362, + 0.6136862635612488, + 0.04276546705637547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6129774451255798, + -0.011926617473363876, + -0.790010392665863, + -0.18422176318600872 + ], + [ + 0.017037706449627876, + 0.9998530745506287, + -0.0018748301081359386, + 0.0747407031362716 + ], + [ + 0.7899166941642761, + -0.012310735881328583, + 0.6130906343460083, + 0.04278228918941605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.012528479099273682, + -0.790443480014801, + -0.18427524953488483 + ], + [ + 0.018658088520169258, + 0.9998249411582947, + -0.0013915528543293476, + 0.07469358687961337 + ], + [ + 0.7903226017951965, + -0.013895966112613678, + 0.612533450126648, + 0.04258326253551521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.013137735426425934, + -0.7907539010047913, + -0.18444562107818016 + ], + [ + 0.020243775099515915, + 0.999794602394104, + -0.0009433808736503124, + 0.07464300958279348 + ], + [ + 0.7906039357185364, + -0.015430498868227005, + 0.6121335029602051, + 0.0424368318663725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.013584914617240429, + -0.7908241152763367, + -0.18448168600582524 + ], + [ + 0.021221036091446877, + 0.9997745156288147, + -0.0007547237910330296, + 0.0756444429596331 + ], + [ + 0.7906560301780701, + -0.01632029563188553, + 0.612043023109436, + 0.041830990932240394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.014132389798760414, + -0.7910428643226624, + -0.18419806068232714 + ], + [ + 0.0222689900547266, + 0.9997518062591553, + -0.0006437357515096664, + 0.07665247576101529 + ], + [ + 0.7908555865287781, + -0.01722201704978943, + 0.6117604374885559, + 0.042429199331248835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990784, + -0.014541958458721638, + -0.7911027669906616, + -0.18331753220655864 + ], + [ + 0.023335307836532593, + 0.9997276663780212, + -0.00033904053270816803, + 0.07687211694528923 + ], + [ + 0.7908922433853149, + -0.018253298476338387, + 0.6116831302642822, + 0.0423676816265512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391724, + -0.01510520838201046, + -0.7909956574440002, + -0.18355505126620958 + ], + [ + 0.024431081488728523, + 0.9997014999389648, + -0.00019947998225688934, + 0.07752651183785786 + ], + [ + 0.7907626032829285, + -0.01920286938548088, + 0.6118217706680298, + 0.04151261560125461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.015652863308787346, + -0.7913145422935486, + -0.1837856261442039 + ], + [ + 0.02551366202533245, + 0.9996744990348816, + -6.772205233573914e-05, + 0.07819207335840787 + ], + [ + 0.7910580039024353, + -0.020147938281297684, + 0.6114093065261841, + 0.04211927011905127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260254, + -0.01620602235198021, + -0.791683554649353, + -0.18385855215817493 + ], + [ + 0.026492536067962646, + 0.9996489882469177, + -2.641230821609497e-05, + 0.07911368885034363 + ], + [ + 0.7914061546325684, + -0.020957576110959053, + 0.6109313368797302, + 0.04180574793960677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.016544358804821968, + -0.7920592427253723, + -0.18411185894630208 + ], + [ + 0.027166148647665977, + 0.9996309280395508, + 4.9336813390254974e-05, + 0.07997749557484263 + ], + [ + 0.7917661070823669, + -0.02154730260372162, + 0.6104443073272705, + 0.041541973684007756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.01694480888545513, + -0.7924621105194092, + -0.18411390903399677 + ], + [ + 0.027893470600247383, + 0.9996109008789062, + 8.585862815380096e-05, + 0.08075163237972567 + ], + [ + 0.7921522855758667, + -0.022156862542033195, + 0.6099212169647217, + 0.041373660226679404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029053, + -0.017379073426127434, + -0.7929292917251587, + -0.18428718685018305 + ], + [ + 0.028695357963442802, + 0.9995881915092468, + 0.00013298168778419495, + 0.08163276001663003 + ], + [ + 0.7926003932952881, + -0.022834382951259613, + 0.6093137264251709, + 0.0412183870641601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.0174977146089077, + -0.7936343550682068, + -0.1832227389223331 + ], + [ + 0.02890973910689354, + 0.9995819926261902, + 0.00011449400335550308, + 0.08258326783874967 + ], + [ + 0.7933005690574646, + -0.023013386875391006, + 0.6083950996398926, + 0.042781333011013785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.017740648239850998, + -0.7941651940345764, + -0.1827213489111291 + ], + [ + 0.029664751142263412, + 0.9995598196983337, + 0.00036114174872636795, + 0.0827048330981013 + ], + [ + 0.7938092350959778, + -0.02377808466553688, + 0.60770183801651, + 0.04335096446390183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.01809324324131012, + -0.7946889996528625, + -0.18312688188639697 + ], + [ + 0.03016676753759384, + 0.9995448589324951, + 0.0002750689163804054, + 0.08369099141548801 + ], + [ + 0.7943223118782043, + -0.024140093475580215, + 0.6070168018341064, + 0.04356209724796134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.018253536894917488, + -0.7950931787490845, + -0.18387761723916263 + ], + [ + 0.030457107350230217, + 0.9995360374450684, + 0.0002747057005763054, + 0.08433496101901232 + ], + [ + 0.7947192192077637, + -0.02438276633620262, + 0.6064873337745667, + 0.04324817764048545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.0183928981423378, + -0.7955172657966614, + -0.184184195530533 + ], + [ + 0.03052372857928276, + 0.999534010887146, + 0.00012875162065029144, + 0.08553305400029713 + ], + [ + 0.795144259929657, + -0.024360129609704018, + 0.6059309244155884, + 0.04309292304767481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.018686318770051003, + -0.7958834171295166, + -0.18480809298621503 + ], + [ + 0.03098800592124462, + 0.9995197653770447, + 9.47415828704834e-05, + 0.08609052427014373 + ], + [ + 0.7954994440078735, + -0.024720171466469765, + 0.605449914932251, + 0.04278097786009312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.01886497437953949, + -0.7965230345726013, + -0.1847829185672943 + ], + [ + 0.03127732127904892, + 0.9995107650756836, + 5.721487104892731e-05, + 0.08664029684929264 + ], + [ + 0.7961322665214539, + -0.02494768053293228, + 0.6046081781387329, + 0.042832604085175405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.019014455378055573, + -0.7971327304840088, + -0.18529991505556548 + ], + [ + 0.031572796404361725, + 0.9995014667510986, + 6.191711872816086e-05, + 0.08690063264220954 + ], + [ + 0.796734094619751, + -0.02520507201552391, + 0.6038042306900024, + 0.04293509873728089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.01935577765107155, + -0.7977075576782227, + -0.185400972868137 + ], + [ + 0.03189093992114067, + 0.9994913339614868, + -0.00015567895025014877, + 0.08788665065554198 + ], + [ + 0.7973048686981201, + -0.025345809757709503, + 0.6030444502830505, + 0.042487207089630975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640442, + -0.019408177584409714, + -0.798369824886322, + -0.1849351182728019 + ], + [ + 0.03211335465312004, + 0.9994842410087585, + -8.842442184686661e-05, + 0.08779838496560095 + ], + [ + 0.7979597449302673, + -0.0255851112306118, + 0.6021674871444702, + 0.04235850719130592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.019424160942435265, + -0.7989946603775024, + -0.18456683738761587 + ], + [ + 0.03223805874586105, + 0.9994801878929138, + -4.781410098075867e-05, + 0.08787194694953644 + ], + [ + 0.7985802888870239, + -0.02572929859161377, + 0.6013381481170654, + 0.04247987501273882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.019588809460401535, + -0.7994709610939026, + -0.18541702855107012 + ], + [ + 0.03212953731417656, + 0.9994836449623108, + -0.0003609778359532356, + 0.08912840509626842 + ], + [ + 0.7990651726722717, + -0.025469902902841568, + 0.6007047295570374, + 0.04209567705132314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.01958748698234558, + -0.7998200058937073, + -0.1858208570654029 + ], + [ + 0.032067928463220596, + 0.9994856119155884, + -0.00042410846799612045, + 0.08957618253786635 + ], + [ + 0.7994168400764465, + -0.02539413794875145, + 0.6002398133277893, + 0.04151485922764864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.019519316032528877, + -0.8001946806907654, + -0.18585803397493253 + ], + [ + 0.0321090966463089, + 0.9994843006134033, + -0.00032783299684524536, + 0.08982256929581332 + ], + [ + 0.7997884154319763, + -0.025497013702988625, + 0.5997402667999268, + 0.041458847445269294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.019489094614982605, + -0.8006852269172668, + -0.18599079275960165 + ], + [ + 0.0320732407271862, + 0.999485433101654, + -0.0003429912030696869, + 0.09057421426948728 + ], + [ + 0.8002799153327942, + -0.025475196540355682, + 0.5990852117538452, + 0.041376154948741396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.01917283423244953, + -0.8014211058616638, + -0.18465735140127063 + ], + [ + 0.031849831342697144, + 0.9994926452636719, + -0.00015409104526042938, + 0.0908925285254488 + ], + [ + 0.8010174632072449, + -0.02543300949037075, + 0.5981006026268005, + 0.043002680718701405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.018590211868286133, + -0.8012843132019043, + -0.18603401626182708 + ], + [ + 0.03126666694879532, + 0.9995110630989075, + 0.00014500226825475693, + 0.09117999577907143 + ], + [ + 0.8008898496627808, + -0.025140196084976196, + 0.5982838869094849, + 0.04155462116792502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.018184971064329147, + -0.801186740398407, + -0.1863108341119542 + ], + [ + 0.03063547983765602, + 0.9995306134223938, + 0.0001844959333539009, + 0.09241736424556435 + ], + [ + 0.8008072972297668, + -0.024655092507600784, + 0.5984144806861877, + 0.04093123383770715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.017815273255109787, + -0.8012498021125793, + -0.1855661862067237 + ], + [ + 0.030087482184171677, + 0.9995472431182861, + 0.000233454629778862, + 0.09336344206347963 + ], + [ + 0.800882875919342, + -0.02424720861017704, + 0.5983299612998962, + 0.041417353759390235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.017788808792829514, + -0.8012539744377136, + -0.18539347005206228 + ], + [ + 0.030033722519874573, + 0.9995488524436951, + 0.00022612698376178741, + 0.0941575201289938 + ], + [ + 0.8008884787559509, + -0.024199875071644783, + 0.5983244180679321, + 0.04196344627844577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.017310068011283875, + -0.8012403845787048, + -0.18569432298671332 + ], + [ + 0.02964845672249794, + 0.9995602369308472, + 0.000536738894879818, + 0.09424410313737906 + ], + [ + 0.8008787035942078, + -0.024076558649539948, + 0.5983424186706543, + 0.041743385579609715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.017120927572250366, + -0.8013727068901062, + -0.18535702828539918 + ], + [ + 0.029341712594032288, + 0.999569296836853, + 0.0005371496081352234, + 0.09518892998307549 + ], + [ + 0.8010182976722717, + -0.023834817111492157, + 0.5981652736663818, + 0.04211383066232631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.01681988500058651, + -0.8013166189193726, + -0.18584158762129924 + ], + [ + 0.028740903362631798, + 0.9995867609977722, + 0.00046703219413757324, + 0.09632075593516923 + ], + [ + 0.8009777069091797, + -0.023309849202632904, + 0.5982402563095093, + 0.04215222481169448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.016582155600190163, + -0.8012941479682922, + -0.1855515200225328 + ], + [ + 0.028356844559311867, + 0.9995977282524109, + 0.00047805439680814743, + 0.09693749718713444 + ], + [ + 0.8009639382362366, + -0.0230080708861351, + 0.5982704162597656, + 0.04195262248942394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.016265729442238808, + -0.8013320565223694, + -0.1853221701778817 + ], + [ + 0.027768244966864586, + 0.9996142983436584, + 0.0004316791892051697, + 0.09752467219156541 + ], + [ + 0.8010159134864807, + -0.022509727627038956, + 0.5982196927070618, + 0.0430938073119383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.016147378832101822, + -0.8010669946670532, + -0.18536021399083516 + ], + [ + 0.027362212538719177, + 0.999625563621521, + 0.00028840918093919754, + 0.0984830380016506 + ], + [ + 0.800762414932251, + -0.022091537714004517, + 0.5985746383666992, + 0.04287511147805397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994995, + -0.01571132242679596, + -0.8009308576583862, + -0.18521351781704568 + ], + [ + 0.026675201952457428, + 0.9996441006660461, + 0.00032553263008594513, + 0.09902336857966242 + ], + [ + 0.8006407022476196, + -0.021559840068221092, + 0.5987567901611328, + 0.04334121631051333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.015586912631988525, + -0.8009005188941956, + -0.18479140211414818 + ], + [ + 0.026452653110027313, + 0.9996500015258789, + 0.0003158440813422203, + 0.09958875484961943 + ], + [ + 0.8006152510643005, + -0.021375004202127457, + 0.5987974405288696, + 0.04359341860804337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.015448791906237602, + -0.8007135391235352, + -0.1852620814402668 + ], + [ + 0.026189325377345085, + 0.9996569752693176, + 0.00029966142028570175, + 0.1002425673214213 + ], + [ + 0.8004342317581177, + -0.02114959806203842, + 0.5990474224090576, + 0.043118465829961344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.015125294215977192, + -0.8007330894470215, + -0.18483523078238134 + ], + [ + 0.025747332721948624, + 0.9996684193611145, + 0.0003721676766872406, + 0.10046346901687764 + ], + [ + 0.8004618883132935, + -0.02083960361778736, + 0.599021315574646, + 0.04354640907355097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.01479332149028778, + -0.8008558750152588, + -0.18433287430875347 + ], + [ + 0.025338858366012573, + 0.9996787905693054, + 0.0004759356379508972, + 0.10026949838494624 + ], + [ + 0.8005915880203247, + -0.020577702671289444, + 0.5988569259643555, + 0.0446005654675479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.598713219165802, + -0.014453249052166939, + -0.8008331060409546, + -0.1844203370247061 + ], + [ + 0.02473283000290394, + 0.9996939897537231, + 0.0004483424127101898, + 0.10011450675569031 + ], + [ + 0.8005815744400024, + -0.020075295120477676, + 0.5988874435424805, + 0.04447851680367198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.01428189966827631, + -0.8009747862815857, + -0.18371853095029067 + ], + [ + 0.02405443787574768, + 0.9997106194496155, + 0.00014917366206645966, + 0.10052306171667004 + ], + [ + 0.8007408976554871, + -0.01935627870261669, + 0.5986981391906738, + 0.04421749286328917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.014146590605378151, + -0.8012719750404358, + -0.1842809128124785 + ], + [ + 0.023411398753523827, + 0.999725878238678, + -0.00017419736832380295, + 0.10124386419967706 + ], + [ + 0.8010547757148743, + -0.018654704093933105, + 0.5983003377914429, + 0.04429318803233027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.014018379151821136, + -0.8014667630195618, + -0.184356176917324 + ], + [ + 0.022625073790550232, + 0.9997438192367554, + -0.0006086602807044983, + 0.10222273145783815 + ], + [ + 0.8012699484825134, + -0.01776934042572975, + 0.5980390906333923, + 0.043367866443975875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.013722740113735199, + -0.8016238212585449, + -0.18455607587138548 + ], + [ + 0.021986916661262512, + 0.9997580051422119, + -0.0007216222584247589, + 0.10263619371844049 + ], + [ + 0.8014397621154785, + -0.01719394326210022, + 0.5978283882141113, + 0.043060488219292745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.013239637017250061, + -0.8019078373908997, + -0.18423882496870117 + ], + [ + 0.021200206130743027, + 0.9997749924659729, + -0.0007154848426580429, + 0.10294691808151686 + ], + [ + 0.8017368912696838, + -0.01657325029373169, + 0.5974472761154175, + 0.04342481025204753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.013035249896347523, + -0.8023373484611511, + -0.18413213574950466 + ], + [ + 0.020687051117420197, + 0.9997856616973877, + -0.0008573736995458603, + 0.10373280994865478 + ], + [ + 0.8021765351295471, + -0.01608637347817421, + 0.5968702435493469, + 0.04498943395863306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.596592128276825, + -0.012730672955513, + -0.8024436831474304, + -0.1841518870746063 + ], + [ + 0.02018444985151291, + 0.9997959136962891, + -0.0008551264181733131, + 0.10396773935301809 + ], + [ + 0.8022907376289368, + -0.015686720609664917, + 0.5967273116111755, + 0.044740078701878225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.012447943910956383, + -0.8026606440544128, + -0.1839615414622209 + ], + [ + 0.019627327099442482, + 0.9998069405555725, + -0.0009239846840500832, + 0.1045338043424961 + ], + [ + 0.8025172352790833, + -0.015203106217086315, + 0.5964353084564209, + 0.04515543869443682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.01220423448830843, + -0.8029020428657532, + -0.18355815778270562 + ], + [ + 0.019357766956090927, + 0.9998123049736023, + -0.0008282237686216831, + 0.10483261769057703 + ], + [ + 0.8027613759040833, + -0.015048779547214508, + 0.596110463142395, + 0.04610230735694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.595792829990387, + -0.012032067403197289, + -0.8030480146408081, + -0.18339069331965305 + ], + [ + 0.019074292853474617, + 0.9998177289962769, + -0.0008287760429084301, + 0.1050960985104868 + ], + [ + 0.802911639213562, + -0.0148237943649292, + 0.5959137082099915, + 0.04669436832137455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.01215583086013794, + -0.8031197190284729, + -0.18366440236568451 + ], + [ + 0.018635351210832596, + 0.9998254776000977, + -0.0013108206912875175, + 0.10581945786252618 + ], + [ + 0.802995502948761, + -0.014185569249093533, + 0.5958163142204285, + 0.04722628379240632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/boom_up/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..de594ecfe66f095fc02e85134894c96fbd60630c --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/boom_up/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0004863918584305793, + -0.011884978972375393, + -0.003870816079036962 + ], + [ + -0.0004851055273320526, + 0.9999998807907104, + 0.00011111380445072427, + -0.0015034491926376146 + ], + [ + 0.011885031126439571, + -0.00010534047760302201, + 0.9999293684959412, + 0.0015532162797412547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0011968958424404263, + -0.024077866226434708, + -0.008558060224044648 + ], + [ + -0.0011860182275995612, + 0.9999991655349731, + 0.00046604720409959555, + -0.0035028936477094295 + ], + [ + 0.024078402668237686, + -0.00043735496001318097, + 0.999709963798523, + 0.003991727247010818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0017863846151158214, + -0.03649692237377167, + -0.013139053086044008 + ], + [ + -0.0017505328869447112, + 0.9999979734420776, + 0.001014251378364861, + -0.007175150400780092 + ], + [ + 0.03649865835905075, + -0.0009496849379502237, + 0.9993332624435425, + 0.005593463244565781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151672, + 0.0018534658011049032, + -0.04948023706674576, + -0.015267775304590827 + ], + [ + -0.001837058924138546, + 0.9999982118606567, + 0.00037706014700233936, + -0.0071190014635736975 + ], + [ + 0.049480848014354706, + -0.0002856995561160147, + 0.9987750053405762, + 0.007131344293527897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286682, + 0.0018996521830558777, + -0.06185787543654442, + -0.019962921824972363 + ], + [ + -0.0019415044225752354, + 0.9999979138374329, + -0.0006164890946820378, + -0.006531146435153406 + ], + [ + 0.061856579035520554, + 0.0007354046683758497, + 0.9980847835540771, + 0.0095550830619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002014815341681242, + -0.07438942790031433, + -0.02388287918420126 + ], + [ + -0.0020942697301506996, + 0.9999973177909851, + -0.0009900982258841395, + -0.007480887333177869 + ], + [ + 0.07438723742961884, + 0.0011431443272158504, + 0.9972288012504578, + 0.011163769986030232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0024909127969294786, + -0.08745445311069489, + -0.025692033390699583 + ], + [ + -0.002623689593747258, + 0.9999955892562866, + -0.0014033232582733035, + -0.00824255184239603 + ], + [ + 0.08745056390762329, + 0.0016273952787742019, + 0.9961675405502319, + 0.012710146102298743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0026894090697169304, + -0.10018683969974518, + -0.028587321971623312 + ], + [ + -0.0028831977397203445, + 0.9999942183494568, + -0.0017895271303132176, + -0.0077693979397712165 + ], + [ + 0.100181445479393, + 0.0020693752449005842, + 0.9949670433998108, + 0.015038399909012365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.003340879688039422, + -0.11246424168348312, + -0.03359356235160758 + ], + [ + -0.003594657639041543, + 0.9999914169311523, + -0.0020538191311061382, + -0.0072217639779289635 + ], + [ + 0.11245641857385635, + 0.002445048186928034, + 0.9936536550521851, + 0.017431643060932787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0036670309491455555, + -0.12474638968706131, + -0.03795717637184144 + ], + [ + -0.003980346955358982, + 0.9999895095825195, + -0.0022624770645052195, + -0.007005584255648802 + ], + [ + 0.12473677843809128, + 0.0027413226198405027, + 0.9921860694885254, + 0.019041229787264143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0042276340536773205, + -0.13722291588783264, + -0.039942860962600996 + ], + [ + -0.00458436319604516, + 0.9999868869781494, + -0.0022836981806904078, + -0.00776646322943116 + ], + [ + 0.13721147179603577, + 0.002891153795644641, + 0.9905375838279724, + 0.02123189671874811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.005210375878959894, + -0.1495237499475479, + -0.042064261050364433 + ], + [ + -0.005534265656024218, + 0.9999831318855286, + -0.0017501292750239372, + -0.009856138421709815 + ], + [ + 0.1495121270418167, + 0.0025579347275197506, + 0.9887565970420837, + 0.02404809838271891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.005594636779278517, + -0.16168241202831268, + -0.04468092841762334 + ], + [ + -0.006048411596566439, + 0.9999790191650391, + -0.002314514247700572, + -0.00909077785577662 + ], + [ + 0.16166608035564423, + 0.003261946840211749, + 0.9868401288986206, + 0.02581996482177113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.005581590346992016, + -0.1734739989042282, + -0.05020215918513521 + ], + [ + -0.006080773659050465, + 0.99997878074646, + -0.0023462402168661356, + -0.01036969394598847 + ], + [ + 0.17345722019672394, + 0.003365486627444625, + 0.984835684299469, + 0.027970300831628457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.98223477602005, + 0.005800416227430105, + -0.1875665783882141, + -0.05072999841977675 + ], + [ + -0.006495876703411341, + 0.9999741315841675, + -0.0030933539383113384, + -0.00976387179575765 + ], + [ + 0.18754377961158752, + 0.004256809130311012, + 0.982246994972229, + 0.02984278794032651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0061881085857748985, + -0.20237918198108673, + -0.05223467998848056 + ], + [ + -0.006918664090335369, + 0.999971866607666, + -0.0029026130214333534, + -0.011454966245990074 + ], + [ + 0.2023555189371109, + 0.004242686554789543, + 0.9793029427528381, + 0.032350388608428815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.006859282962977886, + -0.21706269681453705, + -0.055679349538975006 + ], + [ + -0.007583028636872768, + 0.9999681115150452, + -0.0025015086866915226, + -0.012410930244079391 + ], + [ + 0.2170386165380478, + 0.0040877992287278175, + 0.9761544466018677, + 0.03550300812718785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.007622532080858946, + -0.23202507197856903, + -0.05807608845057768 + ], + [ + -0.00841778889298439, + 0.9999616146087646, + -0.0024375603534281254, + -0.01237836622899793 + ], + [ + 0.23199759423732758, + 0.00432410417124629, + 0.9727067351341248, + 0.037800238765652805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290222, + 0.007998919114470482, + -0.24641965329647064, + -0.06032336379049827 + ], + [ + -0.008887644857168198, + 0.9999573826789856, + -0.002494553569704294, + -0.012943032651211425 + ], + [ + 0.24638919532299042, + 0.004607637412846088, + 0.9691600203514099, + 0.04107416773535657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.00830158032476902, + -0.25930365920066833, + -0.06378266864166354 + ], + [ + -0.00933983363211155, + 0.9999525547027588, + -0.002772246953099966, + -0.013403235040165622 + ], + [ + 0.25926831364631653, + 0.00509917875751853, + 0.9657918810844421, + 0.04330170226733614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262634, + 0.008982736617326736, + -0.2716941833496094, + -0.06610834757667898 + ], + [ + -0.01037854515016079, + 0.9999393224716187, + -0.003700912930071354, + -0.011588306609997587 + ], + [ + 0.2716444730758667, + 0.00638133380562067, + 0.9623765349388123, + 0.045792036322839805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958745002746582, + 0.009593034163117409, + -0.2841055989265442, + -0.06688906314307885 + ], + [ + -0.011181702837347984, + 0.9999296069145203, + -0.0039705075323581696, + -0.012005018667065052 + ], + [ + 0.2840474843978882, + 0.006983487866818905, + 0.9587847590446472, + 0.048345814338138955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.010277467779815197, + -0.296245276927948, + -0.06808980560571647 + ], + [ + -0.011924072168767452, + 0.9999218583106995, + -0.0037519545294344425, + -0.013322817308162123 + ], + [ + 0.29618358612060547, + 0.0071157789789140224, + 0.9551045298576355, + 0.050935742797774096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.010673862881958485, + -0.30833154916763306, + -0.06992553282553786 + ], + [ + -0.012424084357917309, + 0.9999158978462219, + -0.003713734447956085, + -0.013920153184355983 + ], + [ + 0.3082659840583801, + 0.007363311946392059, + 0.9512717127799988, + 0.053149440341832624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.010835468769073486, + -0.32070890069007874, + -0.06936248401735003 + ], + [ + -0.012816676869988441, + 0.9999095797538757, + -0.004067201167345047, + -0.014219977985450764 + ], + [ + 0.3206358253955841, + 0.007962532341480255, + 0.9471690654754639, + 0.05537626204013035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.010755755007266998, + -0.331837922334671, + -0.07124553555684374 + ], + [ + -0.013014215975999832, + 0.9999048113822937, + -0.00458433385938406, + -0.014091062773364464 + ], + [ + 0.3317570388317108, + 0.008642897941172123, + 0.9433252811431885, + 0.05738903188226831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135193, + 0.010849849320948124, + -0.3431485593318939, + -0.07238592033440999 + ], + [ + -0.0133688198402524, + 0.9998982548713684, + -0.004975970834493637, + -0.01443541951181478 + ], + [ + 0.34305962920188904, + 0.009261014871299267, + 0.9392679929733276, + 0.05912345132623978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060486, + 0.010827329009771347, + -0.3545053005218506, + -0.07305342790898897 + ], + [ + -0.013684280216693878, + 0.999890923500061, + -0.005552908405661583, + -0.013849500247234147 + ], + [ + 0.35440653562545776, + 0.010043070651590824, + 0.9350374937057495, + 0.0608839076012373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.010438570752739906, + -0.3656938374042511, + -0.07397327881109043 + ], + [ + -0.01359538920223713, + 0.9998892545700073, + -0.006058342754840851, + -0.012623099124811542 + ], + [ + 0.36559006571769714, + 0.010610107332468033, + 0.9307155013084412, + 0.06278325927918715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.010770156048238277, + -0.3767916262149811, + -0.07541119645886271 + ], + [ + -0.013901258818805218, + 0.9998877644538879, + -0.005591662600636482, + -0.014321627320462701 + ], + [ + 0.3766891062259674, + 0.010417073965072632, + 0.9262811541557312, + 0.06370071371067439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.011013920418918133, + -0.3877599537372589, + -0.07693500409568876 + ], + [ + -0.014093865640461445, + 0.9998876452445984, + -0.005099950358271599, + -0.016074910392330975 + ], + [ + 0.3876602351665497, + 0.010165633633732796, + 0.9217462539672852, + 0.065063498688504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.010770684108138084, + -0.39851656556129456, + -0.07794161578085249 + ], + [ + -0.01427946425974369, + 0.9998810291290283, + -0.0058373091742396355, + -0.01381365206425652 + ], + [ + 0.3984062969684601, + 0.011043987236917019, + 0.9171425700187683, + 0.06717570158622123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.010726790875196457, + -0.4089179039001465, + -0.07989239841452893 + ], + [ + -0.014440299943089485, + 0.9998777508735657, + -0.005994876846671104, + -0.01409999489636216 + ], + [ + 0.40880364179611206, + 0.011375270783901215, + 0.9125514626502991, + 0.06858538580157898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.01060201320797205, + -0.4190731346607208, + -0.0815503192473425 + ], + [ + -0.01432447973638773, + 0.9998809695243835, + -0.005737208761274815, + -0.015872286098534305 + ], + [ + 0.41896238923072815, + 0.011211763136088848, + 0.9079343676567078, + 0.06907886784425042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523499, + 0.010560670867562294, + -0.4294537901878357, + -0.08253655821356355 + ], + [ + -0.014666726812720299, + 0.9998728632926941, + -0.0062524136155843735, + -0.015260905341942185 + ], + [ + 0.4293331503868103, + 0.011944780126214027, + 0.9030672311782837, + 0.07108820010815432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.01073315367102623, + -0.4390795826911926, + -0.0852418537566204 + ], + [ + -0.015065105631947517, + 0.9998661279678345, + -0.006382744759321213, + -0.015409947200277389 + ], + [ + 0.43895232677459717, + 0.01234893687069416, + 0.8984254598617554, + 0.07116592470679851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.011067933402955532, + -0.4490206241607666, + -0.08560972649123001 + ], + [ + -0.015340826474130154, + 0.9998650550842285, + -0.00587916374206543, + -0.01777423563666198 + ], + [ + 0.4488949775695801, + 0.01214110292494297, + 0.8935020565986633, + 0.07196541576467405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.011033737100660801, + -0.4585636258125305, + -0.08750772672945893 + ], + [ + -0.015641024336218834, + 0.9998581409454346, + -0.006250678561627865, + -0.01671284828951817 + ], + [ + 0.45842957496643066, + 0.01272671390324831, + 0.8886395692825317, + 0.07283791473493079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472046, + 0.011236707679927349, + -0.46845918893814087, + -0.08820527505610656 + ], + [ + -0.016084803268313408, + 0.9998504519462585, + -0.006349554285407066, + -0.01621426213409332 + ], + [ + 0.46831780672073364, + 0.01314435712993145, + 0.8834623098373413, + 0.07480137363841005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004211, + 0.011081221513450146, + -0.47735270857810974, + -0.09097668215237706 + ], + [ + -0.015823325142264366, + 0.9998573064804077, + -0.005914696026593447, + -0.017507047694645183 + ], + [ + 0.4772190749645233, + 0.012750206515192986, + 0.8786918520927429, + 0.07489466257640068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.011335542425513268, + -0.4867357313632965, + -0.09197072216389787 + ], + [ + -0.016187697649002075, + 0.9998523592948914, + -0.005764305591583252, + -0.018196075153074517 + ], + [ + 0.48659852147102356, + 0.012914111837744713, + 0.8735302686691284, + 0.0758532569762196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325684, + 0.011563494801521301, + -0.49545857310295105, + -0.09455003541036947 + ], + [ + -0.016600852832198143, + 0.999845564365387, + -0.005766450427472591, + -0.018544727288778647 + ], + [ + 0.49531540274620056, + 0.013233511708676815, + 0.8686124086380005, + 0.07465032148267457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022583, + 0.011870907619595528, + -0.5048052072525024, + -0.09537347203231608 + ], + [ + -0.017190923914313316, + 0.9998348951339722, + -0.005882324650883675, + -0.018535038044318462 + ], + [ + 0.5046520233154297, + 0.013755405321717262, + 0.863213300704956, + 0.07705990630787926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.012344984337687492, + -0.5133175849914551, + -0.09789330503897162 + ], + [ + -0.017671290785074234, + 0.9998287558555603, + -0.005495703313499689, + -0.019843434327781597 + ], + [ + 0.5131617784500122, + 0.013786900788545609, + 0.8581811785697937, + 0.07742770541187943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.01265900582075119, + -0.5219429135322571, + -0.09946729487042553 + ], + [ + -0.018154555931687355, + 0.9998205304145813, + -0.0054163821041584015, + -0.020191119700078145 + ], + [ + 0.5217806696891785, + 0.014095200225710869, + 0.8529632091522217, + 0.0773354402700106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.012931415811181068, + -0.5304490923881531, + -0.10122988635291721 + ], + [ + -0.018431654199957848, + 0.9998172521591187, + -0.0050786263309419155, + -0.021376667679935103 + ], + [ + 0.5302864909172058, + 0.014081789180636406, + 0.8477016091346741, + 0.07781155449615804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298462, + 0.013244349509477615, + -0.5390504002571106, + -0.10306684744624507 + ], + [ + -0.018967323005199432, + 0.9998072385787964, + -0.005067991092801094, + -0.02135422530750565 + ], + [ + 0.5388793349266052, + 0.014492450281977654, + 0.8422582745552063, + 0.0771651699435928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.013627559877932072, + -0.5479176044464111, + -0.1046628080949878 + ], + [ + -0.019596006721258163, + 0.9997952580451965, + -0.0050477455370128155, + -0.02067488258741549 + ], + [ + 0.547736644744873, + 0.01495903730392456, + 0.8365170955657959, + 0.07792515986605196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.013762841001152992, + -0.5570093989372253, + -0.10560707607436062 + ], + [ + -0.019926106557250023, + 0.9997889399528503, + -0.005002694204449654, + -0.020100081068099726 + ], + [ + 0.5568229556083679, + 0.015253225341439247, + 0.8304911851882935, + 0.07878470386668349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.013394848443567753, + -0.5660153031349182, + -0.10741854210489041 + ], + [ + -0.019328225404024124, + 0.9998031258583069, + -0.004487108904868364, + -0.021598154956487238 + ], + [ + 0.5658437609672546, + 0.014638731256127357, + 0.8243825435638428, + 0.07900740318493732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.012859703972935677, + -0.5745726823806763, + -0.10946022251756578 + ], + [ + -0.01881125010550022, + 0.9998133182525635, + -0.004415334202349186, + -0.02224663666986077 + ], + [ + 0.5744086503982544, + 0.014421730302274227, + 0.81844162940979, + 0.07819601653809875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182373, + 0.012150449678301811, + -0.5833437442779541, + -0.11057004480073783 + ], + [ + -0.017797311767935753, + 0.9998338222503662, + -0.003952008672058582, + -0.02378861229521352 + ], + [ + 0.5831987857818604, + 0.013591513969004154, + 0.8122157454490662, + 0.07935329605362668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938904, + 0.011548399925231934, + -0.5913549661636353, + -0.11302013675503383 + ], + [ + -0.017339786514639854, + 0.9998411536216736, + -0.004117665346711874, + -0.02307061608140635 + ], + [ + 0.5912134647369385, + 0.013574158772826195, + 0.8064008951187134, + 0.07825849779715009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.010826105251908302, + -0.5994647741317749, + -0.11462607655846915 + ], + [ + -0.016626477241516113, + 0.9998531937599182, + -0.00414055772125721, + -0.023016273104493196 + ], + [ + 0.5993319749832153, + 0.01328079029917717, + 0.8003904819488525, + 0.0775612990637094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7943386435508728, + 0.01026931218802929, + -0.6073883771896362, + -0.11608385924397913 + ], + [ + -0.016307000070810318, + 0.9998572468757629, + -0.0044212802313268185, + -0.02226721354766397 + ], + [ + 0.607256293296814, + 0.013416675850749016, + 0.7943927049636841, + 0.07820375680010642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311462, + 0.009605573490262032, + -0.6148615479469299, + -0.11926280565017107 + ], + [ + -0.014743058010935783, + 0.9998859167098999, + -0.003287816420197487, + -0.025517219620824656 + ], + [ + 0.6147598624229431, + 0.011657634750008583, + 0.7886282205581665, + 0.07760799547891743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.008899434469640255, + -0.6226077079772949, + -0.1208689582213414 + ], + [ + -0.01374885905534029, + 0.9999009966850281, + -0.002986959181725979, + -0.02604640213562953 + ], + [ + 0.6225194931030273, + 0.01089739054441452, + 0.7825284600257874, + 0.07632907035433693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.0077556101605296135, + -0.6300268173217773, + -0.12227011576467595 + ], + [ + -0.012501758523285389, + 0.9999170303344727, + -0.0030999979935586452, + -0.02567131213399749 + ], + [ + 0.6299505233764648, + 0.01028369925916195, + 0.7765672206878662, + 0.07542679900217135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.006658867001533508, + -0.6370848417282104, + -0.12482119268731566 + ], + [ + -0.011066295206546783, + 0.9999344348907471, + -0.002936943434178829, + -0.027492783042226014 + ], + [ + 0.6370235681533813, + 0.009313861839473248, + 0.7707880735397339, + 0.0738683015447332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.005289234220981598, + -0.6443486213684082, + -0.126591043953864 + ], + [ + -0.009799103252589703, + 0.999946117401123, + -0.003421375062316656, + -0.027017190238300542 + ], + [ + 0.6442958116531372, + 0.008930409327149391, + 0.7647242546081543, + 0.07414499480301971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592346, + 0.005259272176772356, + -0.6512006521224976, + -0.12846411755401024 + ], + [ + -0.00947636365890503, + 0.9999507069587708, + -0.002967563923448324, + -0.029867178936865163 + ], + [ + 0.6511529684066772, + 0.008423060178756714, + 0.7588997483253479, + 0.07246249783907505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.0054379841312766075, + -0.6581783890724182, + -0.1307913387663021 + ], + [ + -0.009595428593456745, + 0.9999502897262573, + -0.0027137508150190115, + -0.031897068995711035 + ], + [ + 0.658130943775177, + 0.008358529768884182, + 0.7528571486473083, + 0.0721245017359095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844727, + 0.005608484148979187, + -0.6653628349304199, + -0.13262877210678645 + ], + [ + -0.010697361081838608, + 0.9999364018440247, + -0.0035731527023017406, + -0.03011955026512509 + ], + [ + 0.6653004884719849, + 0.009784981608390808, + 0.7465115785598755, + 0.07165354443899054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.006018341518938541, + -0.6717082858085632, + -0.13544911540896687 + ], + [ + -0.01101385522633791, + 0.9999342560768127, + -0.0031874277628958225, + -0.0326633744533883 + ], + [ + 0.6716449856758118, + 0.009759316220879555, + 0.7408088445663452, + 0.06861679400039825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.00578389223664999, + -0.6787058115005493, + -0.13690999839516566 + ], + [ + -0.010729682631790638, + 0.9999376535415649, + -0.003088544122874737, + -0.03403008621901471 + ], + [ + 0.6786456108093262, + 0.009550485759973526, + 0.7344037294387817, + 0.06920247721109564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446777, + 0.005525314249098301, + -0.6847578883171082, + -0.14091770419147828 + ], + [ + -0.010778908617794514, + 0.9999361038208008, + -0.0034029053058475256, + -0.033288163210678574 + ], + [ + 0.684695303440094, + 0.009860808029770851, + 0.7287627458572388, + 0.06602771478328878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.005478494800627232, + -0.691051721572876, + -0.1431543408905384 + ], + [ + -0.010956338606774807, + 0.9999337196350098, + -0.003532210597768426, + -0.03327969774505161 + ], + [ + 0.6909866333007812, + 0.01012442447245121, + 0.7227966785430908, + 0.06529117708297952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.005495008081197739, + -0.6972485184669495, + -0.14525038867399392 + ], + [ + -0.010774627327919006, + 0.9999368190765381, + -0.003196398261934519, + -0.03478795047726063 + ], + [ + 0.6971868872642517, + 0.00980379804968834, + 0.7168223857879639, + 0.06484760695340618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.005751725286245346, + -0.70326828956604, + -0.14809557845606314 + ], + [ + -0.01132161170244217, + 0.9999305605888367, + -0.0032664949540048838, + -0.03503583157373383 + ], + [ + 0.7032006978988647, + 0.010284285992383957, + 0.710917055606842, + 0.06285666792055235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.005315891467034817, + -0.7089744210243225, + -0.14990277253461398 + ], + [ + -0.010684940032660961, + 0.9999380111694336, + -0.0031307318713515997, + -0.03574793178908872 + ], + [ + 0.7089138627052307, + 0.00978318601846695, + 0.705227255821228, + 0.061636536425312624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.005222121253609657, + -0.7142776250839233, + -0.1528380981381267 + ], + [ + -0.010238460265100002, + 0.9999439120292664, + -0.002720913151279092, + -0.03735102398555406 + ], + [ + 0.7142233848571777, + 0.00921731535345316, + 0.699857234954834, + 0.059106882262530906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479492, + 0.004453210160136223, + -0.7193988561630249, + -0.15623251788860915 + ], + [ + -0.009380107745528221, + 0.9999518990516663, + -0.002866653958335519, + -0.037074401007582816 + ], + [ + 0.7193515300750732, + 0.00873916782438755, + 0.6945912837982178, + 0.058551603545811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.003815949894487858, + -0.7244514226913452, + -0.15793264244331529 + ], + [ + -0.008435632102191448, + 0.9999606013298035, + -0.002759345108643174, + -0.03810123706988942 + ], + [ + 0.7244123220443726, + 0.008013264276087284, + 0.68932044506073, + 0.05645374625563523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.00299663539044559, + -0.7291480302810669, + -0.16158491776645528 + ], + [ + -0.006998141296207905, + 0.9999724626541138, + -0.0024585160426795483, + -0.039703531396754144 + ], + [ + 0.7291206121444702, + 0.006785165052860975, + 0.6843516230583191, + 0.05600636963923739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.0021717692725360394, + -0.7339073419570923, + -0.16381062550118675 + ], + [ + -0.006026202347129583, + 0.9999784231185913, + -0.002618249040096998, + -0.04027558660245692 + ], + [ + 0.7338857650756836, + 0.006201109383255243, + 0.6792445778846741, + 0.053647780083181544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.0016479046316817403, + -0.7387893795967102, + -0.16571825845938004 + ], + [ + -0.004829217214137316, + 0.9999859929084778, + -0.002174766268581152, + -0.04270127031039323 + ], + [ + 0.7387754321098328, + 0.005033424124121666, + 0.6739329099655151, + 0.05376600893029314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6692056655883789, + 0.00024994288105517626, + -0.7430772185325623, + -0.16948214667203176 + ], + [ + -0.003476889804005623, + 0.9999900460243225, + -0.002794883446767926, + -0.042340386783494464 + ], + [ + 0.7430691123008728, + 0.0044539496302604675, + 0.6691998839378357, + 0.05108732141505014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.0007921459618955851, + -0.7475818395614624, + -0.171021997719226 + ], + [ + -0.001662318129092455, + 0.9999954104423523, + -0.0025364491157233715, + -0.044406154558728664 + ], + [ + 0.7475804090499878, + 0.0029273503459990025, + 0.6641649007797241, + 0.04953747901214373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.0008249189122579992, + -0.7522561550140381, + -0.17270049028131734 + ], + [ + -0.0014781635254621506, + 0.9999960660934448, + -0.0023912517353892326, + -0.045397446268787056 + ], + [ + 0.7522552013397217, + 0.002687482163310051, + 0.6588664650917053, + 0.04897076290051471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.0008845060365274549, + -0.7567735314369202, + -0.17403535835370915 + ], + [ + -0.0012954537523910403, + 0.999996542930603, + -0.00228775292634964, + -0.04614122015491918 + ], + [ + 0.7567729353904724, + 0.0024758153595030308, + 0.6536731719970703, + 0.04795349978946692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.0011688161175698042, + -0.7607991099357605, + -0.17713763420084577 + ], + [ + -0.0007480338681489229, + 0.9999973773956299, + -0.002174394205212593, + -0.04718852862407336 + ], + [ + 0.7607995867729187, + 0.001980255823582411, + 0.648983895778656, + 0.04611893844210993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.001442446606233716, + -0.7650463581085205, + -0.17836052566020447 + ], + [ + -0.0003252641763538122, + 0.999997615814209, + -0.0021592217963188887, + -0.04783927102986452 + ], + [ + 0.7650476694107056, + 0.0016393241239711642, + 0.6439716219902039, + 0.04470081663650417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877441, + -0.0014531849883496761, + -0.769130527973175, + -0.17990820916795128 + ], + [ + -0.0005189653020352125, + 0.9999971985816956, + -0.0023206027690321207, + -0.04720291226596529 + ], + [ + 0.7691317200660706, + 0.0018822263227775693, + 0.6390875577926636, + 0.04456997154232744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.0012736815260723233, + -0.7733120322227478, + -0.17968408884881495 + ], + [ + -0.000546193914487958, + 0.9999976754188538, + -0.002094858093187213, + -0.048377409954832876 + ], + [ + 0.7733128666877747, + 0.0017505694413557649, + 0.6340222358703613, + 0.04514880865189364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705933, + -0.002225269563496113, + -0.7768340110778809, + -0.18134422164521372 + ], + [ + 0.00028024002676829696, + 0.9999964833259583, + -0.0026373642031103373, + -0.047256738878786564 + ], + [ + 0.7768371105194092, + 0.0014430524315685034, + 0.6296999454498291, + 0.04495316969048824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.0025507272221148014, + -0.779694139957428, + -0.1820656937386668 + ], + [ + 0.0010803568875417113, + 0.999996542930603, + -0.002403823658823967, + -0.04863660544625774 + ], + [ + 0.779697597026825, + 0.000662819598801434, + 0.6261559724807739, + 0.04429108859641194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.0030336659401655197, + -0.7827765345573425, + -0.18074024048146625 + ], + [ + 0.002056846395134926, + 0.9999953508377075, + -0.0022403402253985405, + -0.04988543087530215 + ], + [ + 0.7827797532081604, + -0.000215897336602211, + 0.6222988963127136, + 0.04645223580424162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903442, + -0.003761997679248452, + -0.7847548127174377, + -0.18207576724497096 + ], + [ + 0.0032785104122012854, + 0.9999921917915344, + -0.0022044642828404903, + -0.050419902293295266 + ], + [ + 0.7847569584846497, + -0.0012065107002854347, + 0.6198024749755859, + 0.04666083513802251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.004539810586720705, + -0.7858691811561584, + -0.1828539837642098 + ], + [ + 0.004675140138715506, + 0.9999868869781494, + -0.0020980031695216894, + -0.05107479531145254 + ], + [ + 0.7858683466911316, + -0.0023766930680722, + 0.6183892488479614, + 0.04492418954799581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.005660193972289562, + -0.7870671153068542, + -0.1829217073649464 + ], + [ + 0.006203397177159786, + 0.9999780654907227, + -0.002329607494175434, + -0.05054173646309716 + ], + [ + 0.7870630621910095, + -0.003445491660386324, + 0.616862952709198, + 0.04587174959739806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.0064145904034376144, + -0.787406325340271, + -0.1835350902997796 + ], + [ + 0.007700510323047638, + 0.9999681115150452, + -0.002118071774020791, + -0.05152929936541824 + ], + [ + 0.7873947620391846, + -0.004757847636938095, + 0.6164308190345764, + 0.04449710557052237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.0074282484129071236, + -0.7878191471099854, + -0.18358075223271025 + ], + [ + 0.009217723272740841, + 0.9999550580978394, + -0.00222267908975482, + -0.05165670212382907 + ], + [ + 0.7878001928329468, + -0.005893034394830465, + 0.6159027814865112, + 0.044016490221665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6151977777481079, + -0.00841560773551464, + -0.7883278727531433, + -0.1837148465623228 + ], + [ + 0.010718902572989464, + 0.9999398589134216, + -0.002309769857674837, + -0.052153293755127506 + ], + [ + 0.7882999777793884, + -0.007029043976217508, + 0.6152510643005371, + 0.04406230761052806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.009412487968802452, + -0.7889751195907593, + -0.18239995887293325 + ], + [ + 0.012299969792366028, + 0.9999215602874756, + -0.0023514367640018463, + -0.05245438700430835 + ], + [ + 0.7889354228973389, + -0.008259756490588188, + 0.6144207119941711, + 0.045015756363998974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.010227596387267113, + -0.7890461683273315, + -0.18289284797274316 + ], + [ + 0.013775398954749107, + 0.999902606010437, + -0.002236975822597742, + -0.05267923164940039 + ], + [ + 0.788992166519165, + -0.009495366364717484, + 0.6143298745155334, + 0.04379700428948102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.010898209176957607, + -0.7895479202270508, + -0.1825745184887324 + ], + [ + 0.015464217402040958, + 0.9998788237571716, + -0.0017835102044045925, + -0.05387006219698498 + ], + [ + 0.7894717454910278, + -0.011115392670035362, + 0.6136862635612488, + 0.044178814998525655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6129774451255798, + -0.011926617473363876, + -0.790010392665863, + -0.18268946928545735 + ], + [ + 0.017037706449627876, + 0.9998530745506287, + -0.0018748301081359386, + -0.053717241541093946 + ], + [ + 0.7899166941642761, + -0.012310735881328583, + 0.6130906343460083, + 0.04436393340198409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.012528479099273682, + -0.790443480014801, + -0.18264903635378704 + ], + [ + 0.018658088520169258, + 0.9998249411582947, + -0.0013915528543293476, + -0.0550850147541785 + ], + [ + 0.7903226017951965, + -0.013895966112613678, + 0.612533450126648, + 0.04438697734218559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.013137735426425934, + -0.7907539010047913, + -0.18272292464478126 + ], + [ + 0.020243775099515915, + 0.999794602394104, + -0.0009433808736503124, + -0.05645588530067182 + ], + [ + 0.7906039357185364, + -0.015430498868227005, + 0.6121335029602051, + 0.04446016880406054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.013584914617240429, + -0.7908241152763367, + -0.18268235956645565 + ], + [ + 0.021221036091446877, + 0.9997745156288147, + -0.0007547237910330296, + -0.056776022686567534 + ], + [ + 0.7906560301780701, + -0.01632029563188553, + 0.612043023109436, + 0.04399261949275503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.014132389798760414, + -0.7910428643226624, + -0.18230750257679762 + ], + [ + 0.0222689900547266, + 0.9997518062591553, + -0.0006437357515096664, + -0.05708915659948098 + ], + [ + 0.7908555865287781, + -0.01722201704978943, + 0.6117604374885559, + 0.044733071810757086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990784, + -0.014541958458721638, + -0.7911027669906616, + -0.1813529232492214 + ], + [ + 0.023335307836532593, + 0.9997276663780212, + -0.00033904053270816803, + -0.05819042871107921 + ], + [ + 0.7908922433853149, + -0.018253298476338387, + 0.6116831302642822, + 0.04483369016242738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391724, + -0.01510520838201046, + -0.7909956574440002, + -0.18149434071873 + ], + [ + 0.024431081488728523, + 0.9997014999389648, + -0.00019947998225688934, + -0.05885660669686188 + ], + [ + 0.7907626032829285, + -0.01920286938548088, + 0.6118217706680298, + 0.04413234480218777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.015652863308787346, + -0.7913145422935486, + -0.18162947013875508 + ], + [ + 0.02551366202533245, + 0.9996744990348816, + -6.772205233573914e-05, + -0.059511433793416876 + ], + [ + 0.7910580039024353, + -0.020147938281297684, + 0.6114093065261841, + 0.044894615259786316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260254, + -0.01620602235198021, + -0.791683554649353, + -0.18160473448008496 + ], + [ + 0.026492536067962646, + 0.9996489882469177, + -2.641230821609497e-05, + -0.059910342627704546 + ], + [ + 0.7914061546325684, + -0.020957576110959053, + 0.6109313368797302, + 0.0447203777298726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.016544358804821968, + -0.7920592427253723, + -0.1817890747962211 + ], + [ + 0.027166148647665977, + 0.9996309280395508, + 4.9336813390254974e-05, + -0.06036803869296187 + ], + [ + 0.7917661070823669, + -0.02154730260372162, + 0.6104443073272705, + 0.04456715789062298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.01694480888545513, + -0.7924621105194092, + -0.1817124592979124 + ], + [ + 0.027893470600247383, + 0.9996109008789062, + 8.585862815380096e-05, + -0.060915078075960374 + ], + [ + 0.7921522855758667, + -0.022156862542033195, + 0.6099212169647217, + 0.04451377187170927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029053, + -0.017379073426127434, + -0.7929292917251587, + -0.18180117369783635 + ], + [ + 0.028695357963442802, + 0.9995881915092468, + 0.00013298168778419495, + -0.061354689894626474 + ], + [ + 0.7926003932952881, + -0.022834382951259613, + 0.6093137264251709, + 0.044484762373744255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.0174977146089077, + -0.7936343550682068, + -0.18069657879998746 + ], + [ + 0.02890973910689354, + 0.9995819926261902, + 0.00011449400335550308, + -0.06172724500397184 + ], + [ + 0.7933005690574646, + -0.023013386875391006, + 0.6083950996398926, + 0.04610379548706361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.017740648239850998, + -0.7941651940345764, + -0.18013661870399847 + ], + [ + 0.029664751142263412, + 0.9995598196983337, + 0.00036114174872636795, + -0.06292639891092745 + ], + [ + 0.7938092350959778, + -0.02377808466553688, + 0.60770183801651, + 0.046815321170139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.01809324324131012, + -0.7946889996528625, + -0.18046681566151562 + ], + [ + 0.03016676753759384, + 0.9995448589324951, + 0.0002750689163804054, + -0.06326196135471988 + ], + [ + 0.7943223118782043, + -0.024140093475580215, + 0.6070168018341064, + 0.04711117059337777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.018253536894917488, + -0.7950931787490845, + -0.18116980779249936 + ], + [ + 0.030457107350230217, + 0.9995360374450684, + 0.0002747057005763054, + -0.06394058360860048 + ], + [ + 0.7947192192077637, + -0.02438276633620262, + 0.6064873337745667, + 0.04686522377247842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.0183928981423378, + -0.7955172657966614, + -0.18143135117280562 + ], + [ + 0.03052372857928276, + 0.999534010887146, + 0.00012875162065029144, + -0.06406607610599095 + ], + [ + 0.795144259929657, + -0.024360129609704018, + 0.6059309244155884, + 0.04673887622104773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.018686318770051003, + -0.7958834171295166, + -0.18198658260239275 + ], + [ + 0.03098800592124462, + 0.9995197653770447, + 9.47415828704834e-05, + -0.06483034096559546 + ], + [ + 0.7954994440078735, + -0.024720171466469765, + 0.605449914932251, + 0.04651356004178524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.01886497437953949, + -0.7965230345726013, + -0.18190944564855652 + ], + [ + 0.03127732127904892, + 0.9995107650756836, + 5.721487104892731e-05, + -0.06560306471852673 + ], + [ + 0.7961322665214539, + -0.02494768053293228, + 0.6046081781387329, + 0.046632581914694896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.019014455378055573, + -0.7971327304840088, + -0.18237848879880464 + ], + [ + 0.031572796404361725, + 0.9995014667510986, + 6.191711872816086e-05, + -0.06666515562683345 + ], + [ + 0.796734094619751, + -0.02520507201552391, + 0.6038042306900024, + 0.04680766609330841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.01935577765107155, + -0.7977075576782227, + -0.1824014682520107 + ], + [ + 0.03189093992114067, + 0.9994913339614868, + -0.00015567895025014877, + -0.06700141036895331 + ], + [ + 0.7973048686981201, + -0.025345809757709503, + 0.6030444502830505, + 0.04641496833685218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640442, + -0.019408177584409714, + -0.798369824886322, + -0.18190178720662925 + ], + [ + 0.03211335465312004, + 0.9994842410087585, + -8.842442184686661e-05, + -0.06841239707285403 + ], + [ + 0.7979597449302673, + -0.0255851112306118, + 0.6021674871444702, + 0.04635723980748101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.019424160942435265, + -0.7989946603775024, + -0.18150528089470225 + ], + [ + 0.03223805874586105, + 0.9994801878929138, + -4.781410098075867e-05, + -0.0696620164402076 + ], + [ + 0.7985802888870239, + -0.02572929859161377, + 0.6013381481170654, + 0.046535221413271315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.019588809460401535, + -0.7994709610939026, + -0.18230357539180098 + ], + [ + 0.03212953731417656, + 0.9994836449623108, + -0.0003609778359532356, + -0.06972992257986045 + ], + [ + 0.7990651726722717, + -0.025469902902841568, + 0.6007047295570374, + 0.046143873539192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.01958748698234558, + -0.7998200058937073, + -0.18268167040995414 + ], + [ + 0.032067928463220596, + 0.9994856119155884, + -0.00042410846799612045, + -0.07060627976913524 + ], + [ + 0.7994168400764465, + -0.02539413794875145, + 0.6002398133277893, + 0.0455846482234088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.019519316032528877, + -0.8001946806907654, + -0.1827039193312656 + ], + [ + 0.0321090966463089, + 0.9994843006134033, + -0.00032783299684524536, + -0.07168350312118697 + ], + [ + 0.7997884154319763, + -0.025497013702988625, + 0.5997402667999268, + 0.04557889469263964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.019489094614982605, + -0.8006852269172668, + -0.1828157482064323 + ], + [ + 0.0320732407271862, + 0.999485433101654, + -0.0003429912030696869, + -0.072255862911312 + ], + [ + 0.8002799153327942, + -0.025475196540355682, + 0.5990852117538452, + 0.04552641875597815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.01917283423244953, + -0.8014211058616638, + -0.18150843558031202 + ], + [ + 0.031849831342697144, + 0.9994926452636719, + -0.00015409104526042938, + -0.0732625549350748 + ], + [ + 0.8010174632072449, + -0.02543300949037075, + 0.5981006026268005, + 0.04717975777407356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.018590211868286133, + -0.8012843132019043, + -0.18295616661475983 + ], + [ + 0.03126666694879532, + 0.9995110630989075, + 0.00014500226825475693, + -0.07430196831015168 + ], + [ + 0.8008898496627808, + -0.025140196084976196, + 0.5982838869094849, + 0.04571690528795419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.018184971064329147, + -0.801186740398407, + -0.18327599125883437 + ], + [ + 0.03063547983765602, + 0.9995306134223938, + 0.0001844959333539009, + -0.07439171825936497 + ], + [ + 0.8008072972297668, + -0.024655092507600784, + 0.5984144806861877, + 0.0450458585475849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.017815273255109787, + -0.8012498021125793, + -0.18256944487771845 + ], + [ + 0.030087482184171677, + 0.9995472431182861, + 0.000233454629778862, + -0.07477231936171552 + ], + [ + 0.800882875919342, + -0.02424720861017704, + 0.5983299612998962, + 0.04549602328719485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.017788808792829514, + -0.8012539744377136, + -0.18237761902493357 + ], + [ + 0.030033722519874573, + 0.9995488524436951, + 0.00022612698376178741, + -0.07530241776874523 + ], + [ + 0.8008884787559509, + -0.024199875071644783, + 0.5983244180679321, + 0.04606620655549283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.017310068011283875, + -0.8012403845787048, + -0.18273670871723566 + ], + [ + 0.02964845672249794, + 0.9995602369308472, + 0.000536738894879818, + -0.07654168568921603 + ], + [ + 0.8008787035942078, + -0.024076558649539948, + 0.5983424186706543, + 0.045857128713107265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.017120927572250366, + -0.8013727068901062, + -0.18240905400143553 + ], + [ + 0.029341712594032288, + 0.999569296836853, + 0.0005371496081352234, + -0.07692233967095219 + ], + [ + 0.8010182976722717, + -0.023834817111492157, + 0.5981652736663818, + 0.04621783890668919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.01681988500058651, + -0.8013166189193726, + -0.18292317048874715 + ], + [ + 0.028740903362631798, + 0.9995867609977722, + 0.00046703219413757324, + -0.07711747676775552 + ], + [ + 0.8009777069091797, + -0.023309849202632904, + 0.5982402563095093, + 0.046196715203144695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.016582155600190163, + -0.8012941479682922, + -0.18265238818249954 + ], + [ + 0.028356844559311867, + 0.9995977282524109, + 0.00047805439680814743, + -0.07782660894441289 + ], + [ + 0.8009639382362366, + -0.0230080708861351, + 0.5982704162597656, + 0.04597522561123829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.016265729442238808, + -0.8013320565223694, + -0.1824568165145469 + ], + [ + 0.027768244966864586, + 0.9996142983436584, + 0.0004316791892051697, + -0.07856632341069497 + ], + [ + 0.8010159134864807, + -0.022509727627038956, + 0.5982196927070618, + 0.04705909707935046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.016147378832101822, + -0.8010669946670532, + -0.18249432158884624 + ], + [ + 0.027362212538719177, + 0.999625563621521, + 0.00028840918093919754, + -0.07893394944905642 + ], + [ + 0.800762414932251, + -0.022091537714004517, + 0.5985746383666992, + 0.04679599366835411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994995, + -0.01571132242679596, + -0.8009308576583862, + -0.1824042085089431 + ], + [ + 0.026675201952457428, + 0.9996441006660461, + 0.00032553263008594513, + -0.07972094081095514 + ], + [ + 0.8006407022476196, + -0.021559840068221092, + 0.5987567901611328, + 0.04719628705118863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.015586912631988525, + -0.8009005188941956, + -0.1819836933486509 + ], + [ + 0.026452653110027313, + 0.9996500015258789, + 0.0003158440813422203, + -0.08048064939875083 + ], + [ + 0.8006152510643005, + -0.021375004202127457, + 0.5987974405288696, + 0.0474437504908107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.015448791906237602, + -0.8007135391235352, + -0.1824587907235058 + ], + [ + 0.026189325377345085, + 0.9996569752693176, + 0.00029966142028570175, + -0.08115214209830919 + ], + [ + 0.8004342317581177, + -0.02114959806203842, + 0.5990474224090576, + 0.04695620746505971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.015125294215977192, + -0.8007330894470215, + -0.18207060746873255 + ], + [ + 0.025747332721948624, + 0.9996684193611145, + 0.0003721676766872406, + -0.08225738114449166 + ], + [ + 0.8004618883132935, + -0.02083960361778736, + 0.599021315574646, + 0.04735550218514654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.01479332149028778, + -0.8008558750152588, + -0.18160933565027668 + ], + [ + 0.025338858366012573, + 0.9996787905693054, + 0.0004759356379508972, + -0.08377732530927028 + ], + [ + 0.8005915880203247, + -0.020577702671289444, + 0.5988569259643555, + 0.04838904317789125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.598713219165802, + -0.014453249052166939, + -0.8008331060409546, + -0.1817402643527811 + ], + [ + 0.02473283000290394, + 0.9996939897537231, + 0.0004483424127101898, + -0.08525921319864246 + ], + [ + 0.8005815744400024, + -0.020075295120477676, + 0.5988874435424805, + 0.04820108808429036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.01428189966827631, + -0.8009747862815857, + -0.18105131525065232 + ], + [ + 0.02405443787574768, + 0.9997106194496155, + 0.00014917366206645966, + -0.08617786191564226 + ], + [ + 0.8007408976554871, + -0.01935627870261669, + 0.5986981391906738, + 0.04783237405145997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.014146590605378151, + -0.8012719750404358, + -0.18162022954630141 + ], + [ + 0.023411398753523827, + 0.999725878238678, + -0.00017419736832380295, + -0.08678404932335908 + ], + [ + 0.8010547757148743, + -0.018654704093933105, + 0.5983003377914429, + 0.04780175489503027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.014018379151821136, + -0.8014667630195618, + -0.18170104020380026 + ], + [ + 0.022625073790550232, + 0.9997438192367554, + -0.0006086602807044983, + -0.08713272039760027 + ], + [ + 0.8012699484825134, + -0.01776934042572975, + 0.5980390906333923, + 0.04673345012725978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.013722740113735199, + -0.8016238212585449, + -0.1819387585516797 + ], + [ + 0.021986916661262512, + 0.9997580051422119, + -0.0007216222584247589, + -0.08804612779212709 + ], + [ + 0.8014397621154785, + -0.01719394326210022, + 0.5978283882141113, + 0.046339862828223125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.013239637017250061, + -0.8019078373908997, + -0.18169611322366638 + ], + [ + 0.021200206130743027, + 0.9997749924659729, + -0.0007154848426580429, + -0.08906284868347132 + ], + [ + 0.8017368912696838, + -0.01657325029373169, + 0.5974472761154175, + 0.046607752361439714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.013035249896347523, + -0.8023373484611511, + -0.18161141192848912 + ], + [ + 0.020687051117420197, + 0.9997856616973877, + -0.0008573736995458603, + -0.0896032252934891 + ], + [ + 0.8021765351295471, + -0.01608637347817421, + 0.5968702435493469, + 0.048100176379578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.596592128276825, + -0.012730672955513, + -0.8024436831474304, + -0.1816731997574402 + ], + [ + 0.02018444985151291, + 0.9997959136962891, + -0.0008551264181733131, + -0.0906945113931468 + ], + [ + 0.8022907376289368, + -0.015686720609664917, + 0.5967273116111755, + 0.04779431437025007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.012447943910956383, + -0.8026606440544128, + -0.18152141470881486 + ], + [ + 0.019627327099442482, + 0.9998069405555725, + -0.0009239846840500832, + -0.09145484095846385 + ], + [ + 0.8025172352790833, + -0.015203106217086315, + 0.5964353084564209, + 0.048135650244276254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.01220423448830843, + -0.8029020428657532, + -0.1811496399830262 + ], + [ + 0.019357766956090927, + 0.9998123049736023, + -0.0008282237686216831, + -0.09248133388699484 + ], + [ + 0.8027613759040833, + -0.015048779547214508, + 0.596110463142395, + 0.049072198949704895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.595792829990387, + -0.012032067403197289, + -0.8030480146408081, + -0.1810002163521304 + ], + [ + 0.019074292853474617, + 0.9998177289962769, + -0.0008287760429084301, + -0.09354318539605828 + ], + [ + 0.802911639213562, + -0.0148237943649292, + 0.5959137082099915, + 0.04963949302963863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.01215583086013794, + -0.8031197190284729, + -0.18123323619365692 + ], + [ + 0.018635351210832596, + 0.9998254776000977, + -0.0013108206912875175, + -0.09414563765749336 + ], + [ + 0.802995502948761, + -0.014185569249093533, + 0.5958163142204285, + 0.050063397642225026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/move_left/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..79779a781f090b649366a987be04597dd0b48f2d --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/move_left/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0004863918584305793, + -0.011884978972375393, + -0.004532698766075519 + ], + [ + -0.0004851055273320526, + 0.9999998807907104, + 0.00011111380445072427, + -0.0008408763540163945 + ], + [ + 0.011885031126439571, + -0.00010534047760302201, + 0.9999293684959412, + 0.001545275636294869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0011968958424404263, + -0.024077866226434708, + -0.009880593299421649 + ], + [ + -0.0011860182275995612, + 0.9999991655349731, + 0.00046604720409959555, + -0.0021768205566331743 + ], + [ + 0.024078402668237686, + -0.00043735496001318097, + 0.999709963798523, + 0.0039592560448541946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0017863846151158214, + -0.03649692237377167, + -0.015120932168715837 + ], + [ + -0.0017505328869447112, + 0.9999979734420776, + 0.001014251378364861, + -0.005184921580258855 + ], + [ + 0.03649865835905075, + -0.0009496849379502237, + 0.9993332624435425, + 0.005519062562518759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151672, + 0.0018534658011049032, + -0.04948023706674576, + -0.017908622801846623 + ], + [ + -0.001837058924138546, + 0.9999982118606567, + 0.00037706014700233936, + -0.004465133196594107 + ], + [ + 0.049480848014354706, + -0.0002856995561160147, + 0.9987750053405762, + 0.006999512379433935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286682, + 0.0018996521830558777, + -0.06185787543654442, + -0.023261542758898232 + ], + [ + -0.0019415044225752354, + 0.9999979138374329, + -0.0006164890946820378, + -0.0032134662422394714 + ], + [ + 0.061856579035520554, + 0.0007354046683758497, + 0.9980847835540771, + 0.009352695067345306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002014815341681242, + -0.07438942790031433, + -0.02783736568561058 + ], + [ + -0.0020942697301506996, + 0.9999973177909851, + -0.0009900982258841395, + -0.0034990664556104416 + ], + [ + 0.07438723742961884, + 0.0011431443272158504, + 0.9972288012504578, + 0.010872733854497505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0024909127969294786, + -0.08745445311069489, + -0.030298471386661592 + ], + [ + -0.002623689593747258, + 0.9999955892562866, + -0.0014033232582733035, + -0.0035946479007071316 + ], + [ + 0.08745056390762329, + 0.0016273952787742019, + 0.9961675405502319, + 0.012312290353688183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0026894090697169304, + -0.10018683969974518, + -0.03384441128432356 + ], + [ + -0.0028831977397203445, + 0.9999942183494568, + -0.0017895271303132176, + -0.002456140106186172 + ], + [ + 0.100181445479393, + 0.0020693752449005842, + 0.9949670433998108, + 0.014518600861412405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.003340879688039422, + -0.11246424168348312, + -0.039496067866979054 + ], + [ + -0.003594657639041543, + 0.9999914169311523, + -0.0020538191311061382, + -0.0012401251228748272 + ], + [ + 0.11245641857385635, + 0.002445048186928034, + 0.9936536550521851, + 0.016775946151341824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0036670309491455555, + -0.12474638968706131, + -0.04450363243948545 + ], + [ + -0.003980346955358982, + 0.9999895095825195, + -0.0022624770645052195, + -0.00035677725870920875 + ], + [ + 0.12473677843809128, + 0.0027413226198405027, + 0.9921860694885254, + 0.01823331286131546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0042276340536773205, + -0.13722291588783264, + -0.04712785343756739 + ], + [ + -0.00458436319604516, + 0.9999868869781494, + -0.0022836981806904078, + -0.00044839451955292154 + ], + [ + 0.13721147179603577, + 0.002891153795644641, + 0.9905375838279724, + 0.020253404335963805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.005210375878959894, + -0.1495237499475479, + -0.049880425306345455 + ], + [ + -0.005534265656024218, + 0.9999831318855286, + -0.0017501292750239372, + -0.0018652716862802572 + ], + [ + 0.1495121270418167, + 0.0025579347275197506, + 0.9887565970420837, + 0.022880250496777478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.005594636779278517, + -0.16168241202831268, + -0.053128623883455794 + ], + [ + -0.006048411596566439, + 0.9999790191650391, + -0.002314514247700572, + -0.0004296145445839903 + ], + [ + 0.16166608035564423, + 0.003261946840211749, + 0.9868401288986206, + 0.024456220625942906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.005581590346992016, + -0.1734739989042282, + -0.059281215190097984 + ], + [ + -0.006080773659050465, + 0.99997878074646, + -0.0023462402168661356, + -0.0010419894680565851 + ], + [ + 0.17345722019672394, + 0.003365486627444625, + 0.984835684299469, + 0.02639329138131726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.98223477602005, + 0.005800416227430105, + -0.1875665783882141, + -0.06042967749056437 + ], + [ + -0.006495876703411341, + 0.9999741315841675, + -0.0030933539383113384, + 0.00023417464418518696 + ], + [ + 0.18754377961158752, + 0.004256809130311012, + 0.982246994972229, + 0.028022056445479393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0061881085857748985, + -0.20237918198108673, + -0.06254566886665805 + ], + [ + -0.006918664090335369, + 0.999971866607666, + -0.0029026130214333534, + -0.0007859275101172115 + ], + [ + 0.2023555189371109, + 0.004242686554789543, + 0.9793029427528381, + 0.03025117978848369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.006859282962977886, + -0.21706269681453705, + -0.06659170923051455 + ], + [ + -0.007583028636872768, + 0.9999681115150452, + -0.0025015086866915226, + -0.0010676392622366055 + ], + [ + 0.2170386165380478, + 0.0040877992287278175, + 0.9761544466018677, + 0.03310554859456637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.007622532080858946, + -0.23202507197856903, + -0.0695800837203367 + ], + [ + -0.00841778889298439, + 0.9999616146087646, + -0.0024375603534281254, + -0.0003579494985135038 + ], + [ + 0.23199759423732758, + 0.00432410417124629, + 0.9727067351341248, + 0.03508625014234852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290222, + 0.007998919114470482, + -0.24641965329647064, + -0.07241706887617806 + ], + [ + -0.008887644857168198, + 0.9999573826789856, + -0.002494553569704294, + -0.0002489561457896223 + ], + [ + 0.24638919532299042, + 0.004607637412846088, + 0.9691600203514099, + 0.038031883231851436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.00830158032476902, + -0.25930365920066833, + -0.07646423938455961 + ], + [ + -0.00933983363211155, + 0.9999525547027588, + -0.002772246953099966, + -3.512393639250257e-05 + ], + [ + 0.25926831364631653, + 0.00509917875751853, + 0.9657918810844421, + 0.039935223659537486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262634, + 0.008982736617326736, + -0.2716941833496094, + -0.07936698252594235 + ], + [ + -0.01037854515016079, + 0.9999393224716187, + -0.003700912930071354, + 0.0024624716814311332 + ], + [ + 0.2716444730758667, + 0.00638133380562067, + 0.9623765349388123, + 0.042102946306498634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958745002746582, + 0.009593034163117409, + -0.2841055989265442, + -0.08071776732111609 + ], + [ + -0.011181702837347984, + 0.9999296069145203, + -0.0039705075323581696, + 0.0027264043889224333 + ], + [ + 0.2840474843978882, + 0.006983487866818905, + 0.9587847590446472, + 0.04430912034894457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.010277467779815197, + -0.296245276927948, + -0.08248048124723877 + ], + [ + -0.011924072168767452, + 0.9999218583106995, + -0.0037519545294344425, + 0.0020894054739754525 + ], + [ + 0.29618358612060547, + 0.0071157789789140224, + 0.9551045298576355, + 0.04653272321879469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.010673862881958485, + -0.30833154916763306, + -0.08487459590892918 + ], + [ + -0.012424084357917309, + 0.9999158978462219, + -0.003713734447956085, + 0.0021700187182263626 + ], + [ + 0.3082659840583801, + 0.007363311946392059, + 0.9512717127799988, + 0.04836688131488712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.010835468769073486, + -0.32070890069007874, + -0.08486381464249251 + ], + [ + -0.012816676869988441, + 0.9999095797538757, + -0.004067201167345047, + 0.002547013018255597 + ], + [ + 0.3206358253955841, + 0.007962532341480255, + 0.9471690654754639, + 0.05019955189022797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.010755755007266998, + -0.331837922334671, + -0.087302159937407 + ], + [ + -0.013014215975999832, + 0.9999048113822937, + -0.00458433385938406, + 0.003349927101678998 + ], + [ + 0.3317570388317108, + 0.008642897941172123, + 0.9433252811431885, + 0.05182547713845771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135193, + 0.010849849320948124, + -0.3431485593318939, + -0.08898588889679372 + ], + [ + -0.0133688198402524, + 0.9998982548713684, + -0.004975970834493637, + 0.0036826010293863863 + ], + [ + 0.34305962920188904, + 0.009261014871299267, + 0.9392679929733276, + 0.05315486683158685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060486, + 0.010827329009771347, + -0.3545053005218506, + -0.09019024326706565 + ], + [ + -0.013684280216693878, + 0.999890923500061, + -0.005552908405661583, + 0.004945271742215615 + ], + [ + 0.35440653562545776, + 0.010043070651590824, + 0.9350374937057495, + 0.054498359906357645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.010438570752739906, + -0.3656938374042511, + -0.09164672630117429 + ], + [ + -0.01359538920223713, + 0.9998892545700073, + -0.006058342754840851, + 0.006841175490681896 + ], + [ + 0.36559006571769714, + 0.010610107332468033, + 0.9307155013084412, + 0.05596576338966951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.010770156048238277, + -0.3767916262149811, + -0.09359924840611338 + ], + [ + -0.013901258818805218, + 0.9998877644538879, + -0.005591662600636482, + 0.005819876453166963 + ], + [ + 0.3766891062259674, + 0.010417073965072632, + 0.9262811541557312, + 0.056423785917411574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.011013920418918133, + -0.3877599537372589, + -0.0956310970400343 + ], + [ + -0.014093865640461445, + 0.9998876452445984, + -0.005099950358271599, + 0.004741928572858998 + ], + [ + 0.3876602351665497, + 0.010165633633732796, + 0.9217462539672852, + 0.05731360951796273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.010770684108138084, + -0.39851656556129456, + -0.09714855071132547 + ], + [ + -0.01427946425974369, + 0.9998810291290283, + -0.0058373091742396355, + 0.007678490841995604 + ], + [ + 0.3984062969684601, + 0.011043987236917019, + 0.9171425700187683, + 0.05896669899588389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.010726790875196457, + -0.4089179039001465, + -0.09960020251621474 + ], + [ + -0.014440299943089485, + 0.9998777508735657, + -0.005994876846671104, + 0.008067220783736926 + ], + [ + 0.40880364179611206, + 0.011375270783901215, + 0.9125514626502991, + 0.05989986511058365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.01060201320797205, + -0.4190731346607208, + -0.10175416728123923 + ], + [ + -0.01432447973638773, + 0.9998809695243835, + -0.005737208761274815, + 0.006964127990781077 + ], + [ + 0.41896238923072815, + 0.011211763136088848, + 0.9079343676567078, + 0.059897727918940664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523499, + 0.010560670867562294, + -0.4294537901878357, + -0.10322286657347585 + ], + [ + -0.014666726812720299, + 0.9998728632926941, + -0.0062524136155843735, + 0.008254912971759475 + ], + [ + 0.4293331503868103, + 0.011944780126214027, + 0.9030672311782837, + 0.06141363523456435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.01073315367102623, + -0.4390795826911926, + -0.10640439131599388 + ], + [ + -0.015065105631947517, + 0.9998661279678345, + -0.006382744759321213, + 0.008787088832565095 + ], + [ + 0.43895232677459717, + 0.01234893687069416, + 0.8984254598617554, + 0.06099524786140745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.011067933402955532, + -0.4490206241607666, + -0.10723107809459927 + ], + [ + -0.015340826474130154, + 0.9998650550842285, + -0.00587916374206543, + 0.007101670070397143 + ], + [ + 0.4488949775695801, + 0.01214110292494297, + 0.8935020565986633, + 0.06126349963099751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.011033737100660801, + -0.4585636258125305, + -0.10959200152498208 + ], + [ + -0.015641024336218834, + 0.9998581409454346, + -0.006250678561627865, + 0.008842759843397614 + ], + [ + 0.45842957496643066, + 0.01272671390324831, + 0.8886395692825317, + 0.06162155134393679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472046, + 0.011236707679927349, + -0.46845918893814087, + -0.11073169997393689 + ], + [ + -0.016084803268313408, + 0.9998504519462585, + -0.006349554285407066, + 0.010025125252243304 + ], + [ + 0.46831780672073364, + 0.01314435712993145, + 0.8834623098373413, + 0.06304523818540257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004211, + 0.011081221513450146, + -0.47735270857810974, + -0.11395842206991272 + ], + [ + -0.015823325142264366, + 0.9998573064804077, + -0.005914696026593447, + 0.00939839950065739 + ], + [ + 0.4772190749645233, + 0.012750206515192986, + 0.8786918520927429, + 0.06259085149165021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.011335542425513268, + -0.4867357313632965, + -0.11537982660610945 + ], + [ + -0.016187697649002075, + 0.9998523592948914, + -0.005764305591583252, + 0.009391767452686828 + ], + [ + 0.48659852147102356, + 0.012914111837744713, + 0.8735302686691284, + 0.06299162731068024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325684, + 0.011563494801521301, + -0.49545857310295105, + -0.11838687387918005 + ], + [ + -0.016600852832198143, + 0.999845564365387, + -0.005766450427472591, + 0.00972729226241246 + ], + [ + 0.49531540274620056, + 0.013233511708676815, + 0.8686124086380005, + 0.06124142120216067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022583, + 0.011870907619595528, + -0.5048052072525024, + -0.1196152420726833 + ], + [ + -0.017190923914313316, + 0.9998348951339722, + -0.005882324650883675, + 0.010426624352420798 + ], + [ + 0.5046520233154297, + 0.013755405321717262, + 0.863213300704956, + 0.06308073109348877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.012344984337687492, + -0.5133175849914551, + -0.12253811201512418 + ], + [ + -0.017671290785074234, + 0.9998287558555603, + -0.005495703313499689, + 0.00980557365379981 + ], + [ + 0.5131617784500122, + 0.013786900788545609, + 0.8581811785697937, + 0.0628763844733996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.01265900582075119, + -0.5219429135322571, + -0.12450718702069971 + ], + [ + -0.018154555931687355, + 0.9998205304145813, + -0.0054163821041584015, + 0.010145886184413307 + ], + [ + 0.5217806696891785, + 0.014095200225710869, + 0.8529632091522217, + 0.062205740848913886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.012931415811181068, + -0.5304490923881531, + -0.1266574296335511 + ], + [ + -0.018431654199957848, + 0.9998172521591187, + -0.0050786263309419155, + 0.009642835427692394 + ], + [ + 0.5302864909172058, + 0.014081789180636406, + 0.8477016091346741, + 0.062086113251202946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298462, + 0.013244349509477615, + -0.5390504002571106, + -0.12886782596442872 + ], + [ + -0.018967323005199432, + 0.9998072385787964, + -0.005067991092801094, + 0.01035597627822137 + ], + [ + 0.5388793349266052, + 0.014492450281977654, + 0.8422582745552063, + 0.06084319406392559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.013627559877932072, + -0.5479176044464111, + -0.13081784124011236 + ], + [ + -0.019596006721258163, + 0.9997952580451965, + -0.0050477455370128155, + 0.011729607948206908 + ], + [ + 0.547736644744873, + 0.01495903730392456, + 0.8365170955657959, + 0.06098918294077678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.013762841001152992, + -0.5570093989372253, + -0.132106968592729 + ], + [ + -0.019926106557250023, + 0.9997889399528503, + -0.005002694204449654, + 0.012990009845141938 + ], + [ + 0.5568229556083679, + 0.015253225341439247, + 0.8304911851882935, + 0.061210586791796404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.013394848443567753, + -0.5660153031349182, + -0.13426923998539023 + ], + [ + -0.019328225404024124, + 0.9998031258583069, + -0.004487108904868364, + 0.012147916277364784 + ], + [ + 0.5658437609672546, + 0.014638731256127357, + 0.8243825435638428, + 0.06075558100907218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.012859703972935677, + -0.5745726823806763, + -0.13666560903487615 + ], + [ + -0.01881125010550022, + 0.9998133182525635, + -0.004415334202349186, + 0.012157239479981116 + ], + [ + 0.5744086503982544, + 0.014421730302274227, + 0.81844162940979, + 0.05928255102492326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182373, + 0.012150449678301811, + -0.5833437442779541, + -0.1381191645631727 + ], + [ + -0.017797311767935753, + 0.9998338222503662, + -0.003952008672058582, + 0.011255638677602178 + ], + [ + 0.5831987857818604, + 0.013591513969004154, + 0.8122157454490662, + 0.0597376813951707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938904, + 0.011548399925231934, + -0.5913549661636353, + -0.14091639943075496 + ], + [ + -0.017339786514639854, + 0.9998411536216736, + -0.004117665346711874, + 0.012631761287616578 + ], + [ + 0.5912134647369385, + 0.013574158772826195, + 0.8064008951187134, + 0.05798374070039648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.010826105251908302, + -0.5994647741317749, + -0.14285991760279168 + ], + [ + -0.016626477241516113, + 0.9998531937599182, + -0.00414055772125721, + 0.013334655527346181 + ], + [ + 0.5993319749832153, + 0.01328079029917717, + 0.8003904819488525, + 0.05660317722732658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7943386435508728, + 0.01026931218802929, + -0.6073883771896362, + -0.14464267594924826 + ], + [ + -0.016307000070810318, + 0.9998572468757629, + -0.0044212802313268185, + 0.014745391473568828 + ], + [ + 0.607256293296814, + 0.013416675850749016, + 0.7943927049636841, + 0.056573836959355715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311462, + 0.009605573490262032, + -0.6148615479469299, + -0.14815179526016412 + ], + [ + -0.014743058010935783, + 0.9998859167098999, + -0.003287816420197487, + 0.012111404607232833 + ], + [ + 0.6147598624229431, + 0.011657634750008583, + 0.7886282205581665, + 0.055241290346676145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.008899434469640255, + -0.6226077079772949, + -0.15007047886090563 + ], + [ + -0.01374885905534029, + 0.9999009966850281, + -0.002986959181725979, + 0.012217201690331397 + ], + [ + 0.6225194931030273, + 0.01089739054441452, + 0.7825284600257874, + 0.0532413486021244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.0077556101605296135, + -0.6300268173217773, + -0.15179937791745396 + ], + [ + -0.012501758523285389, + 0.9999170303344727, + -0.0030999979935586452, + 0.013216296974446205 + ], + [ + 0.6299505233764648, + 0.01028369925916195, + 0.7765672206878662, + 0.051625026949983555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.006658867001533508, + -0.6370848417282104, + -0.15467699316163727 + ], + [ + -0.011066295206546783, + 0.9999344348907471, + -0.002936943434178829, + 0.012009894491376861 + ], + [ + 0.6370235681533813, + 0.009313861839473248, + 0.7707880735397339, + 0.04934189580134209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.005289234220981598, + -0.6443486213684082, + -0.1567668483549396 + ], + [ + -0.009799103252589703, + 0.999946117401123, + -0.003421375062316656, + 0.01310513641019136 + ], + [ + 0.6442958116531372, + 0.008930409327149391, + 0.7647242546081543, + 0.04889868742582813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592346, + 0.005259272176772356, + -0.6512006521224976, + -0.15890869555489118 + ], + [ + -0.00947636365890503, + 0.9999507069587708, + -0.002967563923448324, + 0.010911000737093932 + ], + [ + 0.6511529684066772, + 0.008423060178756714, + 0.7588997483253479, + 0.04649791214245044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.0054379841312766075, + -0.6581783890724182, + -0.16147946817985434 + ], + [ + -0.009595428593456745, + 0.9999502897262573, + -0.0027137508150190115, + 0.009554477054502396 + ], + [ + 0.658130943775177, + 0.008358529768884182, + 0.7528571486473083, + 0.04544510460452528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844727, + 0.005608484148979187, + -0.6653628349304199, + -0.16354010083422754 + ], + [ + -0.010697361081838608, + 0.9999364018440247, + -0.0035731527023017406, + 0.012045964347013575 + ], + [ + 0.6653004884719849, + 0.009784981608390808, + 0.7465115785598755, + 0.0443042219671982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.006018341518938541, + -0.6717082858085632, + -0.16659180869329843 + ], + [ + -0.01101385522633791, + 0.9999342560768127, + -0.0031874277628958225, + 0.010184757416414109 + ], + [ + 0.6716449856758118, + 0.009759316220879555, + 0.7408088445663452, + 0.04056336165263953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.00578389223664999, + -0.6787058115005493, + -0.16827373058590667 + ], + [ + -0.010729682631790638, + 0.9999376535415649, + -0.003088544122874737, + 0.009475461364606556 + ], + [ + 0.6786456108093262, + 0.009550485759973526, + 0.7344037294387817, + 0.040400369179169865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446777, + 0.005525314249098301, + -0.6847578883171082, + -0.17252883855870227 + ], + [ + -0.010778908617794514, + 0.9999361038208008, + -0.0034029053058475256, + 0.010888784352862677 + ], + [ + 0.684695303440094, + 0.009860808029770851, + 0.7287627458572388, + 0.03653163750045346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.005478494800627232, + -0.691051721572876, + -0.17498182674117435 + ], + [ + -0.010956338606774807, + 0.9999337196350098, + -0.003532210597768426, + 0.011574364441835525 + ], + [ + 0.6909866333007812, + 0.01012442447245121, + 0.7227966785430908, + 0.03508073470450395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.005495008081197739, + -0.6972485184669495, + -0.17728304645873064 + ], + [ + -0.010774627327919006, + 0.9999368190765381, + -0.003196398261934519, + 0.010727531877377175 + ], + [ + 0.6971868872642517, + 0.00980379804968834, + 0.7168223857879639, + 0.03389260690930663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.005751725286245346, + -0.70326828956604, + -0.18031764330453431 + ], + [ + -0.01132161170244217, + 0.9999305605888367, + -0.0032664949540048838, + 0.011173704776000108 + ], + [ + 0.7032006978988647, + 0.010284285992383957, + 0.710917055606842, + 0.031193600091713153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.005315891467034817, + -0.7089744210243225, + -0.1823483868347888 + ], + [ + -0.010684940032660961, + 0.9999380111694336, + -0.0031307318713515997, + 0.01110213879643884 + ], + [ + 0.7089138627052307, + 0.00978318601846695, + 0.705227255821228, + 0.029226505055727547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.005222121253609657, + -0.7142776250839233, + -0.18549908216031183 + ], + [ + -0.010238460265100002, + 0.9999439120292664, + -0.002720913151279092, + 0.010147617360737347 + ], + [ + 0.7142233848571777, + 0.00921731535345316, + 0.699857234954834, + 0.02595759025275312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479492, + 0.004453210160136223, + -0.7193988561630249, + -0.18913936589332606 + ], + [ + -0.009380107745528221, + 0.9999518990516663, + -0.002866653958335519, + 0.011052688058243682 + ], + [ + 0.7193515300750732, + 0.00873916782438755, + 0.6945912837982178, + 0.02466810018021539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.003815949894487858, + -0.7244514226913452, + -0.19107267817124626 + ], + [ + -0.008435632102191448, + 0.9999606013298035, + -0.002759345108643174, + 0.01064904441390902 + ], + [ + 0.7244123220443726, + 0.008013264276087284, + 0.68932044506073, + 0.021819884522466464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.00299663539044559, + -0.7291480302810669, + -0.1949757222110862 + ], + [ + -0.006998141296207905, + 0.9999724626541138, + -0.0024585160426795483, + 0.009644696876307986 + ], + [ + 0.7291206121444702, + 0.006785165052860975, + 0.6843516230583191, + 0.020607149053290974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.0021717692725360394, + -0.7339073419570923, + -0.19744014957093245 + ], + [ + -0.006026202347129583, + 0.9999784231185913, + -0.002618249040096998, + 0.009691530556436505 + ], + [ + 0.7338857650756836, + 0.006201109383255243, + 0.6792445778846741, + 0.017504502482564244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.0016479046316817403, + -0.7387893795967102, + -0.19955519765418098 + ], + [ + -0.004829217214137316, + 0.9999859929084778, + -0.002174766268581152, + 0.007872210463990044 + ], + [ + 0.7387754321098328, + 0.005033424124121666, + 0.6739329099655151, + 0.016835947601210988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6692056655883789, + 0.00024994288105517626, + -0.7430772185325623, + -0.20359445835975623 + ], + [ + -0.003476889804005623, + 0.9999900460243225, + -0.002794883446767926, + 0.00882978146735406 + ], + [ + 0.7430691123008728, + 0.0044539496302604675, + 0.6691998839378357, + 0.013422839609992424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.0007921459618955851, + -0.7475818395614624, + -0.20537100015886572 + ], + [ + -0.001662318129092455, + 0.9999954104423523, + -0.0025364491157233715, + 0.007335105592643978 + ], + [ + 0.7475804090499878, + 0.0029273503459990025, + 0.6641649007797241, + 0.011071956774454245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.0008249189122579992, + -0.7522561550140381, + -0.20721434504780548 + ], + [ + -0.0014781635254621506, + 0.9999960660934448, + -0.0023912517353892326, + 0.006997563095380928 + ], + [ + 0.7522552013397217, + 0.002687482163310051, + 0.6588664650917053, + 0.009754968321086556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.0008845060365274549, + -0.7567735314369202, + -0.20871409083044293 + ], + [ + -0.0012954537523910403, + 0.999996542930603, + -0.00228775292634964, + 0.006907362450802365 + ], + [ + 0.7567729353904724, + 0.0024758153595030308, + 0.6536731719970703, + 0.007990738463322843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.0011688161175698042, + -0.7607991099357605, + -0.21201351638266583 + ], + [ + -0.0007480338681489229, + 0.9999973773956299, + -0.002174394205212593, + 0.0064938411192154355 + ], + [ + 0.7607995867729187, + 0.001980255823582411, + 0.648983895778656, + 0.005414060424297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.001442446606233716, + -0.7650463581085205, + -0.21340960838542078 + ], + [ + -0.0003252641763538122, + 0.999997615814209, + -0.0021592217963188887, + 0.006482898612007104 + ], + [ + 0.7650476694107056, + 0.0016393241239711642, + 0.6439716219902039, + 0.003244204508350383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877441, + -0.0014531849883496761, + -0.769130527973175, + -0.21511687766637233 + ], + [ + -0.0005189653020352125, + 0.9999971985816956, + -0.0023206027690321207, + 0.007792347073339123 + ], + [ + 0.7691317200660706, + 0.0018822263227775693, + 0.6390875577926636, + 0.002396654998821919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.0012736815260723233, + -0.7733120322227478, + -0.21502517315725617 + ], + [ + -0.000546193914487958, + 0.9999976754188538, + -0.002094858093187213, + 0.007281984100796726 + ], + [ + 0.7733128666877747, + 0.0017505694413557649, + 0.6340222358703613, + 0.0022274623150067632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705933, + -0.002225269563496113, + -0.7768340110778809, + -0.21691625807064258 + ], + [ + 0.00028024002676829696, + 0.9999964833259583, + -0.0026373642031103373, + 0.009018678790373135 + ], + [ + 0.7768371105194092, + 0.0014430524315685034, + 0.6296999454498291, + 0.001305159798126343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.0025507272221148014, + -0.779694139957428, + -0.21787279972572202 + ], + [ + 0.0010803568875417113, + 0.999996542930603, + -0.002403823658823967, + 0.008255309785333838 + ], + [ + 0.779697597026825, + 0.000662819598801434, + 0.6261559724807739, + -7.777952200530014e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.0030336659401655197, + -0.7827765345573425, + -0.21676913937985504 + ], + [ + 0.002056846395134926, + 0.9999953508377075, + -0.0022403402253985405, + 0.007611688254832827 + ], + [ + 0.7827797532081604, + -0.000215897336602211, + 0.6222988963127136, + 0.001339241368881125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903442, + -0.003761997679248452, + -0.7847548127174377, + -0.21841551075313265 + ], + [ + 0.0032785104122012854, + 0.9999921917915344, + -0.0022044642828404903, + 0.007666722846692366 + ], + [ + 0.7847569584846497, + -0.0012065107002854347, + 0.6198024749755859, + 0.0008563415696289309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.004539810586720705, + -0.7858691811561584, + -0.2195688971620522 + ], + [ + 0.004675140138715506, + 0.9999868869781494, + -0.0020980031695216894, + 0.007589274535375024 + ], + [ + 0.7858683466911316, + -0.0023766930680722, + 0.6183892488479614, + -0.00153528630536124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.005660193972289562, + -0.7870671153068542, + -0.22002444993581205 + ], + [ + 0.006203397177159786, + 0.9999780654907227, + -0.002329607494175434, + 0.008689866284068846 + ], + [ + 0.7870630621910095, + -0.003445491660386324, + 0.616862952709198, + -0.0012446542745394445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.0064145904034376144, + -0.787406325340271, + -0.22106901458557077 + ], + [ + 0.007700510323047638, + 0.9999681115150452, + -0.002118071774020791, + 0.008269609050788232 + ], + [ + 0.7873947620391846, + -0.004757847636938095, + 0.6164308190345764, + -0.003241892760952575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.0074282484129071236, + -0.7878191471099854, + -0.22155605286162422 + ], + [ + 0.009217723272740841, + 0.9999550580978394, + -0.00222267908975482, + 0.00870610238207097 + ], + [ + 0.7878001928329468, + -0.005893034394830465, + 0.6159027814865112, + -0.00434097792731216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6151977777481079, + -0.00841560773551464, + -0.7883278727531433, + -0.2221228232841618 + ], + [ + 0.010718902572989464, + 0.9999398589134216, + -0.002309769857674837, + 0.00877223534398521 + ], + [ + 0.7882999777793884, + -0.007029043976217508, + 0.6152510643005371, + -0.004921532802234424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.009412487968802452, + -0.7889751195907593, + -0.22123039700337593 + ], + [ + 0.012299969792366028, + 0.9999215602874756, + -0.0023514367640018463, + 0.009026692139095818 + ], + [ + 0.7889354228973389, + -0.008259756490588188, + 0.6144207119941711, + -0.004610963412468007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.010227596387267113, + -0.7890461683273315, + -0.22218109884404189 + ], + [ + 0.013775398954749107, + 0.999902606010437, + -0.002236975822597742, + 0.009361884026288592 + ], + [ + 0.788992166519165, + -0.009495366364717484, + 0.6143298745155334, + -0.006438966322418874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.010898209176957607, + -0.7895479202270508, + -0.22227721289293656 + ], + [ + 0.015464217402040958, + 0.9998788237571716, + -0.0017835102044045925, + 0.008715237279897495 + ], + [ + 0.7894717454910278, + -0.011115392670035362, + 0.6136862635612488, + -0.006719440142839948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6129774451255798, + -0.011926617473363876, + -0.790010392665863, + -0.22283231304181333 + ], + [ + 0.017037706449627876, + 0.9998530745506287, + -0.0018748301081359386, + 0.00941725561506306 + ], + [ + 0.7899166941642761, + -0.012310735881328583, + 0.6130906343460083, + -0.007169881640680574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.012528479099273682, + -0.790443480014801, + -0.2232077530677745 + ], + [ + 0.018658088520169258, + 0.9998249411582947, + -0.0013915528543293476, + 0.00859336376140844 + ], + [ + 0.7903226017951965, + -0.013895966112613678, + 0.612533450126648, + -0.007807340310109372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.013137735426425934, + -0.7907539010047913, + -0.22370833383490707 + ], + [ + 0.020243775099515915, + 0.999794602394104, + -0.0009433808736503124, + 0.007766321257052832 + ], + [ + 0.7906039357185364, + -0.015430498868227005, + 0.6121335029602051, + -0.008385797437058383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.013584914617240429, + -0.7908241152763367, + -0.22410471816331345 + ], + [ + 0.021221036091446877, + 0.9997745156288147, + -0.0007547237910330296, + 0.008028843507960143 + ], + [ + 0.7906560301780701, + -0.01632029563188553, + 0.612043023109436, + -0.009449521289361239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.014132389798760414, + -0.7910428643226624, + -0.22416096132322652 + ], + [ + 0.0222689900547266, + 0.9997518062591553, + -0.0006437357515096664, + 0.008292144351941071 + ], + [ + 0.7908555865287781, + -0.01722201704978943, + 0.6117604374885559, + -0.00931715200476299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990784, + -0.014541958458721638, + -0.7911027669906616, + -0.2236425484647814 + ], + [ + 0.023335307836532593, + 0.9997276663780212, + -0.00033904053270816803, + 0.007764551799670356 + ], + [ + 0.7908922433853149, + -0.018253298476338387, + 0.6116831302642822, + -0.009823823261339931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391724, + -0.01510520838201046, + -0.7909956574440002, + -0.22424551633414844 + ], + [ + 0.024431081488728523, + 0.9997014999389648, + -0.00019947998225688934, + 0.007668461581531739 + ], + [ + 0.7907626032829285, + -0.01920286938548088, + 0.6118217706680298, + -0.011116955651352747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.015652863308787346, + -0.7913145422935486, + -0.22480405624339123 + ], + [ + 0.02551366202533245, + 0.9996744990348816, + -6.772205233573914e-05, + 0.007583087431081873 + ], + [ + 0.7910580039024353, + -0.020147938281297684, + 0.6114093065261841, + -0.010976522480020456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260254, + -0.01620602235198021, + -0.791683554649353, + -0.22519867378749595 + ], + [ + 0.026492536067962646, + 0.9996489882469177, + -2.641230821609497e-05, + 0.007759476894673132 + ], + [ + 0.7914061546325684, + -0.020957576110959053, + 0.6109313368797302, + -0.01176849096421375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.016544358804821968, + -0.7920592427253723, + -0.22578710787343664 + ], + [ + 0.027166148647665977, + 0.9996309280395508, + 4.9336813390254974e-05, + 0.007897700787528066 + ], + [ + 0.7917661070823669, + -0.02154730260372162, + 0.6104443073272705, + -0.012526366233036226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.01694480888545513, + -0.7924621105194092, + -0.2261160837103989 + ], + [ + 0.027893470600247383, + 0.9996109008789062, + 8.585862815380096e-05, + 0.007941719963653199 + ], + [ + 0.7921522855758667, + -0.022156862542033195, + 0.6099212169647217, + -0.01318892935253927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029053, + -0.017379073426127434, + -0.7929292917251587, + -0.22660650032640292 + ], + [ + 0.028695357963442802, + 0.9995881915092468, + 0.00013298168778419495, + 0.008086651842424412 + ], + [ + 0.7926003932952881, + -0.022834382951259613, + 0.6093137264251709, + -0.013837724933955846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.0174977146089077, + -0.7936343550682068, + -0.22585875549853243 + ], + [ + 0.02890973910689354, + 0.9995819926261902, + 0.00011449400335550308, + 0.008341149455368124 + ], + [ + 0.7933005690574646, + -0.023013386875391006, + 0.6083950996398926, + -0.012822178815374313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.017740648239850998, + -0.7941651940345764, + -0.2256797965591317 + ], + [ + 0.029664751142263412, + 0.9995598196983337, + 0.00036114174872636795, + 0.007728208732229984 + ], + [ + 0.7938092350959778, + -0.02377808466553688, + 0.60770183801651, + -0.012744020004540876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.01809324324131012, + -0.7946889996528625, + -0.226398791619484 + ], + [ + 0.03016676753759384, + 0.9995448589324951, + 0.0002750689163804054, + 0.007996957946494715 + ], + [ + 0.7943223118782043, + -0.024140093475580215, + 0.6070168018341064, + -0.013053946621370625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.018253536894917488, + -0.7950931787490845, + -0.22748782707760667 + ], + [ + 0.030457107350230217, + 0.9995360374450684, + 0.0002747057005763054, + 0.007938118491149107 + ], + [ + 0.7947192192077637, + -0.02438276633620262, + 0.6064873337745667, + -0.01388936058574955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.0183928981423378, + -0.7955172657966614, + -0.22813138010486073 + ], + [ + 0.03052372857928276, + 0.999534010887146, + 0.00012875162065029144, + 0.008449262901153786 + ], + [ + 0.795144259929657, + -0.024360129609704018, + 0.6059309244155884, + -0.014588273459712406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.018686318770051003, + -0.7958834171295166, + -0.22908503079651207 + ], + [ + 0.03098800592124462, + 0.9995197653770447, + 9.47415828704834e-05, + 0.008290599814511293 + ], + [ + 0.7954994440078735, + -0.024720171466469765, + 0.605449914932251, + -0.015410304967536044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.01886497437953949, + -0.7965230345726013, + -0.2293700846220484 + ], + [ + 0.03127732127904892, + 0.9995107650756836, + 5.721487104892731e-05, + 0.008136568418303073 + ], + [ + 0.7961322665214539, + -0.02494768053293228, + 0.6046081781387329, + -0.015899996834480207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.019014455378055573, + -0.7971327304840088, + -0.23020115830250926 + ], + [ + 0.031572796404361725, + 0.9995014667510986, + 6.191711872816086e-05, + 0.007692278651458932 + ], + [ + 0.796734094619751, + -0.02520507201552391, + 0.6038042306900024, + -0.016334680482646496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.01935577765107155, + -0.7977075576782227, + -0.23060310569820025 + ], + [ + 0.03189093992114067, + 0.9994913339614868, + -0.00015567895025014877, + 0.007971600295099992 + ], + [ + 0.7973048686981201, + -0.025345809757709503, + 0.6030444502830505, + -0.017326839199129314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640442, + -0.019408177584409714, + -0.798369824886322, + -0.23045080071253493 + ], + [ + 0.03211335465312004, + 0.9994842410087585, + -8.842442184686661e-05, + 0.007183473516526996 + ], + [ + 0.7979597449302673, + -0.0255851112306118, + 0.6021674871444702, + -0.017999245640852597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.019424160942435265, + -0.7989946603775024, + -0.2304015573681585 + ], + [ + 0.03223805874586105, + 0.9994801878929138, + -4.781410098075867e-05, + 0.006564350028997225 + ], + [ + 0.7985802888870239, + -0.02572929859161377, + 0.6013381481170654, + -0.01842692488471405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.019588809460401535, + -0.7994709610939026, + -0.2315730464379519 + ], + [ + 0.03212953731417656, + 0.9994836449623108, + -0.0003609778359532356, + 0.007145900544494588 + ], + [ + 0.7990651726722717, + -0.025469902902841568, + 0.6007047295570374, + -0.01938209273167793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.01958748698234558, + -0.7998200058937073, + -0.23232434520263545 + ], + [ + 0.032067928463220596, + 0.9994856119155884, + -0.00042410846799612045, + 0.0069152696995644376 + ], + [ + 0.7994168400764465, + -0.02539413794875145, + 0.6002398133277893, + -0.020509476505762694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.019519316032528877, + -0.8001946806907654, + -0.23271115451853797 + ], + [ + 0.0321090966463089, + 0.9994843006134033, + -0.00032783299684524536, + 0.006475288192710734 + ], + [ + 0.7997884154319763, + -0.025497013702988625, + 0.5997402667999268, + -0.021099795608331043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.019489094614982605, + -0.8006852269172668, + -0.23317710678309006 + ], + [ + 0.0320732407271862, + 0.999485433101654, + -0.0003429912030696869, + 0.006546587196012206 + ], + [ + 0.8002799153327942, + -0.025475196540355682, + 0.5990852117538452, + -0.02173707711183473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.01917283423244953, + -0.8014211058616638, + -0.2321731977707503 + ], + [ + 0.031849831342697144, + 0.9994926452636719, + -0.00015409104526042938, + 0.0061995039564489525 + ], + [ + 0.8010174632072449, + -0.02543300949037075, + 0.5981006026268005, + -0.020687698262022033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.018590211868286133, + -0.8012843132019043, + -0.23399798739824865 + ], + [ + 0.03126666694879532, + 0.9995110630989075, + 0.00014500226825475693, + 0.0058507134903543045 + ], + [ + 0.8008898496627808, + -0.025140196084976196, + 0.5982838869094849, + -0.022663065386529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.018184971064329147, + -0.801186740398407, + -0.2347042784785593 + ], + [ + 0.03063547983765602, + 0.9995306134223938, + 0.0001844959333539009, + 0.0064564849404211075 + ], + [ + 0.8008072972297668, + -0.024655092507600784, + 0.5984144806861877, + -0.023833784569572927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.017815273255109787, + -0.8012498021125793, + -0.23436862317142107 + ], + [ + 0.030087482184171677, + 0.9995472431182861, + 0.000233454629778862, + 0.0067650247698292035 + ], + [ + 0.800882875919342, + -0.02424720861017704, + 0.5983299612998962, + -0.023902334815619014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.017788808792829514, + -0.8012539744377136, + -0.23458201731277617 + ], + [ + 0.030033722519874573, + 0.9995488524436951, + 0.00022612698376178741, + 0.006881646224797167 + ], + [ + 0.8008884787559509, + -0.024199875071644783, + 0.5983244180679321, + -0.023875057874925873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.017310068011283875, + -0.8012403845787048, + -0.23531080962016881 + ], + [ + 0.02964845672249794, + 0.9995602369308472, + 0.000536738894879818, + 0.006318327321960832 + ], + [ + 0.8008787035942078, + -0.024076558649539948, + 0.5983424186706543, + -0.02461918176996787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.017120927572250366, + -0.8013727068901062, + -0.23535963340310861 + ], + [ + 0.029341712594032288, + 0.999569296836853, + 0.0005371496081352234, + 0.006607187449290657 + ], + [ + 0.8010182976722717, + -0.023834817111492157, + 0.5981652736663818, + -0.024796005412442798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.01681988500058651, + -0.8013166189193726, + -0.23626219484190278 + ], + [ + 0.028740903362631798, + 0.9995867609977722, + 0.00046703219413757324, + 0.007108223464167276 + ], + [ + 0.8009777069091797, + -0.023309849202632904, + 0.5982402563095093, + -0.025314324433045682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.016582155600190163, + -0.8012941479682922, + -0.23638100866845113 + ], + [ + 0.028356844559311867, + 0.9995977282524109, + 0.00047805439680814743, + 0.007076567643328218 + ], + [ + 0.8009639382362366, + -0.0230080708861351, + 0.5982704162597656, + -0.02605411558356506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.016265729442238808, + -0.8013320565223694, + -0.23656090014422965 + ], + [ + 0.027768244966864586, + 0.9996142983436584, + 0.0004316791892051697, + 0.007033362085406749 + ], + [ + 0.8010159134864807, + -0.022509727627038956, + 0.5982196927070618, + -0.025476605084952933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.016147378832101822, + -0.8010669946670532, + -0.2370264843204953 + ], + [ + 0.027362212538719177, + 0.999625563621521, + 0.00028840918093919754, + 0.0073463744218677084 + ], + [ + 0.800762414932251, + -0.022091537714004517, + 0.5985746383666992, + -0.02622548292409506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994995, + -0.01571132242679596, + -0.8009308576583862, + -0.23732167206063176 + ], + [ + 0.026675201952457428, + 0.9996441006660461, + 0.00032553263008594513, + 0.007266344835624 + ], + [ + 0.8006407022476196, + -0.021559840068221092, + 0.5987567901611328, + -0.026311708453869986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.015586912631988525, + -0.8009005188941956, + -0.2373007096596901 + ], + [ + 0.026452653110027313, + 0.9996500015258789, + 0.0003158440813422203, + 0.007171562114200055 + ], + [ + 0.8006152510643005, + -0.021375004202127457, + 0.5987974405288696, + -0.026589808923913952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.015448791906237602, + -0.8007135391235352, + -0.23819302867185202 + ], + [ + 0.026189325377345085, + 0.9996569752693176, + 0.00029966142028570175, + 0.007169095011094943 + ], + [ + 0.8004342317581177, + -0.02114959806203842, + 0.5990474224090576, + -0.02758484199544453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.015125294215977192, + -0.8007330894470215, + -0.23818046578903074 + ], + [ + 0.025747332721948624, + 0.9996684193611145, + 0.0003721676766872406, + 0.006749976442399009 + ], + [ + 0.8004618883132935, + -0.02083960361778736, + 0.599021315574646, + -0.027703839461535026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.01479332149028778, + -0.8008558750152588, + -0.238080869151267 + ], + [ + 0.025338858366012573, + 0.9996787905693054, + 0.0004759356379508972, + 0.005913569112092454 + ], + [ + 0.8005915880203247, + -0.020577702671289444, + 0.5988569259643555, + -0.02720203722352224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.598713219165802, + -0.014453249052166939, + -0.8008331060409546, + -0.23859013557828815 + ], + [ + 0.02473283000290394, + 0.9996939897537231, + 0.0004483424127101898, + 0.005134536712029517 + ], + [ + 0.8005815744400024, + -0.020075295120477676, + 0.5988874435424805, + -0.02788630379548926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.01428189966827631, + -0.8009747862815857, + -0.2382739418192415 + ], + [ + 0.02405443787574768, + 0.9997106194496155, + 0.00014917366206645966, + 0.004926457026023541 + ], + [ + 0.8007408976554871, + -0.01935627870261669, + 0.5986981391906738, + -0.028746236456151042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.014146590605378151, + -0.8012719750404358, + -0.23919884824989648 + ], + [ + 0.023411398753523827, + 0.999725878238678, + -0.00017419736832380295, + 0.005028305701072642 + ], + [ + 0.8010547757148743, + -0.018654704093933105, + 0.5983003377914429, + -0.029283507444605936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.014018379151821136, + -0.8014667630195618, + -0.23964856444605137 + ], + [ + 0.022625073790550232, + 0.9997438192367554, + -0.0006086602807044983, + 0.005402366091676106 + ], + [ + 0.8012699484825134, + -0.01776934042572975, + 0.5980390906333923, + -0.03083119776272615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.013722740113735199, + -0.8016238212585449, + -0.24024388273030717 + ], + [ + 0.021986916661262512, + 0.9997580051422119, + -0.0007216222584247589, + 0.005198267400758155 + ], + [ + 0.8014397621154785, + -0.01719394326210022, + 0.5978283882141113, + -0.031728517022353936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.013239637017250061, + -0.8019078373908997, + -0.24032418824584278 + ], + [ + 0.021200206130743027, + 0.9997749924659729, + -0.0007154848426580429, + 0.0049062533156070485 + ], + [ + 0.8017368912696838, + -0.01657325029373169, + 0.5974472761154175, + -0.03197169831849092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.013035249896347523, + -0.8023373484611511, + -0.2405686962486103 + ], + [ + 0.020687051117420197, + 0.9997856616973877, + -0.0008573736995458603, + 0.005064587385103797 + ], + [ + 0.8021765351295471, + -0.01608637347817421, + 0.5968702435493469, + -0.031016634651367253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.596592128276825, + -0.012730672955513, + -0.8024436831474304, + -0.24099137974495918 + ], + [ + 0.02018444985151291, + 0.9997959136962891, + -0.0008551264181733131, + 0.004671637736112866 + ], + [ + 0.8022907376289368, + -0.015686720609664917, + 0.5967273116111755, + -0.03183660374966678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.012447943910956383, + -0.8026606440544128, + -0.2411873725668484 + ], + [ + 0.019627327099442482, + 0.9998069405555725, + -0.0009239846840500832, + 0.004615743671673418 + ], + [ + 0.8025172352790833, + -0.015203106217086315, + 0.5964353084564209, + -0.03201177395534832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.01220423448830843, + -0.8029020428657532, + -0.24116312606839946 + ], + [ + 0.019357766956090927, + 0.9998123049736023, + -0.0008282237686216831, + 0.004265504632613912 + ], + [ + 0.8027613759040833, + -0.015048779547214508, + 0.596110463142395, + -0.031625624336549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.595792829990387, + -0.012032067403197289, + -0.8030480146408081, + -0.24138017304685733 + ], + [ + 0.019074292853474617, + 0.9998177289962769, + -0.0008287760429084301, + 0.003881659253888967 + ], + [ + 0.802911639213562, + -0.0148237943649292, + 0.5959137082099915, + -0.03159250368345652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.01215583086013794, + -0.8031197190284729, + -0.24201819002628328 + ], + [ + 0.018635351210832596, + 0.9998254776000977, + -0.0013108206912875175, + 0.0039733749814331535 + ], + [ + 0.802995502948761, + -0.014185569249093533, + 0.5958163142204285, + -0.03165470957756043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/move_right/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e62986211d4d4a74fac30a1540889d04c35e33ff --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/move_right/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0004863918584305793, + -0.011884978972375393, + -0.0032082891643713442 + ], + [ + -0.0004851055273320526, + 0.9999998807907104, + 0.00011111380445072427, + -0.0008415188778936554 + ], + [ + 0.011885031126439571, + -0.00010534047760302201, + 0.9999293684959412, + 0.0015610173993762459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0011968958424404263, + -0.024077866226434708, + -0.007232356563654562 + ], + [ + -0.0011860182275995612, + 0.9999991655349731, + 0.00046604720409959555, + -0.002179962326772511 + ], + [ + 0.024078402668237686, + -0.00043735496001318097, + 0.999709963798523, + 0.004023039892981976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0017863846151158214, + -0.03649692237377167, + -0.011150075786358474 + ], + [ + -0.0017505328869447112, + 0.9999979734420776, + 0.001014251378364861, + -0.00519187734007453 + ], + [ + 0.03649865835905075, + -0.0009496849379502237, + 0.9993332624435425, + 0.005664090344077902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151672, + 0.0018534658011049032, + -0.04948023706674576, + -0.012617108120971563 + ], + [ + -0.001837058924138546, + 0.9999982118606567, + 0.00037706014700233936, + -0.0044748659591061 + ], + [ + 0.049480848014354706, + -0.0002856995561160147, + 0.9987750053405762, + 0.007261662567589457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286682, + 0.0018996521830558777, + -0.06185787543654442, + -0.016651720413013008 + ], + [ + -0.0019415044225752354, + 0.9999979138374329, + -0.0006164890946820378, + -0.0032263238874220886 + ], + [ + 0.061856579035520554, + 0.0007354046683758497, + 0.9980847835540771, + 0.009762341286123589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002014815341681242, + -0.07438942790031433, + -0.019912380905242156 + ], + [ + -0.0020942697301506996, + 0.9999973177909851, + -0.0009900982258841395, + -0.0035157096587639576 + ], + [ + 0.07438723742961884, + 0.0011431443272158504, + 0.9972288012504578, + 0.011463890708242821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0024909127969294786, + -0.08745445311069489, + -0.021062500839004454 + ], + [ + -0.002623689593747258, + 0.9999955892562866, + -0.0014033232582733035, + -0.0036189734995895565 + ], + [ + 0.08745056390762329, + 0.0016273952787742019, + 0.9961675405502319, + 0.013123090283957538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0026894090697169304, + -0.10018683969974518, + -0.023301735609177723 + ], + [ + -0.0028831977397203445, + 0.9999942183494568, + -0.0017895271303132176, + -0.0024866905458123477 + ], + [ + 0.100181445479393, + 0.0020693752449005842, + 0.9949670433998108, + 0.01558012611152518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.003340879688039422, + -0.11246424168348312, + -0.02765123178035218 + ], + [ + -0.003594657639041543, + 0.9999914169311523, + -0.0020538191311061382, + -0.0012829753463865807 + ], + [ + 0.11245641857385635, + 0.002445048186928034, + 0.9936536550521851, + 0.0181164862403017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0036670309491455555, + -0.12474638968706131, + -0.03136215035785113 + ], + [ + -0.003980346955358982, + 0.9999895095825195, + -0.0022624770645052195, + -0.00040949708593250654 + ], + [ + 0.12473677843809128, + 0.0027413226198405027, + 0.9921860694885254, + 0.019885455622084883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0042276340536773205, + -0.13722291588783264, + -0.03269627381930288 + ], + [ + -0.00458436319604516, + 0.9999868869781494, + -0.0022836981806904078, + -0.0005151865661178179 + ], + [ + 0.13721147179603577, + 0.002891153795644641, + 0.9905375838279724, + 0.02225251187206499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.005210375878959894, + -0.1495237499475479, + -0.03416528287312842 + ], + [ + -0.005534265656024218, + 0.9999831318855286, + -0.0017501292750239372, + -0.0019532335245217016 + ], + [ + 0.1495121270418167, + 0.0025579347275197506, + 0.9887565970420837, + 0.025256602184859332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.005594636779278517, + -0.16168241202831268, + -0.03613690145757814 + ], + [ + -0.006048411596566439, + 0.9999790191650391, + -0.002314514247700572, + -0.0005337593800215581 + ], + [ + 0.16166608035564423, + 0.003261946840211749, + 0.9868401288986206, + 0.027239874989682476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.005581590346992016, + -0.1734739989042282, + -0.041019603491618935 + ], + [ + -0.006080773659050465, + 0.99997878074646, + -0.0023462402168661356, + -0.0011547455359065277 + ], + [ + 0.17345722019672394, + 0.003365486627444625, + 0.984835684299469, + 0.0296097166564883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.98223477602005, + 0.005800416227430105, + -0.1875665783882141, + -0.04091507929149053 + ], + [ + -0.006495876703411341, + 0.9999741315841675, + -0.0030933539383113384, + 0.00010511749113727953 + ], + [ + 0.18754377961158752, + 0.004256809130311012, + 0.982246994972229, + 0.031748091802001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0061881085857748985, + -0.20237918198108673, + -0.04179255238530652 + ], + [ + -0.006918664090335369, + 0.999971866607666, + -0.0029026130214333534, + -0.0009325482060713385 + ], + [ + 0.2023555189371109, + 0.004242686554789543, + 0.9793029427528381, + 0.03453950866662114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.006859282962977886, + -0.21706269681453705, + -0.044612542416480994 + ], + [ + -0.007583028636872768, + 0.9999681115150452, + -0.0025015086866915226, + -0.001238382953397979 + ], + [ + 0.2170386165380478, + 0.0040877992287278175, + 0.9761544466018677, + 0.037992510821250894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.007622532080858946, + -0.23202507197856903, + -0.046390363939155806 + ], + [ + -0.00841778889298439, + 0.9999616146087646, + -0.0024375603534281254, + -0.0005586385052336614 + ], + [ + 0.23199759423732758, + 0.00432410417124629, + 0.9727067351341248, + 0.04061731861423183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290222, + 0.007998919114470482, + -0.24641965329647064, + -0.048028361402600014 + ], + [ + -0.008887644857168198, + 0.9999573826789856, + -0.002494553569704294, + -0.00047261873159915307 + ], + [ + 0.24638919532299042, + 0.004607637412846088, + 0.9691600203514099, + 0.04423240602805915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.00830158032476902, + -0.25930365920066833, + -0.05088118848619082 + ], + [ + -0.00933983363211155, + 0.9999525547027588, + -0.002772246953099966, + -0.00028253674783916614 + ], + [ + 0.25926831364631653, + 0.00509917875751853, + 0.9657918810844421, + 0.04680325845811541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262634, + 0.008982736617326736, + -0.2716941833496094, + -0.05259986167514561 + ], + [ + -0.01037854515016079, + 0.9999393224716187, + -0.003700912930071354, + 0.0021737969156650715 + ], + [ + 0.2716444730758667, + 0.00638133380562067, + 0.9623765349388123, + 0.049658620392052544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958745002746582, + 0.009593034163117409, + -0.2841055989265442, + -0.05278082684373224 + ], + [ + -0.011181702837347984, + 0.9999296069145203, + -0.0039705075323581696, + 0.0024005799353838163 + ], + [ + 0.2840474843978882, + 0.006983487866818905, + 0.9587847590446472, + 0.052586000689015484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.010277467779815197, + -0.296245276927948, + -0.0533860415417627 + ], + [ + -0.011924072168767452, + 0.9999218583106995, + -0.0037519545294344425, + 0.0017261555933375035 + ], + [ + 0.29618358612060547, + 0.0071157789789140224, + 0.9551045298576355, + 0.05555553445160784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.010673862881958485, + -0.30833154916763306, + -0.05463716814060085 + ], + [ + -0.012424084357917309, + 0.9999158978462219, + -0.003713734447956085, + 0.0017750809373124348 + ], + [ + 0.3082659840583801, + 0.007363311946392059, + 0.9512717127799988, + 0.0581660649140939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.010835468769073486, + -0.32070890069007874, + -0.0535023630356157 + ], + [ + -0.012816676869988441, + 0.9999095797538757, + -0.004067201167345047, + 0.00212261974441492 + ], + [ + 0.3206358253955841, + 0.007962532341480255, + 0.9471690654754639, + 0.06081663220134002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.010755755007266998, + -0.331837922334671, + -0.05481851431510307 + ], + [ + -0.013014215975999832, + 0.9999048113822937, + -0.00458433385938406, + 0.0029017554256843023 + ], + [ + 0.3317570388317108, + 0.008642897941172123, + 0.9433252811431885, + 0.0632502228465696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135193, + 0.010849849320948124, + -0.3431485593318939, + -0.05539794391551554 + ], + [ + -0.0133688198402524, + 0.9998982548713684, + -0.004975970834493637, + 0.003204510783443585 + ], + [ + 0.34305962920188904, + 0.009261014871299267, + 0.9392679929733276, + 0.06542322443218421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060486, + 0.010827329009771347, + -0.3545053005218506, + -0.05551506922339761 + ], + [ + -0.013684280216693878, + 0.999890923500061, + -0.005552908405661583, + 0.004437775257358093 + ], + [ + 0.35440653562545776, + 0.010043070651590824, + 0.9350374937057495, + 0.06764191354544746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.010438570752739906, + -0.3656938374042511, + -0.05589887959672915 + ], + [ + -0.01359538920223713, + 0.9998892545700073, + -0.006058342754840851, + 0.006318968488211861 + ], + [ + 0.36559006571769714, + 0.010610107332468033, + 0.9307155013084412, + 0.07000829571524993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.010770156048238277, + -0.3767916262149811, + -0.05679519129115225 + ], + [ + -0.013901258818805218, + 0.9998877644538879, + -0.005591662600636482, + 0.005267508553081988 + ], + [ + 0.3766891062259674, + 0.010417073965072632, + 0.9262811541557312, + 0.07139156497274803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.011013920418918133, + -0.3877599537372589, + -0.057786683955334664 + ], + [ + -0.014093865640461445, + 0.9998876452445984, + -0.005099950358271599, + 0.004163240049873164 + ], + [ + 0.3876602351665497, + 0.010165633633732796, + 0.9217462539672852, + 0.07323078473672172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.010770684108138084, + -0.39851656556129456, + -0.05827817503387565 + ], + [ + -0.01427946425974369, + 0.9998810291290283, + -0.0058373091742396355, + 0.007073268515754812 + ], + [ + 0.3984062969684601, + 0.011043987236917019, + 0.9171425700187683, + 0.07585279370183187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.010726790875196457, + -0.4089179039001465, + -0.05971574120174181 + ], + [ + -0.014440299943089485, + 0.9998777508735657, + -0.005994876846671104, + 0.00743605535576083 + ], + [ + 0.40880364179611206, + 0.011375270783901215, + 0.9125514626502991, + 0.07776810375862564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.01060201320797205, + -0.4190731346607208, + -0.060869029559047015 + ], + [ + -0.01432447973638773, + 0.9998809695243835, + -0.005737208761274815, + 0.0063190520821225565 + ], + [ + 0.41896238923072815, + 0.011211763136088848, + 0.9079343676567078, + 0.07876490836111916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523499, + 0.010560670867562294, + -0.4294537901878357, + -0.061360682329989424 + ], + [ + -0.014666726812720299, + 0.9998728632926941, + -0.0062524136155843735, + 0.007574998483752573 + ], + [ + 0.4293331503868103, + 0.011944780126214027, + 0.9030672311782837, + 0.08131649651077409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.01073315367102623, + -0.4390795826911926, + -0.06356753668445625 + ], + [ + -0.015065105631947517, + 0.9998661279678345, + -0.006382744759321213, + 0.008068752669982169 + ], + [ + 0.43895232677459717, + 0.01234893687069416, + 0.8984254598617554, + 0.08192542503211672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.011067933402955532, + -0.4490206241607666, + -0.06344597285354374 + ], + [ + -0.015340826474130154, + 0.9998650550842285, + -0.00587916374206543, + 0.006349867978287454 + ], + [ + 0.4488949775695801, + 0.01214110292494297, + 0.8935020565986633, + 0.08326232634632792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.011033737100660801, + -0.4585636258125305, + -0.06486811152357139 + ], + [ + -0.015641024336218834, + 0.9998581409454346, + -0.006250678561627865, + 0.008055529479455474 + ], + [ + 0.45842957496643066, + 0.01272671390324831, + 0.8886395692825317, + 0.08469482796476377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472046, + 0.011236707679927349, + -0.46845918893814087, + -0.06509841093361773 + ], + [ + -0.016084803268313408, + 0.9998504519462585, + -0.006349554285407066, + 0.00919425461984036 + ], + [ + 0.46831780672073364, + 0.01314435712993145, + 0.8834623098373413, + 0.08723648912859279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004211, + 0.011081221513450146, + -0.47735270857810974, + -0.06740785765134735 + ], + [ + -0.015823325142264366, + 0.9998573064804077, + -0.005914696026593447, + 0.008560077638815571 + ], + [ + 0.4772190749645233, + 0.012750206515192986, + 0.8786918520927429, + 0.08787398129109515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.011335542425513268, + -0.4867357313632965, + -0.06794604521910876 + ], + [ + -0.016187697649002075, + 0.9998523592948914, + -0.005764305591583252, + 0.008512700428039033 + ], + [ + 0.48659852147102356, + 0.012914111837744713, + 0.8735302686691284, + 0.08941618278129211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325684, + 0.011563494801521301, + -0.49545857310295105, + -0.0700699296810769 + ], + [ + -0.016600852832198143, + 0.999845564365387, + -0.005766450427472591, + 0.008803801111482231 + ], + [ + 0.49531540274620056, + 0.013233511708676815, + 0.8686124086380005, + 0.08879539062645261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022583, + 0.011870907619595528, + -0.5048052072525024, + -0.07045561056460765 + ], + [ + -0.017190923914313316, + 0.9998348951339722, + -0.005882324650883675, + 0.009447538619552621 + ], + [ + 0.5046520233154297, + 0.013755405321717262, + 0.863213300704956, + 0.09182250195781128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.012344984337687492, + -0.5133175849914551, + -0.07252905526698031 + ], + [ + -0.017671290785074234, + 0.9998287558555603, + -0.005495703313499689, + 0.008775723594802104 + ], + [ + 0.5131617784500122, + 0.013786900788545609, + 0.8581811785697937, + 0.09278250136320165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.01265900582075119, + -0.5219429135322571, + -0.07367289243944433 + ], + [ + -0.018154555931687355, + 0.9998205304145813, + -0.0054163821041584015, + 0.009063826559345848 + ], + [ + 0.5217806696891785, + 0.014095200225710869, + 0.8529632091522217, + 0.09330525096283843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.012931415811181068, + -0.5304490923881531, + -0.07501446873146966 + ], + [ + -0.018431654199957848, + 0.9998172521591187, + -0.0050786263309419155, + 0.008519847224781055 + ], + [ + 0.5302864909172058, + 0.014081789180636406, + 0.8477016091346741, + 0.09439495905543005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298462, + 0.013244349509477615, + -0.5390504002571106, + -0.07644138624336547 + ], + [ + -0.018967323005199432, + 0.9998072385787964, + -0.005067991092801094, + 0.009175229018295048 + ], + [ + 0.5388793349266052, + 0.014492450281977654, + 0.8422582745552063, + 0.0943893248474361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.013627559877932072, + -0.5479176044464111, + -0.07764138703709407 + ], + [ + -0.019596006721258163, + 0.9997952580451965, + -0.0050477455370128155, + 0.010483769110299104 + ], + [ + 0.547736644744873, + 0.01495903730392456, + 0.8365170955657959, + 0.09581217492455678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.013762841001152992, + -0.5570093989372253, + -0.07821396606055317 + ], + [ + -0.019926106557250023, + 0.9997889399528503, + -0.005002694204449654, + 0.011696792333479355 + ], + [ + 0.5568229556083679, + 0.015253225341439247, + 0.8304911851882935, + 0.09734876536770372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.013394848443567753, + -0.5660153031349182, + -0.07968076816852519 + ], + [ + -0.019328225404024124, + 0.9998031258583069, + -0.004487108904868364, + 0.010867901349945969 + ], + [ + 0.5658437609672546, + 0.014638731256127357, + 0.8243825435638428, + 0.0982286777618705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.012859703972935677, + -0.5745726823806763, + -0.08138616725506372 + ], + [ + -0.01881125010550022, + 0.9998133182525635, + -0.004415334202349186, + 0.01088654576424534 + ], + [ + 0.5744086503982544, + 0.014421730302274227, + 0.81844162940979, + 0.09808366515778548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182373, + 0.012150449678301811, + -0.5833437442779541, + -0.08218407287502921 + ], + [ + -0.017797311767935753, + 0.9998338222503662, + -0.003952008672058582, + 0.010029863562459582 + ], + [ + 0.5831987857818604, + 0.013591513969004154, + 0.8122157454490662, + 0.09990501498544453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938904, + 0.011548399925231934, + -0.5913549661636353, + -0.08431319170045537 + ], + [ + -0.017339786514639854, + 0.9998411536216736, + -0.004117665346711874, + 0.011414531240893516 + ], + [ + 0.5912134647369385, + 0.013574158772826195, + 0.8064008951187134, + 0.09948614286073786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.010826105251908302, + -0.5994647741317749, + -0.08561791805242071 + ], + [ + -0.016626477241516113, + 0.9998531937599182, + -0.00414055772125721, + 0.012145477022654963 + ], + [ + 0.5993319749832153, + 0.01328079029917717, + 0.8003904819488525, + 0.09946930523937111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7943386435508728, + 0.01026931218802929, + -0.6073883771896362, + -0.08677694694885354 + ], + [ + -0.016307000070810318, + 0.9998572468757629, + -0.0044212802313268185, + 0.01355746431609258 + ], + [ + 0.607256293296814, + 0.013416675850749016, + 0.7943927049636841, + 0.10081105037832891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311462, + 0.009605573490262032, + -0.6148615479469299, + -0.08966134966209234 + ], + [ + -0.014743058010935783, + 0.9998859167098999, + -0.003287816420197487, + 0.011017879774633622 + ], + [ + 0.6147598624229431, + 0.011657634750008583, + 0.7886282205581665, + 0.10083937285751697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.008899434469640255, + -0.6226077079772949, + -0.0909955597476454 + ], + [ + -0.01374885905534029, + 0.9999009966850281, + -0.002986959181725979, + 0.011179208357676568 + ], + [ + 0.6225194931030273, + 0.01089739054441452, + 0.7825284600257874, + 0.10023950900857811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.0077556101605296135, + -0.6300268173217773, + -0.09214505839426786 + ], + [ + -0.012501758523285389, + 0.9999170303344727, + -0.0030999979935586452, + 0.012255896981928917 + ], + [ + 0.6299505233764648, + 0.01028369925916195, + 0.7765672206878662, + 0.10001857709016232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.006658867001533508, + -0.6370848417282104, + -0.09444503042082122 + ], + [ + -0.011066295206546783, + 0.9999344348907471, + -0.002936943434178829, + 0.011145111157355324 + ], + [ + 0.6370235681533813, + 0.009313861839473248, + 0.7707880735397339, + 0.09912254549809639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.005289234220981598, + -0.6443486213684082, + -0.09599490305840574 + ], + [ + -0.009799103252589703, + 0.999946117401123, + -0.003421375062316656, + 0.012326399727866349 + ], + [ + 0.6442958116531372, + 0.008930409327149391, + 0.7647242546081543, + 0.10010100358369335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592346, + 0.005259272176772356, + -0.6512006521224976, + -0.09759461822493976 + ], + [ + -0.00947636365890503, + 0.9999507069587708, + -0.002967563923448324, + 0.010145360759354585 + ], + [ + 0.6511529684066772, + 0.008423060178756714, + 0.7588997483253479, + 0.09910762217265881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.0054379841312766075, + -0.6581783890724182, + -0.09965664641746622 + ], + [ + -0.009595428593456745, + 0.9999502897262573, + -0.0027137508150190115, + 0.008766508083913894 + ], + [ + 0.658130943775177, + 0.008358529768884182, + 0.7528571486473083, + 0.09949029468937426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844727, + 0.005608484148979187, + -0.6653628349304199, + -0.10124945066227818 + ], + [ + -0.010697361081838608, + 0.9999364018440247, + -0.0035731527023017406, + 0.011153336866012472 + ], + [ + 0.6653004884719849, + 0.009784981608390808, + 0.7465115785598755, + 0.09981936206486051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.006018341518938541, + -0.6717082858085632, + -0.1037962580753478 + ], + [ + -0.01101385522633791, + 0.9999342560768127, + -0.0031874277628958225, + 0.009251132602525863 + ], + [ + 0.6716449856758118, + 0.009759316220879555, + 0.7408088445663452, + 0.09749750613376794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.00578389223664999, + -0.6787058115005493, + -0.10504831521716339 + ], + [ + -0.010729682631790638, + 0.9999376535415649, + -0.003088544122874737, + 0.008551713853260342 + ], + [ + 0.6786456108093262, + 0.009550485759973526, + 0.7344037294387817, + 0.09882681249388006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446777, + 0.005525314249098301, + -0.6847578883171082, + -0.10882356222102184 + ], + [ + -0.010778908617794514, + 0.9999361038208008, + -0.0034029053058475256, + 0.009946522142565408 + ], + [ + 0.684695303440094, + 0.009860808029770851, + 0.7287627458572388, + 0.09638579647667361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.005478494800627232, + -0.691051721572876, + -0.11084068397812497 + ], + [ + -0.010956338606774807, + 0.9999337196350098, + -0.003532210597768426, + 0.010602080088651536 + ], + [ + 0.6909866333007812, + 0.01012442447245121, + 0.7227966785430908, + 0.09640007832192427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.005495008081197739, + -0.6972485184669495, + -0.11272281625412947 + ], + [ + -0.010774627327919006, + 0.9999368190765381, + -0.003196398261934519, + 0.009757101866385795 + ], + [ + 0.6971868872642517, + 0.00980379804968834, + 0.7168223857879639, + 0.09668559808012667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.005751725286245346, + -0.70326828956604, + -0.11534785924368346 + ], + [ + -0.01132161170244217, + 0.9999305605888367, + -0.0032664949540048838, + 0.010139014434982215 + ], + [ + 0.7032006978988647, + 0.010284285992383957, + 0.710917055606842, + 0.09545962413809947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.005315891467034817, + -0.7089744210243225, + -0.11696429412491274 + ], + [ + -0.010684940032660961, + 0.9999380111694336, + -0.0031307318713515997, + 0.010111482104668949 + ], + [ + 0.7089138627052307, + 0.00978318601846695, + 0.705227255821228, + 0.09495361815422576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.005222121253609657, + -0.7142776250839233, + -0.11968602721659552 + ], + [ + -0.010238460265100002, + 0.9999439120292664, + -0.002720913151279092, + 0.009184795269582248 + ], + [ + 0.7142233848571777, + 0.00921731535345316, + 0.699857234954834, + 0.09312296816647447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479492, + 0.004453210160136223, + -0.7193988561630249, + -0.12290099288848852 + ], + [ + -0.009380107745528221, + 0.9999518990516663, + -0.002866653958335519, + 0.01015816122688205 + ], + [ + 0.7193515300750732, + 0.00873916782438755, + 0.6945912837982178, + 0.09326851099532171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.003815949894487858, + -0.7244514226913452, + -0.12442364732161262 + ], + [ + -0.008435632102191448, + 0.9999606013298035, + -0.002759345108643174, + 0.009833413760319648 + ], + [ + 0.7244123220443726, + 0.008013264276087284, + 0.68932044506073, + 0.09186240042874355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.00299663539044559, + -0.7291480302810669, + -0.12790040336302574 + ], + [ + -0.006998141296207905, + 0.9999724626541138, + -0.0024585160426795483, + 0.008958786338666418 + ], + [ + 0.7291206121444702, + 0.006785165052860975, + 0.6843516230583191, + 0.09207062627009999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.0021717692725360394, + -0.7339073419570923, + -0.1299653627619838 + ], + [ + -0.006026202347129583, + 0.9999784231185913, + -0.002618249040096998, + 0.00909290118420509 + ], + [ + 0.7338857650756836, + 0.006201109383255243, + 0.6792445778846741, + 0.09040706192716857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.0016479046316817403, + -0.7387893795967102, + -0.13171543747384026 + ], + [ + -0.004829217214137316, + 0.9999859929084778, + -0.002174766268581152, + 0.007386090585480857 + ], + [ + 0.7387754321098328, + 0.005033424124121666, + 0.6739329099655151, + 0.09120274606524714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6692056655883789, + 0.00024994288105517626, + -0.7430772185325623, + -0.1353443441209414 + ], + [ + -0.003476889804005623, + 0.9999900460243225, + -0.002794883446767926, + 0.00847518475886607 + ], + [ + 0.7430691123008728, + 0.0044539496302604675, + 0.6691998839378357, + 0.08920604708968409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.0007921459618955851, + -0.7475818395614624, + -0.13675483287564966 + ], + [ + -0.001662318129092455, + 0.9999954104423523, + -0.0025364491157233715, + 0.007163369415068863 + ], + [ + 0.7475804090499878, + 0.0029273503459990025, + 0.6641649007797241, + 0.08830542949749934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.0008249189122579992, + -0.7522561550140381, + -0.13827295153346283 + ], + [ + -0.0014781635254621506, + 0.9999960660934448, + -0.0023912517353892326, + 0.006842894329140518 + ], + [ + 0.7522552013397217, + 0.002687482163310051, + 0.6588664650917053, + 0.08846776422285876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.0008845060365274549, + -0.7567735314369202, + -0.13945034837091205 + ], + [ + -0.0012954537523910403, + 0.999996542930603, + -0.00228775292634964, + 0.0067700958280324545 + ], + [ + 0.7567729353904724, + 0.0024758153595030308, + 0.6536731719970703, + 0.08817859916694906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.0011688161175698042, + -0.7607991099357605, + -0.14238714818528156 + ], + [ + -0.0007480338681489229, + 0.9999973773956299, + -0.002174394205212593, + 0.006413588479056411 + ], + [ + 0.7607995867729187, + 0.001980255823582411, + 0.648983895778656, + 0.08703626774695536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.001442446606233716, + -0.7650463581085205, + -0.1434681060101023 + ], + [ + -0.0003252641763538122, + 0.999997615814209, + -0.0021592217963188887, + 0.00644757190676073 + ], + [ + 0.7650476694107056, + 0.0016393241239711642, + 0.6439716219902039, + 0.08633547456355284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877441, + -0.0014531849883496761, + -0.769130527973175, + -0.14485929478083226 + ], + [ + -0.0005189653020352125, + 0.9999971985816956, + -0.0023206027690321207, + 0.007735295258678299 + ], + [ + 0.7691317200660706, + 0.0018822263227775693, + 0.6390875577926636, + 0.08695020833058864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.0012736815260723233, + -0.7733120322227478, + -0.14448471215387054 + ], + [ + -0.000546193914487958, + 0.9999976754188538, + -0.002094858093187213, + 0.007221215506337139 + ], + [ + 0.7733128666877747, + 0.0017505694413557649, + 0.6340222358703613, + 0.08826492033060024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705933, + -0.002225269563496113, + -0.7768340110778809, + -0.14602271225673474 + ], + [ + 0.00028024002676829696, + 0.9999964833259583, + -0.0026373642031103373, + 0.009050228992062282 + ], + [ + 0.7768371105194092, + 0.0014430524315685034, + 0.6296999454498291, + 0.08876364243938434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.0025507272221148014, + -0.779694139957428, + -0.14654913416366702 + ], + [ + 0.0010803568875417113, + 0.999996542930603, + -0.002403823658823967, + 0.008378370304974351 + ], + [ + 0.779697597026825, + 0.000662819598801434, + 0.6261559724807739, + 0.0887354566956198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.0030336659401655197, + -0.7827765345573425, + -0.14506091633379853 + ], + [ + 0.002056846395134926, + 0.9999953508377075, + -0.0022403402253985405, + 0.007848702342749037 + ], + [ + 0.7827797532081604, + -0.000215897336602211, + 0.6222988963127136, + 0.09154035200346385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903442, + -0.003761997679248452, + -0.7847548127174377, + -0.146174508234523 + ], + [ + 0.0032785104122012854, + 0.9999921917915344, + -0.0022044642828404903, + 0.008048853861624437 + ], + [ + 0.7847569584846497, + -0.0012065107002854347, + 0.6198024749755859, + 0.09232470229366757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.004539810586720705, + -0.7858691811561584, + -0.14667422684612652 + ], + [ + 0.004675140138715506, + 0.9999868869781494, + -0.0020980031695216894, + 0.008140383770269965 + ], + [ + 0.7858683466911316, + -0.0023766930680722, + 0.6183892488479614, + 0.0911034989337258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.005660193972289562, + -0.7870671153068542, + -0.1464936899033603 + ], + [ + 0.006203397177159786, + 0.9999780654907227, + -0.002329607494175434, + 0.009429344093266703 + ], + [ + 0.7870630621910095, + -0.003445491660386324, + 0.616862952709198, + 0.09257743260915706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.0064145904034376144, + -0.787406325340271, + -0.14677431532089286 + ], + [ + 0.007700510323047638, + 0.9999681115150452, + -0.002118071774020791, + 0.00919775003012245 + ], + [ + 0.7873947620391846, + -0.004757847636938095, + 0.6164308190345764, + 0.0916626414715849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.0074282484129071236, + -0.7878191471099854, + -0.1465106156488128 + ], + [ + 0.009217723272740841, + 0.9999550580978394, + -0.00222267908975482, + 0.009829321641795683 + ], + [ + 0.7878001928329468, + -0.005893034394830465, + 0.6159027814865112, + 0.09165586676226548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6151977777481079, + -0.00841560773551464, + -0.7883278727531433, + -0.1463434943694942 + ], + [ + 0.010718902572989464, + 0.9999398589134216, + -0.002309769857674837, + 0.010092576985426297 + ], + [ + 0.7882999777793884, + -0.007029043976217508, + 0.6152510643005371, + 0.0921803187652929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.009412487968802452, + -0.7889751195907593, + -0.1447414066617852 + ], + [ + 0.012299969792366028, + 0.9999215602874756, + -0.0023514367640018463, + 0.010558079106622185 + ], + [ + 0.7889354228973389, + -0.008259756490588188, + 0.6144207119941711, + 0.09361410910720067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.010227596387267113, + -0.7890461683273315, + -0.14489151320315355 + ], + [ + 0.013775398954749107, + 0.999902606010437, + -0.002236975822597742, + 0.011095212371588148 + ], + [ + 0.788992166519165, + -0.009495366364717484, + 0.6143298745155334, + 0.09283819370317144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.010898209176957607, + -0.7895479202270508, + -0.14425755664212814 + ], + [ + 0.015464217402040958, + 0.9998788237571716, + -0.0017835102044045925, + 0.010681548366779522 + ], + [ + 0.7894717454910278, + -0.011115392670035362, + 0.6136862635612488, + 0.09366372219774108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6129774451255798, + -0.011926617473363876, + -0.790010392665863, + -0.14407891942965273 + ], + [ + 0.017037706449627876, + 0.9998530745506287, + -0.0018748301081359386, + 0.01160620598011459 + ], + [ + 0.7899166941642761, + -0.012310735881328583, + 0.6130906343460083, + 0.09431610423208073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.012528479099273682, + -0.790443480014801, + -0.14371653282089739 + ], + [ + 0.018658088520169258, + 0.9998249411582947, + -0.0013915528543293476, + 0.011015208364026436 + ], + [ + 0.7903226017951965, + -0.013895966112613678, + 0.612533450126648, + 0.09477758018781018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.013137735426425934, + -0.7907539010047913, + -0.14346021188805436 + ], + [ + 0.020243775099515915, + 0.999794602394104, + -0.0009433808736503124, + 0.010420803025068827 + ], + [ + 0.7906039357185364, + -0.015430498868227005, + 0.6121335029602051, + 0.09528279810749143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.013584914617240429, + -0.7908241152763367, + -0.14305932740896743 + ], + [ + 0.021221036091446877, + 0.9997745156288147, + -0.0007547237910330296, + 0.010839576765105424 + ], + [ + 0.7906560301780701, + -0.01632029563188553, + 0.612043023109436, + 0.09527313171435667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.014132389798760414, + -0.7910428643226624, + -0.14234460193589824 + ], + [ + 0.0222689900547266, + 0.9997518062591553, + -0.0006437357515096664, + 0.011271174809593238 + ], + [ + 0.7908555865287781, + -0.01722201704978943, + 0.6117604374885559, + 0.09647942314676891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990784, + -0.014541958458721638, + -0.7911027669906616, + -0.14102790699099862 + ], + [ + 0.023335307836532593, + 0.9997276663780212, + -0.00033904053270816803, + 0.010917136434539659 + ], + [ + 0.7908922433853149, + -0.018253298476338387, + 0.6116831302642822, + 0.09702519505031851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391724, + -0.01510520838201046, + -0.7909956574440002, + -0.14080387565079114 + ], + [ + 0.024431081488728523, + 0.9997014999389648, + -0.00019947998225688934, + 0.01100144355946424 + ], + [ + 0.7907626032829285, + -0.01920286938548088, + 0.6118217706680298, + 0.09676191605479513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.015652863308787346, + -0.7913145422935486, + -0.14061104003956776 + ], + [ + 0.02551366202533245, + 0.9996744990348816, + -6.772205233573914e-05, + 0.011097552133909123 + ], + [ + 0.7910580039024353, + -0.020147938281297684, + 0.6114093065261841, + 0.09799040785885804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260254, + -0.01620602235198021, + -0.791683554649353, + -0.14026461285076394 + ], + [ + 0.026492536067962646, + 0.9996489882469177, + -2.641230821609497e-05, + 0.011443869327965952 + ], + [ + 0.7914061546325684, + -0.020957576110959053, + 0.6109313368797302, + 0.09829461663369313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.016544358804821968, + -0.7920592427253723, + -0.14011382586908655 + ], + [ + 0.027166148647665977, + 0.9996309280395508, + 4.9336813390254974e-05, + 0.011711756094352694 + ], + [ + 0.7917661070823669, + -0.02154730260372162, + 0.6104443073272705, + 0.09863549780766696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.01694480888545513, + -0.7924621105194092, + -0.13971028462151028 + ], + [ + 0.027893470600247383, + 0.9996109008789062, + 8.585862815380096e-05, + 0.011894834340112098 + ], + [ + 0.7921522855758667, + -0.022156862542033195, + 0.6099212169647217, + 0.09907636145092794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029053, + -0.017379073426127434, + -0.7929292917251587, + -0.1394818602216165 + ], + [ + 0.028695357963442802, + 0.9995881915092468, + 0.00013298168778419495, + 0.012191418279579144 + ], + [ + 0.7926003932952881, + -0.022834382951259613, + 0.6093137264251709, + 0.09954087437186021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.0174977146089077, + -0.7936343550682068, + -0.13806056222378812 + ], + [ + 0.02890973910689354, + 0.9995819926261902, + 0.00011449400335550308, + 0.012514873379409708 + ], + [ + 0.7933005690574646, + -0.023013386875391006, + 0.6083950996398926, + 0.1017073073134517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.017740648239850998, + -0.7941651940345764, + -0.13717817105599586 + ], + [ + 0.029664751142263412, + 0.9995598196983337, + 0.00036114174872636795, + 0.012050225454943858 + ], + [ + 0.7938092350959778, + -0.02377808466553688, + 0.60770183801651, + 0.10291030563858171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.01809324324131012, + -0.7946889996528625, + -0.1371949059284286 + ], + [ + 0.03016676753759384, + 0.9995448589324951, + 0.0002750689163804054, + 0.012432072114273413 + ], + [ + 0.7943223118782043, + -0.024140093475580215, + 0.6070168018341064, + 0.10372721446270974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.018253536894917488, + -0.7950931787490845, + -0.1375595979540553 + ], + [ + 0.030457107350230217, + 0.9995360374450684, + 0.0002747057005763054, + 0.012456258919262728 + ], + [ + 0.7947192192077637, + -0.02438276633620262, + 0.6064873337745667, + 0.10400276199871342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.0183928981423378, + -0.7955172657966614, + -0.1374841665984779 + ], + [ + 0.03052372857928276, + 0.999534010887146, + 0.00012875162065029144, + 0.013017714993152397 + ], + [ + 0.795144259929657, + -0.024360129609704018, + 0.6059309244155884, + 0.10442007272843494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.018686318770051003, + -0.7958834171295166, + -0.13770964479209571 + ], + [ + 0.03098800592124462, + 0.9995197653770447, + 9.47415828704834e-05, + 0.012969583490036971 + ], + [ + 0.7954994440078735, + -0.024720171466469765, + 0.605449914932251, + 0.1047048428694144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.01886497437953949, + -0.7965230345726013, + -0.13732227959380244 + ], + [ + 0.03127732127904892, + 0.9995107650756836, + 5.721487104892731e-05, + 0.012900663712462842 + ], + [ + 0.7961322665214539, + -0.02494768053293228, + 0.6046081781387329, + 0.10536518283435051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.019014455378055573, + -0.7971327304840088, + -0.13747724555186086 + ], + [ + 0.031572796404361725, + 0.9995014667510986, + 6.191711872816086e-05, + 0.012543198363917159 + ], + [ + 0.796734094619751, + -0.02520507201552391, + 0.6038042306900024, + 0.10607744531323579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.01935577765107155, + -0.7977075576782227, + -0.13719933542194745 + ], + [ + 0.03189093992114067, + 0.9994913339614868, + -0.00015567895025014877, + 0.012913639991488677 + ], + [ + 0.7973048686981201, + -0.025345809757709503, + 0.6030444502830505, + 0.10622901462561246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640442, + -0.019408177584409714, + -0.798369824886322, + -0.13638610476689622 + ], + [ + 0.03211335465312004, + 0.9994842410087585, + -8.842442184686661e-05, + 0.01220251437621993 + ], + [ + 0.7979597449302673, + -0.0255851112306118, + 0.6021674871444702, + 0.10671499263963952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.019424160942435265, + -0.7989946603775024, + -0.1356705609141596 + ], + [ + 0.03223805874586105, + 0.9994801878929138, + -4.781410098075867e-05, + 0.011645580480331617 + ], + [ + 0.7985802888870239, + -0.02572929859161377, + 0.6013381481170654, + 0.10744202131072418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.019588809460401535, + -0.7994709610939026, + -0.1361475575049192 + ], + [ + 0.03212953731417656, + 0.9994836449623108, + -0.0003609778359532356, + 0.012252581971913378 + ], + [ + 0.7990651726722717, + -0.025469902902841568, + 0.6007047295570374, + 0.10762164332219307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.01958748698234558, + -0.7998200058937073, + -0.1361781822727216 + ], + [ + 0.032067928463220596, + 0.9994856119155884, + -0.00042410846799612045, + 0.01205463306916668 + ], + [ + 0.7994168400764465, + -0.02539413794875145, + 0.6002398133277893, + 0.10760898395682013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.019519316032528877, + -0.8001946806907654, + -0.13585079878766015 + ], + [ + 0.0321090966463089, + 0.9994843006134033, + -0.00032783299684524536, + 0.011663777981915617 + ], + [ + 0.7997884154319763, + -0.025497013702988625, + 0.5997402667999268, + 0.10813753774623998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.019489094614982605, + -0.8006852269172668, + -0.13562943418294388 + ], + [ + 0.0320732407271862, + 0.999485433101654, + -0.0003429912030696869, + 0.011771764162163072 + ], + [ + 0.8002799153327942, + -0.025475196540355682, + 0.5990852117538452, + 0.10863965081655427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.01917283423244953, + -0.8014211058616638, + -0.13399258921083235 + ], + [ + 0.031849831342697144, + 0.9994926452636719, + -0.00015409104526042938, + 0.01143046963392504 + ], + [ + 0.8010174632072449, + -0.02543300949037075, + 0.5981006026268005, + 0.110870136754797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.018590211868286133, + -0.8012843132019043, + -0.13499219547833827 + ], + [ + 0.03126666694879532, + 0.9995110630989075, + 0.00014500226825475693, + 0.01102731397856545 + ], + [ + 0.8008898496627808, + -0.025140196084976196, + 0.5982838869094849, + 0.10993459184240821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.018184971064329147, + -0.801186740398407, + -0.13488254689222928 + ], + [ + 0.03063547983765602, + 0.9995306134223938, + 0.0001844959333539009, + 0.011569161045778271 + ], + [ + 0.8008072972297668, + -0.024655092507600784, + 0.5984144806861877, + 0.10981087695486498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.017815273255109787, + -0.8012498021125793, + -0.13376700791302107 + ], + [ + 0.030087482184171677, + 0.9995472431182861, + 0.000233454629778862, + 0.011826097931934903 + ], + [ + 0.800882875919342, + -0.02424720861017704, + 0.5983299612998962, + 0.1108157118622041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.017788808792829514, + -0.8012539744377136, + -0.13318907176421968 + ], + [ + 0.030033722519874573, + 0.9995488524436951, + 0.00022612698376178741, + 0.011973456135451399 + ], + [ + 0.8008884787559509, + -0.024199875071644783, + 0.5983244180679321, + 0.11190471070886447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.017310068011283875, + -0.8012403845787048, + -0.13312022208378016 + ], + [ + 0.02964845672249794, + 0.9995602369308472, + 0.000536738894879818, + 0.011384090126202201 + ], + [ + 0.8008787035942078, + -0.024076558649539948, + 0.5983424186706543, + 0.11221969606268485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.017120927572250366, + -0.8013727068901062, + -0.1324064488837261 + ], + [ + 0.029341712594032288, + 0.999569296836853, + 0.0005371496081352234, + 0.011659402862832641 + ], + [ + 0.8010182976722717, + -0.023834817111492157, + 0.5981652736663818, + 0.1131276749814583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.01681988500058651, + -0.8013166189193726, + -0.1325025632681436 + ], + [ + 0.028740903362631798, + 0.9995867609977722, + 0.00046703219413757324, + 0.012095055703246435 + ], + [ + 0.8009777069091797, + -0.023309849202632904, + 0.5982402563095093, + 0.11366326444788485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.016582155600190163, + -0.8012941479682922, + -0.13182289953658122 + ], + [ + 0.028356844559311867, + 0.9995977282524109, + 0.00047805439680814743, + 0.01203432059939334 + ], + [ + 0.8009639382362366, + -0.0230080708861351, + 0.5982704162597656, + 0.11398196368422729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.016265729442238808, + -0.8013320565223694, + -0.13121808654819894 + ], + [ + 0.027768244966864586, + 0.9996142983436584, + 0.0004316791892051697, + 0.011924986695463689 + ], + [ + 0.8010159134864807, + -0.022509727627038956, + 0.5982196927070618, + 0.11562950947624169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.016147378832101822, + -0.8010669946670532, + -0.1308280512591861 + ], + [ + 0.027362212538719177, + 0.999625563621521, + 0.00028840918093919754, + 0.012202714130726476 + ], + [ + 0.800762414932251, + -0.022091537714004517, + 0.5985746383666992, + 0.11589658807050314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994995, + -0.01571132242679596, + -0.8009308576583862, + -0.130296054265357 + ], + [ + 0.026675201952457428, + 0.9996441006660461, + 0.00032553263008594513, + 0.012036082933083276 + ], + [ + 0.8006407022476196, + -0.021559840068221092, + 0.5987567901611328, + 0.11684921181557195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.015586912631988525, + -0.8009005188941956, + -0.12947438580310897 + ], + [ + 0.026452653110027313, + 0.9996500015258789, + 0.0003158440813422203, + 0.011936543336668552 + ], + [ + 0.8006152510643005, + -0.021375004202127457, + 0.5987974405288696, + 0.11762697802276802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.015448791906237602, + -0.8007135391235352, + -0.12952784349192056 + ], + [ + 0.026189325377345085, + 0.9996569752693176, + 0.00029966142028570175, + 0.011921330212017163 + ], + [ + 0.8004342317581177, + -0.02114959806203842, + 0.5990474224090576, + 0.11765951529046559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.015125294215977192, + -0.8007330894470215, + -0.12872537246208315 + ], + [ + 0.025747332721948624, + 0.9996684193611145, + 0.0003721676766872406, + 0.01145611142998697 + ], + [ + 0.8004618883132935, + -0.02083960361778736, + 0.599021315574646, + 0.11860575072023254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.01479332149028778, + -0.8008558750152588, + -0.12786134080776315 + ], + [ + 0.025338858366012573, + 0.9996787905693054, + 0.0004759356379508972, + 0.01057860396358351 + ], + [ + 0.8005915880203247, + -0.020577702671289444, + 0.5988569259643555, + 0.12019164586896139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.598713219165802, + -0.014453249052166939, + -0.8008331060409546, + -0.12757046579919903 + ], + [ + 0.02473283000290394, + 0.9996939897537231, + 0.0004483424127101898, + 0.009720756845018327 + ], + [ + 0.8005815744400024, + -0.020075295120477676, + 0.5988874435424805, + 0.1205659086834516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.01428189966827631, + -0.8009747862815857, + -0.1264959043817015 + ], + [ + 0.02405443787574768, + 0.9997106194496155, + 0.00014917366206645966, + 0.009418742775004233 + ], + [ + 0.8007408976554871, + -0.01935627870261669, + 0.5986981391906738, + 0.12079610337090019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.014146590605378151, + -0.8012719750404358, + -0.12670229410888342 + ], + [ + 0.023411398753523827, + 0.999725878238678, + -0.00017419736832380295, + 0.009431509175245337 + ], + [ + 0.8010547757148743, + -0.018654704093933105, + 0.5983003377914429, + 0.12137845037196647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.014018379151821136, + -0.8014667630195618, + -0.1264086526750729 + ], + [ + 0.022625073790550232, + 0.9997438192367554, + -0.0006086602807044983, + 0.009687644968561778 + ], + [ + 0.8012699484825134, + -0.01776934042572975, + 0.5980390906333923, + 0.12093251433396181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.013722740113735199, + -0.8016238212585449, + -0.12625095169275802 + ], + [ + 0.021986916661262512, + 0.9997580051422119, + -0.0007216222584247589, + 0.009391798525555245 + ], + [ + 0.8014397621154785, + -0.01719394326210022, + 0.5978283882141113, + 0.1211288680698698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.013239637017250061, + -0.8019078373908997, + -0.12561074994652477 + ], + [ + 0.021200206130743027, + 0.9997749924659729, + -0.0007154848426580429, + 0.008977816082438491 + ], + [ + 0.8017368912696838, + -0.01657325029373169, + 0.5974472761154175, + 0.12200426093197816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.013035249896347523, + -0.8023373484611511, + -0.12517485142938348 + ], + [ + 0.020687051117420197, + 0.9997856616973877, + -0.0008573736995458603, + 0.009064997270061876 + ], + [ + 0.8021765351295471, + -0.01608637347817421, + 0.5968702435493469, + 0.12410624498957831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.596592128276825, + -0.012730672955513, + -0.8024436831474304, + -0.12483370708708733 + ], + [ + 0.02018444985151291, + 0.9997959136962891, + -0.0008551264181733131, + 0.008601590223758426 + ], + [ + 0.8022907376289368, + -0.015686720609664917, + 0.5967273116111755, + 0.12437099682179507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.012447943910956383, + -0.8026606440544128, + -0.12429558360418735 + ], + [ + 0.019627327099442482, + 0.9998069405555725, + -0.0009239846840500832, + 0.008463219712358833 + ], + [ + 0.8025172352790833, + -0.015203106217086315, + 0.5964353084564209, + 0.1253028628940614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.01220423448830843, + -0.8029020428657532, + -0.12354467169733235 + ], + [ + 0.019357766956090927, + 0.9998123049736023, + -0.0008282237686216831, + 0.00808577917096828 + ], + [ + 0.8027613759040833, + -0.015048779547214508, + 0.596110463142395, + 0.12680013064319726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.595792829990387, + -0.012032067403197289, + -0.8030480146408081, + -0.12301073662492612 + ], + [ + 0.019074292853474617, + 0.9998177289962769, + -0.0008287760429084301, + 0.007671253860539553 + ], + [ + 0.802911639213562, + -0.0148237943649292, + 0.5959137082099915, + 0.1279263650344697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.01215583086013794, + -0.8031197190284729, + -0.12287944853305816 + ], + [ + 0.018635351210832596, + 0.9998254776000977, + -0.0013108206912875175, + 0.007700445223599672 + ], + [ + 0.802995502948761, + -0.014185569249093533, + 0.5958163142204285, + 0.1289443910121918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/orbit_left/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..124b3fbe7c0b08bce63e8005c2074f2fbd02cfe4 --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/orbit_left/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999483522317474, + 0.0004863918584305793, + -0.010151313863426527, + -0.005587088033491691 + ], + [ + -0.00048529744399896963, + 0.9999998807907104, + 0.0001102725760816783, + -0.0008403410552899086 + ], + [ + 0.010151365810730839, + -0.00010534047760302201, + 0.9999484715312809, + 0.001758416018455651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997868484176283, + 0.0011968958424404263, + -0.020611194638304842, + -0.011994412114823204 + ], + [ + -0.0011876271321681097, + 0.9999991655349731, + 0.0004619318430089074, + -0.002174115358543485 + ], + [ + 0.020611729010071092, + -0.00043735496001318097, + 0.9997874463206233, + 0.004359788257405938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995085028355247, + 0.0017863846151158214, + -0.03129861327442455, + -0.01829887759704031 + ], + [ + -0.0017557846222699483, + 0.9999979734420776, + 0.0010051326315419179, + -0.0051787114265003506 + ], + [ + 0.031300343655843735, + -0.0009496849379502237, + 0.9995095847339789, + 0.00608041567069437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9990925247257134, + 0.0018534658011049037, + -0.04255252618883407, + -0.0221552515494493 + ], + [ + -0.001839629669793852, + 0.999998211860657, + 0.00036431102540090894, + -0.004457064111638421 + ], + [ + 0.04255312596103518, + -0.0002856995561160148, + 0.9990941382493606, + 0.00769286157142357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9985819021418537, + 0.0018996521830558781, + -0.053203422320887726, + -0.028580164370053993 + ], + [ + -0.0019360872849895556, + 0.9999979138374331, + -0.0006332963379357639, + -0.003203951622307265 + ], + [ + 0.05320211201774308, + 0.0007354046683758499, + 0.9985835001686231, + 0.010153519950700582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9979471260839273, + 0.002014815341681242, + -0.06401180920449805, + -0.03423127713435321 + ], + [ + -0.0020838569814113123, + 0.9999973177909851, + -0.0010118301638850956, + -0.003487190701711502 + ], + [ + 0.06400960273144922, + 0.0011431443272158504, + 0.9979486529346074, + 0.011753487657953096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9971533878120655, + 0.0024909127969294786, + -0.07535845212729218, + -0.03777085433325048 + ], + [ + -0.0026064655038214738, + 0.9999955892562866, + -0.0014350612631302976, + -0.0035775477446266975 + ], + [ + 0.07535453716940135, + 0.0016273952787742019, + 0.9971554862215043, + 0.013241981713813359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9962588755056903, + 0.0026894090697169304, + -0.08637731510263018, + -0.042397162418878295 + ], + [ + -0.0028581001642504758, + 0.9999942183494568, + -0.001829344146837048, + -0.0024351106993747594 + ], + [ + 0.0863718932933498, + 0.0020693752449005842, + 0.9962608270523456, + 0.01547181719865372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9952839861796866, + 0.003340879688039422, + -0.09694632541059833, + -0.0491304005176768 + ], + [ + -0.0035621736652955067, + 0.9999914169311523, + -0.00210965763655918, + -0.0012102690888699912 + ], + [ + 0.09693844838161526, + 0.002445048186928034, + 0.9952873803592558, + 0.01772945182110878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9941954859881762, + 0.0036670309491455555, + -0.10752634300224558, + -0.05522071930223417 + ], + [ + -0.003940524530859819, + 0.9999895095825195, + -0.002331143662269591, + -0.0003200181285029909 + ], + [ + 0.10751666086286141, + 0.0027413226198405027, + 0.9941994910575559, + 0.019160289314601304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9929678986088271, + 0.0042276340536773205, + -0.11830821279990862, + -0.05892852000310185 + ], + [ + -0.0045399786452902085, + 0.9999868869781494, + -0.002370708162986527, + -0.00040102392601944247 + ], + [ + 0.11829664802786047, + 0.002891153795644641, + 0.9929741164972853, + 0.02112465931926734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9916410471332495, + 0.005210375878959894, + -0.12892180049643298, + -0.06276463745535317 + ], + [ + -0.00549665867336374, + 0.9999831318855286, + -0.0018648839801124768, + -0.0018001607529372356 + ], + [ + 0.12890992590613992, + 0.0025579347275197506, + 0.9916530216409788, + 0.023670636520412992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9902201637762776, + 0.005594636779278517, + -0.139401116335135, + -0.06709597105637151 + ], + [ + -0.005994712876093066, + 0.9999790191650391, + -0.0024502401060900784, + -0.0003537033438086621 + ], + [ + 0.13938449193763963, + 0.003261946840211749, + 0.9902329649882848, + 0.025140667136558582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9887428165987748, + 0.005581590346992016, + -0.14952085211771735, + -0.07433071202500477 + ], + [ + -0.006022038240985616, + 0.99997878074646, + -0.0024931319403410828, + -0.0009598626430885694 + ], + [ + 0.14950376154095707, + 0.003365486627444625, + 0.9887554589447701, + 0.026950431311652902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9867800437435845, + 0.005800416227430106, + -0.16196148252232606, + -0.07656101179867938 + ], + [ + -0.006413241680487486, + 0.9999741315841677, + -0.0032612242917724197, + 0.00032618776892320855 + ], + [ + 0.161938373718027, + 0.004256809130311013, + 0.9867916657129482, + 0.028387989962786787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9845242602310866, + 0.0061881085857748985, + -0.17513903699318714, + -0.0797563113302433 + ], + [ + -0.006835493091219689, + 0.999971866607666, + -0.003093397702685268, + -0.0006799766244055048 + ], + [ + 0.17511495982369585, + 0.004242686554789543, + 0.9845388568129859, + 0.030381619873057972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9821064230090468, + 0.006859282962977886, + -0.18820192334632516, + -0.08487794903335764 + ], + [ + -0.007506016049827601, + 0.9999681115150452, + -0.0027238928167158277, + -0.0009416487130009828 + ], + [ + 0.18817723873993414, + 0.0040877992287278175, + 0.9821265659320912, + 0.03296952499195388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9794461236335625, + 0.007622532080858946, + -0.20156174777245012, + -0.08893737402883241 + ], + [ + -0.008337631322116497, + 0.9999616146087646, + -0.002699032096866939, + -0.00020848425281147514 + ], + [ + 0.20153344648629593, + 0.00432410417124629, + 0.9794720752806337, + 0.034645016724058335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.976720439459216, + 0.007998919114470484, + -0.21436699412532945, + -0.09284054407956874 + ], + [ + -0.008800663234104226, + 0.9999573826789858, + -0.00278592089965938, + -8.204209984625393e-05 + ], + [ + 0.21433557111614684, + 0.004607637412846089, + 0.9767492224587494, + 0.03726333073572559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9741692824749465, + 0.00830158032476902, + -0.22566635869261917, + -0.09794989053017686 + ], + [ + -0.009238109606914572, + 0.9999525547027588, + -0.003094378182305254, + 0.00014883386951727694 + ], + [ + 0.22562993505992238, + 0.00509917875751853, + 0.9741997477080793, + 0.03884009972921032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9715939210563102, + 0.008982736617326738, + -0.23648378189361588, + -0.10191012771741657 + ], + [ + -0.01023694940076976, + 0.9999393224716189, + -0.004076251085982696, + 0.0026741690766954158 + ], + [ + 0.2364328374734457, + 0.006381333805620672, + 0.9716268975886556, + 0.04066352417084568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9688816555568124, + 0.00959303416311741, + -0.247338450626757, + -0.10431278616871964 + ], + [ + -0.011022159598178845, + 0.9999296069145205, + -0.004394019367224379, + 0.0029654286490888677 + ], + [ + 0.2472788623128618, + 0.006983487866818907, + 0.9689191668154408, + 0.04249632737076694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9661075268063968, + 0.010277467779815197, + -0.25793533047250294, + -0.10712178127468572 + ], + [ + -0.011765016851658873, + 0.9999218583106995, + -0.004224338807091697, + 0.002358387428407715 + ], + [ + 0.2578717782360875, + 0.0071157789789140224, + 0.966152951468449, + 0.04432484558180328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9632218418683292, + 0.010673862881958485, + -0.268495380388529, + -0.11055584343753806 + ], + [ + -0.012258844417960246, + 0.9999158978462219, + -0.004227343044848161, + 0.002463524219890203 + ], + [ + 0.26842768266576855, + 0.007363311946392059, + 0.963271699803103, + 0.045737258273057246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.960122833147361, + 0.010835468769073486, + -0.2793684947178419, + -0.11157704707116717 + ], + [ + -0.012628404576021064, + 0.9999095797538757, + -0.0046187367525850525, + 0.0028610769028227672 + ], + [ + 0.27929318169597644, + 0.007962532341480255, + 0.9601728436999816, + 0.04711195713122905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9572704124898322, + 0.010755755007266998, + -0.28899423366662313, + -0.11504418623230978 + ], + [ + -0.012794412772056578, + 0.9999048113822937, + -0.005166133585429237, + 0.0036789214534048943 + ], + [ + 0.2889111707580933, + 0.008642897941172123, + 0.957316903783407, + 0.048287702489051426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.954247112697454, + 0.010849849320948126, + -0.298822188145307, + -0.11774862820890167 + ], + [ + -0.013121325519642478, + 0.9998982548713686, + -0.0055961099233696795, + 0.004031932949106249 + ], + [ + 0.2987310376252359, + 0.009261014871299269, + 0.9542924284367087, + 0.04913533177745975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9510926891234188, + 0.010827329009771349, + -0.3087157852589834, + -0.11996553610346411 + ], + [ + -0.013398695391909292, + 0.9998909235000613, + -0.0062104169429673, + 0.005313186837823737 + ], + [ + 0.3086148951035709, + 0.010043070651590826, + 0.9511340355858268, + 0.04996905810356171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9478796683022526, + 0.010438570752739906, + -0.3184575868295436, + -0.12242703820729992 + ], + [ + -0.01327372693474957, + 0.9998892545700073, + -0.006733965975347835, + 0.007216211500725345 + ], + [ + 0.31835199613456827, + 0.010610107332468033, + 0.9479132065144091, + 0.050905301133993074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9445720912348833, + 0.010770156048238277, + -0.3281273830829125, + -0.12537594198850588 + ], + [ + -0.013591750351521334, + 0.9998877644538879, + -0.006306822477974644, + 0.006220655268108413 + ], + [ + 0.3280226249400443, + 0.010417073965072632, + 0.9446124161902778, + 0.05080859269897473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9411944951267602, + 0.011013920418918133, + -0.33768564798910294, + -0.12839568531719495 + ], + [ + -0.0137995393223461, + 0.9998876452445984, + -0.005849722800204985, + 0.005165786376437075 + ], + [ + 0.33758329726026093, + 0.010165633633732796, + 0.9412407407475507, + 0.05112180370109561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9377854496792635, + 0.010770684108138084, + -0.34704828126157183, + -0.13089302532359556 + ], + [ + -0.01393380138158359, + 0.9998810291290283, + -0.006620155360679904, + 0.008116943693174542 + ], + [ + 0.34693570673271135, + 0.011043987236917019, + 0.9378239102297543, + 0.052180233851756255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9343982383661305, + 0.010726790875196457, + -0.3560686334383912, + -0.13431734102879656 + ], + [ + -0.014073864893423806, + 0.9998777508735657, + -0.006810810364031317, + 0.008523784344703213 + ], + [ + 0.3559520804048515, + 0.011375270783901215, + 0.9344349661621306, + 0.05250625511139589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9310029096962427, + 0.01060201320797205, + -0.36485769839474624, + -0.13743612753550952 + ], + [ + -0.013961596605247935, + 0.9998809695243835, + -0.006571157000175883, + 0.007432361928150496 + ], + [ + 0.36474456433219815, + 0.011211763136088848, + 0.9310401185514086, + 0.0518813625559314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9274091324915181, + 0.010560670867562296, + -0.37389949635044556, + -0.13985724778472253 + ], + [ + -0.014260555422239553, + 0.9998728632926943, + -0.0071303653811391424, + 0.008745448337212464 + ], + [ + 0.37377664589867016, + 0.011944780126214031, + 0.9274418564146302, + 0.05274128162952135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9240223638674825, + 0.01073315367102623, + -0.3821876825509068, + -0.1439878593002234 + ], + [ + -0.014637645224687669, + 0.9998661279678345, + -0.007310005515767927, + 0.009305665003012137 + ], + [ + 0.38205809052277634, + 0.01234893687069416, + 0.92405577081404, + 0.05167318275454752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9203998077335016, + 0.011067933402955532, + -0.39082177787598615, + -0.14574962939095232 + ], + [ + -0.014932385404060264, + 0.9998650550842285, + -0.006850502854535378, + 0.007649585615483626 + ], + [ + 0.39069323358855457, + 0.01214110292494297, + 0.9204408852617064, + 0.05125445384392385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9168550868374689, + 0.011033737100660801, + -0.3990676713580849, + -0.14903919270006993 + ], + [ + -0.015195573427301337, + 0.9998581409454346, + -0.007266854407684081, + 0.009414296413004047 + ], + [ + 0.3989308505321986, + 0.01272671390324831, + 0.9168926522729924, + 0.05091921919078624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9130466300521535, + 0.01123670767992735, + -0.407700355307233, + -0.15109160561028473 + ], + [ + -0.015619035767834338, + 0.9998504519462588, + -0.007421823056822948, + 0.010629035675561662 + ], + [ + 0.4075560099592959, + 0.013144357129931453, + 0.9130856037310563, + 0.051610092439959024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9096080964261408, + 0.011081221513450147, + -0.41531953206415123, + -0.1552327180165592 + ], + [ + -0.015375428589019113, + 0.9998573064804079, + -0.0069969595789020934, + 0.01001071923829544 + ], + [ + 0.4151827584724394, + 0.012750206515192989, + 0.9096486648763832, + 0.05044494977403817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9058400985886838, + 0.011335542425513268, + -0.42346810931390133, + -0.15755000985627307 + ], + [ + -0.015737408108802555, + 0.9998523592948914, + -0.0068994753529279945, + 0.010036499439785275 + ], + [ + 0.42332737237222084, + 0.012914111837744713, + 0.9058847538066733, + 0.05008985309286934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9022994584958125, + 0.011563494801521303, + -0.43095471267170105, + -0.16145087919038625 + ], + [ + -0.016137326593819595, + 0.9998455643653872, + -0.006958947886944043, + 0.010405980153589362 + ], + [ + 0.430807715344623, + 0.013233511708676819, + 0.9023467055611641, + 0.04759329334817761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8983535301777319, + 0.011870907619595531, + -0.4391127835203444, + -0.16355091758789717 + ], + [ + -0.016705038481061297, + 0.9998348951339724, + -0.00714641852065526, + 0.0111470340414704 + ], + [ + 0.43895543460281483, + 0.013755405321717266, + 0.8984035805710906, + 0.0486329952176558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.894735190007498, + 0.012344984337687492, + -0.44642644507469503, + -0.16734674330813126 + ], + [ + -0.017201058083369084, + 0.9998287558555603, + -0.006826483262502308, + 0.010568806389357739 + ], + [ + 0.4462656632845727, + 0.013786900788545609, + 0.8947943360832141, + 0.047648873482471585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8909725455477128, + 0.01265900582075119, + -0.45388071835428234, + -0.17017455570375037 + ], + [ + -0.017677174076357008, + 0.9998205304145813, + -0.006814881719383234, + 0.01095014361599149 + ], + [ + 0.45371298914374114, + 0.014095200225710869, + 0.891036377995195, + 0.04617123023971776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8871842200865325, + 0.012931415811181068, + -0.4612341583929953, + -0.17317303227660974 + ], + [ + -0.017968458191860676, + 0.9998172521591187, + -0.006530913578016117, + 0.010481877780663602 + ], + [ + 0.461065425676501, + 0.014081789180636406, + 0.8872544470581968, + 0.04522913535224191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8832520036013588, + 0.013244349509477619, + -0.4687115714760231, + -0.17621650917220819 + ], + [ + -0.018491865085119654, + 0.9998072385787966, + -0.006595058860541857, + 0.011239851592074607 + ], + [ + 0.4685338399817603, + 0.014492450281977657, + 0.88332665501478, + 0.0431372523939423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8790722004593903, + 0.013627559877932072, + -0.47649383728669586, + -0.17897979309197418 + ], + [ + -0.01910859381282124, + 0.9997952580451965, + -0.006659193413818041, + 0.01266424783705969 + ], + [ + 0.4763055417656985, + 0.01495903730392456, + 0.8791526113556681, + 0.04239716745164309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8746610873839044, + 0.013762841001152992, + -0.48453960461158446, + -0.18106209900188586 + ], + [ + -0.019429751642558814, + 0.9997889399528503, + -0.006675434288688606, + 0.013961631995405073 + ], + [ + 0.4843454329979711, + 0.015253225341439247, + 0.8747439134409012, + 0.04169632407406354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8701962563547576, + 0.013394848443567753, + -0.4925231812109795, + -0.1840039443470546 + ], + [ + -0.018867152099753693, + 0.9998031258583069, + -0.006143697196124848, + 0.013113742692566453 + ], + [ + 0.4923439179165512, + 0.014638731256127357, + 0.8702776605480225, + 0.040299749287090625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8658943240638793, + 0.012859703972935677, + -0.5000616308465323, + -0.18717521709830498 + ], + [ + -0.018347854575668503, + 0.9998133182525635, + -0.0060592523565401145, + 0.01311547743780374 + ], + [ + 0.49989037073347564, + 0.014421730302274227, + 0.8659685996912615, + 0.03788980356659429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8613569453390837, + 0.012150449678301815, + -0.5078548905037494, + -0.1893819982877414 + ], + [ + -0.017369216276898015, + 0.9998338222503664, + -0.005538321463717317, + 0.012182647371506695 + ], + [ + 0.5077032062649437, + 0.013591513969004158, + 0.8614248053319076, + 0.03737165701897706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8571899723531388, + 0.011548399925231935, + -0.5148708985302967, + -0.19293722907132727 + ], + [ + -0.016888792243111666, + 0.9998411536216738, + -0.005691402362318906, + 0.01354911136369707 + ], + [ + 0.5147233706925359, + 0.013574158772826198, + 0.8572488647979838, + 0.03467128223524138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8528650355981033, + 0.010826105251908302, + -0.5220192378802343, + -0.19562027382504538 + ], + [ + -0.0161665737984754, + 0.9998531937599182, + -0.005676782127593467, + 0.014228521874475684 + ], + [ + 0.5218811750299799, + 0.01328079029917717, + 0.8529148720598824, + 0.03231652071753856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8485611413363309, + 0.010269312188029291, + -0.5289976472511804, + -0.19813194685131974 + ], + [ + -0.015811953086885773, + 0.9998572468757632, + -0.005953831520244139, + 0.015633845705362366 + ], + [ + 0.5288610160787384, + 0.01341667585074902, + 0.8486023810479615, + 0.03130458246554994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8444665028141253, + 0.009605573490262033, + -0.5355221876455497, + -0.20236864874705718 + ], + [ + -0.014354906802518438, + 0.9998859167099001, + -0.004701504761004496, + 0.01293822004413323 + ], + [ + 0.5354159715014394, + 0.011657634750008585, + 0.844508079397815, + 0.028997791784711194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8400947374323628, + 0.008899434469640255, + -0.5423667943243075, + -0.2049898421434203 + ], + [ + -0.013387069675227748, + 0.9999009966850281, + -0.004328904709913053, + 0.013003047667300826 + ], + [ + 0.5422745815951502, + 0.01089739054441452, + 0.8401306970938421, + 0.025985556390305156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8358597646102441, + 0.0077556101605296135, + -0.5488882840230365, + -0.20741643794411285 + ], + [ + -0.012127395870936915, + 0.9999170303344727, + -0.004339380500047069, + 0.013938372960385257 + ], + [ + 0.5488091084134671, + 0.01028369925916195, + 0.8358844852439686, + 0.02335972400895129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8317913092431246, + 0.006658867001533508, + -0.5550485716179522, + -0.21098889550448 + ], + [ + -0.010708544640195232, + 0.9999344348907471, + -0.004051616717182466, + 0.012657513077399957 + ], + [ + 0.5549852567854763, + 0.009313861839473248, + 0.8318080580546927, + 0.02007339926293822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8274880577249029, + 0.005289234220981598, + -0.5614584748694695, + -0.21374965804807255 + ], + [ + -0.009390859508519301, + 0.999946117401123, + -0.0044204060405362115, + 0.013677204102866991 + ], + [ + 0.5614048489455679, + 0.008930409327149391, + 0.8274931263038843, + 0.01859308538165974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8233898338535767, + 0.005259272176772357, + -0.5674517439132252, + -0.21656172998095014 + ], + [ + -0.009110150754027532, + 0.999950706958771, + -0.003951336112564905, + 0.011478143081877144 + ], + [ + 0.5674030178794172, + 0.008423060178756716, + 0.8233971287139844, + 0.015167095857229217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8191110132181649, + 0.0054379841312766075, + -0.5736093258516807, + -0.2197810655389255 + ], + [ + -0.009248894878240422, + 0.9999502897262573, + -0.0037275510606028907, + 0.010142232123196112 + ], + [ + 0.5735605748888573, + 0.008358529768884182, + 0.8191205603309711, + 0.013061091012626647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8145819066467801, + 0.005608484148979188, + -0.5800214378941871, + -0.22246385770698535 + ], + [ + -0.010244100066017161, + 0.9999364018440249, + -0.0047179834873204846, + 0.012703998281546126 + ], + [ + 0.5799580985016244, + 0.00978498160839081, + 0.8145875526101534, + 0.010832604390653276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8106162637413616, + 0.006018341518938541, + -0.5855467418118181, + -0.22615828945077682 + ], + [ + -0.010593165287043009, + 0.9999342560768127, + -0.004387431126729735, + 0.010880111483766877 + ], + [ + 0.5854818838953361, + 0.009759316220879555, + 0.8106267295133764, + 0.006051015791307429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8060540445770497, + 0.00578389223664999, + -0.5918137214317494, + -0.2284357779604806 + ], + [ + -0.010314292717357757, + 0.9999376535415649, + -0.0042755771444980915, + 0.010163703043129932 + ], + [ + 0.5917520794157878, + 0.009550485759973526, + 0.8060633842269761, + 0.004776216229775407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8021690290587012, + 0.005525314249098302, + -0.5970715330148519, + -0.23331523148812106 + ], + [ + -0.01031987485987395, + 0.999936103820801, + -0.004611379228373193, + 0.011586349624181898 + ], + [ + 0.597007873808483, + 0.009860808029770853, + 0.8021747919954725, + -0.0001445475871049845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7980074418734338, + 0.005478494800627232, + -0.6026226562221222, + -0.2363640158693967 + ], + [ + -0.010473111827666809, + 0.9999337196350098, + -0.004778262866197014, + 0.012293047297572912 + ], + [ + 0.6025565973116759, + 0.01012442447245121, + 0.7980119754423786, + -0.002684697253800411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7938453438388384, + 0.005495008081197739, + -0.6080948970262742, + -0.23924905917702957 + ], + [ + -0.010323861208392432, + 0.9999368190765381, + -0.004441558921627297, + 0.011449098068020764 + ], + [ + 0.6080320530991011, + 0.00980379804968834, + 0.7938519452291195, + -0.004971611061591982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7897519188018104, + 0.005751725286245346, + -0.613399377128926, + -0.242859949388916 + ], + [ + -0.010850854347318807, + 0.9999305605888367, + -0.0045943270191277615, + 0.011944487071198237 + ], + [ + 0.6133303834677486, + 0.010284285992383957, + 0.7897595344112388, + -0.008770538289180521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7858597595055025, + 0.005315891467034817, + -0.618381884648142, + -0.24546852460402446 + ], + [ + -0.010227320271895926, + 0.9999380111694336, + -0.0044012890847937, + 0.01183936158447638 + ], + [ + 0.6183201842257126, + 0.00978318601846695, + 0.7858654445055283, + -0.011827329844917231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.782251424317139, + 0.005222121253609657, + -0.6229410310391078, + -0.2492048076563953 + ], + [ + -0.009826893248503317, + 0.9999439120292664, + -0.003957474707355066, + 0.010868596318903249 + ], + [ + 0.6228854594002674, + 0.00921731535345316, + 0.7822588428795088, + -0.01616526105393873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7787487377165355, + 0.004453210160136224, + -0.6273201551910917, + -0.2534272221365534 + ], + [ + -0.008950197910670043, + 0.9999518990516665, + -0.004012241716845692, + 0.011716452191299197 + ], + [ + 0.627272158391561, + 0.008739167824387552, + 0.7787511249793466, + -0.018521933797844864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7752474836147017, + 0.003815949894487858, + -0.6316461130103945, + -0.25593220372749187 + ], + [ + -0.008019852428501173, + 0.9999606013298035, + -0.0038020838256382214, + 0.011251278281753064 + ], + [ + 0.6316066780748816, + 0.008013264276087284, + 0.7752476330306696, + -0.022445405227113913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7720173977243225, + 0.00299663539044559, + -0.6355944275425605, + -0.26041566518597237 + ], + [ + -0.006626062702658799, + 0.9999724626541138, + -0.003333703015302525, + 0.01014832137924222 + ], + [ + 0.6355669678377065, + 0.006785165052860975, + 0.7720159586628159, + -0.024713941836383313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.768675070637656, + 0.0021717692725360394, + -0.639635837956375, + -0.2634423931635521 + ], + [ + -0.005635827332649927, + 0.9999784231185913, + -0.0033775424558508465, + 0.01012258735929492 + ], + [ + 0.6396146519106387, + 0.006201109383255243, + 0.7686706770962992, + -0.02889136110250301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7651586442569913, + 0.0016479046316817403, + -0.6438397723629168, + -0.26609660255747447 + ], + [ + -0.004501621363047893, + 0.9999859929084778, + -0.0027904036138217347, + 0.008220938881356589 + ], + [ + 0.6438261493931055, + 0.005033424124121666, + 0.765155275471132, + -0.030660479708853522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.762157775893457, + 0.0002499428810551763, + -0.6473913037744743, + -0.2707029399480744 + ], + [ + -0.0030739420307692605, + 0.9999900460243227, + -0.003232803208004747, + 0.009062802321916677 + ], + [ + 0.6473840392332972, + 0.004453949630260468, + 0.7621509667146009, + -0.035128512841325676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.758896010194449, + -0.0007921459618955851, + -0.6512114302763456, + -0.2730171299995192 + ], + [ + -0.0013051709230671668, + 0.9999954104423523, + -0.002737408362035762, + 0.007426835850067793 + ], + [ + 0.6512106074923393, + 0.0029273503459990025, + 0.7588914468568916, + -0.03856865678224981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7554127476343182, + -0.0008249189122579992, + -0.6552487688330834, + -0.275370760882924 + ], + [ + -0.0011378182670928737, + 0.9999960660934448, + -0.0025706850956658386, + 0.007077756253099361 + ], + [ + 0.655248344949253, + 0.002687482163310051, + 0.7554088384486705, + -0.04100495000302343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7520283917382574, + -0.0008845060365274549, + -0.6591301338631499, + -0.27737778425446147 + ], + [ + -0.0009667139631534797, + 0.999996542930603, + -0.00244488813446535, + 0.0069750654639462555 + ], + [ + 0.659130013265449, + 0.0024758153595030308, + 0.7520249444938065, + -0.043885596236196395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7490896406918943, + -0.0011688161175698042, + -0.6624677327463248, + -0.2812095205771763 + ], + [ + -0.0004363103289755858, + 0.9999973773956299, + -0.0022576930979185724, + 0.0065178253473023445 + ], + [ + 0.6624685719862317, + 0.001980255823582411, + 0.7490871106516305, + -0.04753948781881451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7458765234502921, + -0.001442446606233716, + -0.6660826713536125, + -0.2831061290713075 + ], + [ + -1.6040787689777576e-05, + 0.999997615814209, + -0.0021835242712752207, + 0.0064709974509525505 + ], + [ + 0.6660842481251444, + 0.0016393241239711642, + 0.7458747621410764, + -0.0508222182127836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7427828836154972, + -0.0014531849883496763, + -0.6695307783642936, + -0.28531352878503247 + ], + [ + -0.0001808108975951974, + 0.9999971985816958, + -0.00237103977521822, + 0.007794187887929149 + ], + [ + 0.6695323171394579, + 0.0018822263227775697, + 0.7427805770502163, + -0.05277711947066892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7395373569965118, + -0.0012736815260723233, + -0.6731143389484413, + -0.28569927707842835 + ], + [ + -0.0002364007741788514, + 0.9999976754188538, + -0.00215194630434481, + 0.007290531761321978 + ], + [ + 0.673115475978596, + 0.0017505694413557649, + 0.7395353550446552, + -0.054076473374405465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7369444010228937, + -0.0022252695634961133, + -0.6759497049251805, + -0.28811280252134003 + ], + [ + 0.0006644667861550075, + 0.9999964833259585, + -0.0025676269788557212, + 0.008943038101280667 + ], + [ + 0.6759529983280087, + 0.0014430524315685036, + 0.7369433232149118, + -0.05606703844756332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7350333997735286, + -0.0025507272221148014, + -0.6780261670337476, + -0.28964170311859583 + ], + [ + 0.0014254636415048341, + 0.999996542930603, + -0.0022166624898546095, + 0.008110938251170496 + ], + [ + 0.6780295060556252, + 0.000662819598801434, + 0.735034443819277, + -0.0584524611039864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7328549082423972, + -0.0030336659401655197, + -0.6803781848391844, + -0.28907987530512713 + ], + [ + 0.002370140511850362, + 0.9999953508377075, + -0.001905826690127942, + 0.007379493826689485 + ], + [ + 0.6803808564178994, + -0.000215897336602211, + 0.7328587507867365, + -0.05807197097960427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7318625993224538, + -0.003761997679248453, + -0.6814418905347884, + -0.291365247391021 + ], + [ + 0.0035754612992510582, + 0.9999921917915346, + -0.0016805861461971004, + 0.007319498628874467 + ], + [ + 0.6814428699733023, + -0.001206510700285435, + 0.7318703483804282, + -0.05947033548670895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7318122633816964, + -0.004539810586720705, + -0.6814911785301718, + -0.29323717388721526 + ], + [ + 0.004942042904501981, + 0.9999868869781494, + -0.001354534807974131, + 0.007109506174364354 + ], + [ + 0.6814883385872447, + -0.0023766930680722, + 0.7318250923488451, + -0.062679911711515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.731662766154281, + -0.005660193972289562, + -0.6816432524085007, + -0.2943995081530571 + ], + [ + 0.006490066383669002, + 0.9999780654907227, + -0.0013372531361271563, + 0.008055338231186256 + ], + [ + 0.6816358953390276, + -0.003445491660386324, + 0.7316834510059398, + -0.06322038785703712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7324619446958271, + -0.0064145904034376144, + -0.6807778695307498, + -0.29623528592921183 + ], + [ + 0.007937657177049121, + 0.9999681115150452, + -0.0008818649641001662, + 0.007489082620258067 + ], + [ + 0.6807617766924307, + -0.004757847636938095, + 0.7324895011786503, + -0.06594686707200074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7331745036915842, + -0.0074282484129071236, + -0.6800001275021222, + -0.29750473555591617 + ], + [ + 0.009453742149601362, + 0.9999550580978394, + -0.0007303999162870136, + 0.007768015571027508 + ], + [ + 0.6799749383470803, + -0.005893034394830465, + 0.7332117451939336, + -0.06778521124687606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7337784195183559, + -0.008415607735514643, + -0.6793367145641774, + -0.2988427387638384 + ], + [ + 0.010950683386159617, + 0.9999398589134219, + -0.0005589655988977723, + 0.007675285334307596 + ], + [ + 0.6793006266413354, + -0.00702904397621751, + 0.7338265365429472, + -0.06911794115888162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.734226624873531, + -0.009412487968802452, + -0.6788392194614252, + -0.29870547199276465 + ], + [ + 0.012518513214504923, + 0.9999215602874756, + -0.00032455915713760364, + 0.007760747000909411 + ], + [ + 0.6787890721009224, + -0.008259756490588188, + 0.7342869387548684, + -0.06957809380559617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7353112841812416, + -0.010227596387267113, + -0.6776523993871904, + -0.3004714834225599 + ], + [ + 0.01395575063363937, + 0.999902606010437, + 5.197542750198854e-05, + 0.007937501330836557 + ], + [ + 0.6775858370834879, + -0.009495366364717484, + 0.735382395039986, + -0.07210485350049263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7359205515284326, + -0.010898209176957607, + -0.6769801407000072, + -0.30133626615124504 + ], + [ + 0.01554599160874988, + 0.9998788237571716, + 0.0008031646204110459, + 0.007115162761707277 + ], + [ + 0.6768894162036124, + -0.011115392670035362, + 0.7360008051924601, + -0.07313891335441508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7365646122387884, + -0.01192661747336388, + -0.6762620355677803, + -0.3026623134005182 + ], + [ + 0.01711115112219819, + 0.9998530745506289, + 0.0010034621424648013, + 0.0076379829732256006 + ], + [ + 0.6761507129083051, + -0.012310735881328586, + 0.7366605209157068, + -0.07433965684159799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7372468413559755, + -0.012528479099273682, + -0.6755073202900153, + -0.3038115066868273 + ], + [ + 0.01862471541849287, + 0.9998249411582947, + 0.001783441098836218, + 0.006639415218640235 + ], + [ + 0.6753667754659812, + -0.013895966112613678, + 0.7373511789026086, + -0.07572374796676336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7380624089998906, + -0.013137735426425934, + -0.6746045911316464, + -0.305098443221693 + ], + [ + 0.020107432373352316, + 0.999794602394104, + 0.002528153694618489, + 0.005637334810167906 + ], + [ + 0.6744328746250726, + -0.015430498868227005, + 0.7381749834862547, + -0.077033458776698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7391439759720497, + -0.013584914617240429, + -0.6734104548038596, + -0.30630795831493085 + ], + [ + 0.021033083430099443, + 0.9997745156288147, + 0.0029174273286096475, + 0.005779822794258716 + ], + [ + 0.6732189574979738, + -0.01632029563188553, + 0.7392630488934396, + -0.07879811428898788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7400578653502666, + -0.014132389798760414, + -0.6723947632230649, + -0.30715986439109055 + ], + [ + 0.022040585482029487, + 0.9997518062591553, + 0.003245751898194766, + 0.005911838891870086 + ], + [ + 0.6721819695160265, + -0.01722201704978943, + 0.7401856466303048, + -0.07938687030048103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7411472276281018, + -0.014541958458721641, + -0.6711849718537908, + -0.30745524649055533 + ], + [ + 0.02303100884991001, + 0.9997276663780215, + 0.0037714946193684886, + 0.005253295700032222 + ], + [ + 0.6709473330002529, + -0.01825329847633839, + 0.7412802903334307, + -0.08059301313518762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7424137712937853, + -0.015105208382010463, + -0.669771375872321, + -0.30889095867691263 + ], + [ + 0.02407799287794234, + 0.9997014999389651, + 0.004143403666307808, + 0.005017120063066918 + ], + [ + 0.6695089098543513, + -0.019202869385480884, + 0.7425558520675706, + -0.08256269437332298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7432115741301498, + -0.015652863308787346, + -0.6688733808189532, + -0.31023213951914785 + ], + [ + 0.02511217343035219, + 0.9996744990348816, + 0.004508911378944751, + 0.004790678468549835 + ], + [ + 0.6685850640660296, + -0.020147938281297684, + 0.7433627094176556, + -0.08315790147120913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.7439525032102261, + -0.016206022351980213, + -0.6680359086055274, + -0.31140252600344703 + ], + [ + 0.026059537963865884, + 0.999648988246918, + 0.004770287835357518, + 0.004833092642257247 + ], + [ + 0.6677241695750888, + -0.020957576110959057, + 0.7441137233899275, + -0.08469369542258876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.744690350353364, + -0.016544358804821968, + -0.6672051150789767, + -0.31276560708664336 + ], + [ + 0.02669965423242648, + 0.9996309280395508, + 0.0050130360398774635, + 0.00487015779629841 + ], + [ + 0.6668759380126539, + -0.02154730260372162, + 0.7448572373095266, + -0.08619787669979218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7453951923006096, + -0.01694480888545513, + -0.6664074973714496, + -0.3138647321348057 + ], + [ + 0.02739902848105934, + 0.9996109008789062, + 0.005229370146106772, + 0.004804643791625141 + ], + [ + 0.6660595616161826, + -0.022156862542033195, + 0.7455694433293625, + -0.08761154500769597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.7460272673259293, + -0.017379073426127437, + -0.6656885845582341, + -0.3151161870586922 + ], + [ + 0.028169019274541535, + 0.999588191509247, + 0.005472440578929468, + 0.004830317300531038 + ], + [ + 0.665319277028254, + -0.022834382951259617, + 0.7462096624116944, + -0.08902158580850122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7464068473910582, + -0.0174977146089077, + -0.6652599206826548, + -0.3150995796108367 + ], + [ + 0.02837352638437125, + 0.9995819926261902, + 0.005543385664090348, + 0.005029631376619054 + ], + [ + 0.6648848026858813, + -0.023013386875391006, + 0.7465913134306402, + -0.08880505273339556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7469719859444347, + -0.017740648239850998, + -0.6646188197461863, + -0.3156714784334491 + ], + [ + 0.029058440952941016, + 0.9995598196983337, + 0.005977866933909802, + 0.004305080237374624 + ], + [ + 0.6642202444382644, + -0.02377808466553688, + 0.7471586796194489, + -0.08950004344184312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7475403650045971, + -0.01809324324131012, + -0.6639699642319957, + -0.3171404639482777 + ], + [ + 0.029557244165875077, + 0.9995448589324951, + 0.006039771841289047, + 0.004481944860664664 + ], + [ + 0.6635584716421461, + -0.024140093475580215, + 0.7477349046074961, + -0.09058481138211277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7482439164507491, + -0.018253536894917488, + -0.6631726322346809, + -0.3189942390725361 + ], + [ + 0.029831681356993777, + 0.9995360374450684, + 0.006146677051884741, + 0.004357227539804581 + ], + [ + 0.6627526902436132, + -0.02438276633620262, + 0.7484413103123274, + -0.09217883865544857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7489249856587475, + -0.0183928981423378, + -0.6623995106208487, + -0.320398966218834 + ], + [ + 0.029914738523666672, + 0.999534010887146, + 0.0060681959775699505, + 0.004824759972311304 + ], + [ + 0.6619792922344845, + -0.024360129609704018, + 0.7491262216175204, + -0.09364146938760687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7496635628655774, + -0.018686318770051003, + -0.661555330218639, + -0.32211978827528165 + ], + [ + 0.030366089324402705, + 0.9995197653770447, + 0.0061778722943269465, + 0.004577478432699581 + ], + [ + 0.6611222073748113, + -0.024720171466469765, + 0.7498709167744557, + -0.09521804828711272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7501052034363657, + -0.01886497437953949, + -0.6610494370099187, + -0.3231350017374055 + ], + [ + 0.030646349098054654, + 0.9995107650756836, + 0.006251030866543572, + 0.004354907847531163 + ], + [ + 0.6606081144383029, + -0.02494768053293228, + 0.7503163026398235, + -0.09650619457857809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7505792134301669, + -0.019014455378055573, + -0.660506964522348, + -0.32469866966881217 + ], + [ + 0.030924045366616693, + 0.9995014667510986, + 0.00636778805271508, + 0.003841807222493731 + ], + [ + 0.6600565433954305, + -0.02520507201552391, + 0.7507929981356886, + -0.09773627301408769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7510838224786174, + -0.01935577765107155, + -0.6599230182364632, + -0.3258355435818959 + ], + [ + 0.03126841648766245, + 0.9994913339614868, + 0.0062723532540374235, + 0.004043039956668923 + ], + [ + 0.6594659875864779, + -0.025345809757709503, + 0.7513070436802152, + -0.09952046778257681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7515006195807239, + -0.019408177584409717, + -0.6594468761922913, + -0.32640571915326555 + ], + [ + 0.03146160755126847, + 0.9994842410087588, + 0.006437593979540211, + 0.003195522611900671 + ], + [ + 0.6589817864392261, + -0.025585111230611808, + 0.751723647522432, + -0.10100001205730783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7519581965975662, + -0.019424160942435265, + -0.6589246196456982, + -0.32708251823029977 + ], + [ + 0.03156413893449273, + 0.9994801878929138, + 0.006557427179456956, + 0.002528085228314092 + ], + [ + 0.6584547602369029, + -0.02572929859161377, + 0.7521804137978514, + -0.10223102653831001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7525726313668402, + -0.019588809460401535, + -0.6582179290347469, + -0.3289986966820717 + ], + [ + 0.03151122672100192, + 0.9994836449623108, + 0.006283316286701494, + 0.0030809343532537435 + ], + [ + 0.6577549257412214, + -0.025469902902841568, + 0.7528012884906091, + -0.1039687817869783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.753330489541107, + -0.01958748698234558, + -0.6573504005510044, + -0.3305122157526261 + ], + [ + 0.031453174439153186, + 0.9994856119155884, + 0.006263363442676788, + 0.002822545728510097 + ], + [ + 0.6568895293813112, + -0.02539413794875145, + 0.7535590646331511, + -0.10585850408844061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.754061223255298, + -0.019519316032528877, + -0.6565141002100991, + -0.3316569618133991 + ], + [ + 0.031462305920080175, + 0.9994843006134033, + 0.0064206594760284315, + 0.0023461079394101426 + ], + [ + 0.6560502160270091, + -0.025497013702988625, + 0.7542864251273209, + -0.10721561920866995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.7546625202245045, + -0.019489094614982605, + -0.6558236893573804, + -0.332862893971951 + ], + [ + 0.03141929109514979, + 0.999485433101654, + 0.00645279480439758, + 0.0023877791250269467 + ], + [ + 0.6553604736423648, + -0.025475196540355682, + 0.7548865367818326, + -0.10864053461234041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7550028552568071, + -0.01917283423244953, + -0.6554412354395301, + -0.33256286738607266 + ], + [ + 0.031149490853942065, + 0.9994926452636719, + 0.006644149317155817, + 0.0020413073977051926 + ], + [ + 0.6549813097768942, + -0.02543300949037075, + 0.7552170489789382, + -0.10842143040457802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7563057324822512, + -0.018590211868286133, + -0.6539542717391076, + -0.3352199187618364 + ], + [ + 0.03050408808768142, + 0.9995110630989075, + 0.006864845058969744, + 0.001744089851389713 + ], + [ + 0.6535069129820229, + -0.025140196084976196, + 0.7565030570414767, + -0.11108238000965734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.7575570235515793, + -0.018184971064329147, + -0.6525157467783438, + -0.33675218460963174 + ], + [ + 0.029867395089486493, + 0.9995306134223938, + 0.0068194848926712275, + 0.0024017789830926874 + ], + [ + 0.652085435583971, + -0.024655092507600784, + 0.7577445497597636, + -0.11294580034892138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7586293107120184, + -0.017815273255109787, + -0.6512789144268895, + -0.3372184316711133 + ], + [ + 0.029310066605501797, + 0.9995472431182861, + 0.00679934414690574, + 0.002752741174561594 + ], + [ + 0.6508629149585946, + -0.02424720861017704, + 0.7588080056651831, + -0.11373410652717342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7597536052125599, + -0.017788808792829514, + -0.6499677664429704, + -0.3382411453813611 + ], + [ + 0.029247405644460208, + 0.9995488524436951, + 0.0068311700961111894, + 0.0028447957526550743 + ], + [ + 0.6495530237647457, + -0.024199875071644783, + 0.7599311376555291, + -0.11441508078174803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7609077866507158, + -0.017310068011283875, + -0.6486291481636147, + -0.3397837541773744 + ], + [ + 0.028790955410652106, + 0.9995602369308472, + 0.007099293007684104, + 0.0023112535869245446 + ], + [ + 0.6482209775965576, + -0.024076558649539948, + 0.7610715551478393, + -0.1158646983207178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7618933532645745, + -0.017120927572250366, + -0.6474763004192494, + -0.34062283963378814 + ], + [ + 0.028479526166853838, + 0.999569296836853, + 0.007081046318433479, + 0.002611004799727352 + ], + [ + 0.6470761332466117, + -0.023834817111492157, + 0.762052810249247, + -0.11677313509069584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.7630835729811725, + -0.01681988500058651, + -0.6460809149647465, + -0.3423449739937008 + ], + [ + 0.02789761596607904, + 0.9995867609977722, + 0.006926807964688542, + 0.003162009749176394 + ], + [ + 0.6456975038443823, + -0.023309849202632904, + 0.7632374628933574, + -0.1179911611949144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.7642332429780623, + -0.016582155600190163, + -0.644726717844606, + -0.34327800822907917 + ], + [ + 0.02750901907222908, + 0.9995977282524109, + 0.006898770836244623, + 0.0031538793521090546 + ], + [ + 0.6443530033113544, + -0.0230080708861351, + 0.7643820565987748, + -0.11943559917302374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.7653176572357853, + -0.016265729442238808, + -0.6434472535038048, + -0.3442629849550397 + ], + [ + 0.026934595888463884, + 0.9996142983436584, + 0.006766780607300485, + 0.003161902045199583 + ], + [ + 0.6430889648291275, + -0.022509727627038956, + 0.7654605657485656, + -0.11957431714970568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.7667196101141128, + -0.016147378832101822, + -0.6417789969841173, + -0.3455808235321346 + ], + [ + 0.026560686170377174, + 0.999625563621521, + 0.00658056266807222, + 0.003498699164848502 + ], + [ + 0.6414324547801035, + -0.022091537714004517, + 0.7668614273900637, + -0.12098423596276867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.7679881299330106, + -0.015711322426795963, + -0.6402713364871844, + -0.3467094936860859 + ], + [ + 0.025872349237965327, + 0.9996441006660464, + 0.006503377246200188, + 0.0034886355025530846 + ], + [ + 0.6399412894404626, + -0.021559840068221096, + 0.7681213276097095, + -0.12175478530522638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.7691327423306122, + -0.015586912631988525, + -0.6388990839230999, + -0.34750417254733823 + ], + [ + 0.025646907583169756, + 0.9996500015258789, + 0.006486813197827281, + 0.0033974063165003376 + ], + [ + 0.6385743385477137, + -0.021375004202127457, + 0.769263263888916, + -0.12273498340122185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7704417910430235, + -0.015448791906237602, + -0.6373232184304672, + -0.34923757548742196 + ], + [ + 0.02538349590166011, + 0.9996569752693176, + 0.006453580130258201, + 0.00340463175398419 + ], + [ + 0.637004895882095, + -0.02114959806203842, + 0.7705696180666516, + -0.12440315428645807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.7715328660051735, + -0.015125294215977192, + -0.6360097227604722, + -0.35003357014081354 + ], + [ + 0.024925684054524815, + 0.9996684193611145, + 0.006463275136361171, + 0.0030244466561308043 + ], + [ + 0.6357010036805434, + -0.02083960361778736, + 0.7716540708597428, + -0.1252336819804903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.7725122283685949, + -0.01479332149028778, + -0.6348275723292204, + -0.35072554987818005 + ], + [ + 0.024493004720746843, + 0.9996787905693054, + 0.006509760193262876, + 0.0022240155460363153 + ], + [ + 0.6345273637283395, + -0.020577702671289444, + 0.7726263865959706, + -0.125462735818516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.7736439048466378, + -0.014453249052166942, + -0.6334558319478376, + -0.3520502040402899 + ], + [ + 0.023900050348402858, + 0.9996939897537234, + 0.006379771486141852, + 0.0015068052119711602 + ], + [ + 0.6331697986783554, + -0.02007529512047768, + 0.7737525660101503, + -0.1268514752872377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.7745953833800203, + -0.01428189966827631, + -0.6322959075062606, + -0.35252144776372507 + ], + [ + 0.023303140386414317, + 0.9997106194496155, + 0.005966731302038411, + 0.0013639007099122647 + ], + [ + 0.6320277423958327, + -0.01935627870261669, + 0.7747040595546907, + -0.12844795306968024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.7753801040463247, + -0.014146590605378151, + -0.6313364096800642, + -0.354207193166296 + ], + [ + 0.022747921735727306, + 0.999725878238678, + 0.005536785441468097, + 0.0015261609932376114 + ], + [ + 0.631084997998903, + -0.018654704093933105, + 0.7754893765859638, + -0.12975195391874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.7762711924450327, + -0.014018379151821136, + -0.6302432814095862, + -0.35543430415829325 + ], + [ + 0.022082622701839295, + 0.9997438192367554, + 0.004962076780276809, + 0.001979805785965745 + ], + [ + 0.6300122319761524, + -0.01776934042572975, + 0.7763819110638858, + -0.1320479616864689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.7772040581302305, + -0.013722740113735199, + -0.629098998776282, + -0.3568135513964281 + ], + [ + 0.021483525223941657, + 0.9997580051422119, + 0.0047332216201462175, + 0.0018447555470152265 + ], + [ + 0.628881825979514, + -0.01719394326210022, + 0.7773108277948205, + -0.133685656560721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.7780056288005722, + -0.013239637017250061, + -0.6281177543829203, + -0.35765619321242736 + ], + [ + 0.0207117788894733, + 0.9997749924659729, + 0.004580706689980907, + 0.00164963393130748 + ], + [ + 0.6279157961523468, + -0.01657325029373169, + 0.7781047766868375, + -0.13469465830318014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.7786467196779882, + -0.013035249896347523, + -0.6273271416635035, + -0.3586361153485318 + ], + [ + 0.02024253755096281, + 0.9997856616973877, + 0.0043507294897855535, + 0.0018596340559311735 + ], + [ + 0.6271359412625229, + -0.01608637347817421, + 0.7787437269884565, + -0.13453455146524257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7796280863010836, + -0.012730672955513004, + -0.6261134715014489, + -0.35984993103282314 + ], + [ + 0.019748031395423398, + 0.9997959136962893, + 0.004261280676588816, + 0.0015225153633590107 + ], + [ + 0.6259313848786959, + -0.01568672060966492, + 0.7797203431562644, + -0.1360859457319612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.7804908367112221, + -0.012447943910956383, + -0.625043287325936, + -0.36081720485215407 + ], + [ + 0.019219207305964534, + 0.9998069405555725, + 0.004087516029965862, + 0.0015296228130848794 + ], + [ + 0.6248717782400343, + -0.015203106217086315, + 0.7805794327630129, + -0.1370153046857718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7813256738611943, + -0.01220423448830843, + -0.6240042839572754, + -0.36155924221954294 + ], + [ + 0.018927012288327067, + 0.9998123049736023, + 0.004144550877326987, + 0.0012039956096125386 + ], + [ + 0.6238365209783988, + -0.015048779547214508, + 0.7814099474698447, + -0.1373878212269059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.782257117300606, + -0.012032067403197292, + -0.6228394757231143, + -0.3625587616764184 + ], + [ + 0.018645998408439026, + 0.9998177289962771, + 0.004103932375405474, + 0.0008443074301987073 + ], + [ + 0.6226766030733158, + -0.014823794364929203, + 0.7823388626434638, + -0.13809488046954083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7832586153813699, + -0.01215583086013794, + -0.6215772016716591, + -0.3639913366364845 + ], + [ + 0.018339632376130125, + 0.9998254776000977, + 0.0035570282461890933, + 0.0009690611650398024 + ], + [ + 0.6214254851891531, + -0.014185569249093533, + 0.7833448949246912, + -0.13888373998694709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/orbit_right/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2a18ffe35b236d2f8b5b27dfcf977513d5f4b4c0 --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/orbit_right/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999071405938647, + 0.0004863918584305793, + -0.013618608355548527, + -0.002159263749114848 + ], + [ + -0.0004849121524571475, + 0.9999998807907104, + 0.00011195469881607806, + -0.0008420040294535912 + ], + [ + 0.0136186607162158, + -0.00010534047760302201, + 0.9999072597125519, + 0.0017991586993451718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999619866748611, + 0.0011968958424404263, + -0.02754424830633593, + -0.0051402710832566655 + ], + [ + -0.0011843950625465918, + 0.9999991655349731, + 0.0004701569615167997, + -0.0021822468580174324 + ], + [ + 0.02754478681172555, + -0.00043735496001318097, + 0.9996204609313449, + 0.004524873004059905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9991288407619471, + 0.0017863846151158214, + -0.041694244100378544, + -0.008021545025830485 + ], + [ + -0.0017452337934220961, + 0.9999979734420776, + 0.0010233426860477997, + -0.005196714257634904 + ], + [ + 0.04169598564255289, + -0.0009496849379502237, + 0.9991299046016794, + 0.006455775190059112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9984062311132422, + 0.0018534658011049037, + -0.05640556818349572, + -0.008459803780948775 + ], + [ + -0.0018343998247941987, + 0.999998211860657, + 0.0003897911338261966, + -0.004482254354634055 + ], + [ + 0.05640619027712887, + -0.0002856995561160148, + 0.9984078361630123, + 0.008371356185142153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9975094418048375, + 0.0018996521830558781, + -0.07050768002210214, + -0.011472685291460826 + ], + [ + -0.0019467756589044958, + 0.9999979138374331, + -0.0005996355231622326, + -0.003237229656791586 + ], + [ + 0.07050639762062172, + 0.0007354046683758499, + 0.9975110623079474, + 0.011213762382441114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9963994634002359, + 0.002014815341681242, + -0.08475899664652156, + -0.013719907201283544 + ], + [ + -0.0021044558503721463, + 0.9999973177909851, + -0.0009682591457656627, + -0.0035302664811879035 + ], + [ + 0.08475682241521816, + 0.0011431443272158504, + 0.9964010358233831, + 0.013283514181874827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9950306762671985, + 0.0024909127969294786, + -0.09953757290261012, + -0.013866403555854218 + ], + [ + -0.0026405272396800997, + 0.9999955892562866, + -0.0013713785575310152, + -0.003640507027369659 + ], + [ + 0.0995337100271996, + 0.0016273952787742019, + 0.995032869076133, + 0.015340486351028408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9934797483728754, + 0.0026894090697169304, + -0.11397709051019729, + -0.015110709908210104 + ], + [ + -0.0029077406501432992, + 0.9999942183494568, + -0.0017493658473743524, + -0.00251418105548985 + ], + [ + 0.11397172491650495, + 0.0020693752449005842, + 0.9934818495521989, + 0.018219246714517745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9917743587173632, + 0.003340879688039422, + -0.12795477539782216, + -0.018473708864310344 + ], + [ + -0.003626266393057471, + 0.9999914169311523, + -0.001997480566062972, + -0.0013211736281874074 + ], + [ + 0.12794700811230605, + 0.002445048186928034, + 0.991777997029645, + 0.021199024878571213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9898700697890098, + 0.0036670309491455555, + -0.14192893903148612, + -0.021208060866229356 + ], + [ + -0.004018972933010798, + 0.9999895095825195, + -0.0021931303919681252, + -0.000456467081902029 + ], + [ + 0.14191940156196192, + 0.0027413226198405027, + 0.9898744081157453, + 0.02343634943175514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9877341280921266, + 0.0042276340536773205, + -0.15608770959183407, + -0.02157684344189965 + ], + [ + -0.0046270803668197955, + 0.9999868869781494, + -0.002195857593910147, + -0.0005738944631431382 + ], + [ + 0.1560763903426222, + 0.002891153795644641, + 0.987740782465627, + 0.02629873035477695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9854197381739671, + 0.005210375878959894, + -0.17006097912195994, + -0.022090855873199807 + ], + [ + -0.005569477171712185, + 0.9999831318855286, + -0.0016346170391017666, + -0.002027822742728366 + ], + [ + 0.17004961293168153, + 0.0025579347275197506, + 0.9854321962817104, + 0.029821087267784083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9829324545654067, + 0.005594636779278517, + -0.1838815753321271, + -0.023118157327244104 + ], + [ + -0.006099037809090143, + 0.9999790191650391, + -0.0021776126486538466, + -0.0006232500124117668 + ], + [ + 0.18386554468054533, + 0.003261946840211749, + 0.9829459919148813, + 0.03234529477974399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9803222472996076, + 0.005581590346992016, + -0.19732494531390013, + -0.02706618300667106 + ], + [ + -0.006135926653447484, + 0.99997878074646, + -0.0021979662307130172, + -0.0012516968211929407 + ], + [ + 0.1973084883606504, + 0.003365486627444625, + 0.9803357040977408, + 0.03527515249528671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9770252198405218, + 0.005800416227430106, + -0.2130448223895628, + -0.026053515084242754 + ], + [ + -0.006574118544571544, + 0.9999741315841677, + -0.002923391539891465, + -7.836722231884186e-06 + ], + [ + 0.21302234905949274, + 0.004256809130311013, + 0.9770380275118005, + 0.03803167909271832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.973297568641105, + 0.0061881085857748985, + -0.22946360090389664, + -0.0260432934241954 + ], + [ + -0.006996511338638745, + 0.999971866607666, + -0.00270959484709247, + -0.0010594589095966468 + ], + [ + 0.22944037019359725, + 0.004242686554789543, + 0.973313477896048, + 0.04148063172630896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9693128188654443, + 0.006859282962977886, + -0.24573491662766847, + -0.027991679363785858 + ], + [ + -0.007653454151210165, + 0.9999681115150452, + -0.0022769515964441434, + -0.001383565904037647 + ], + [ + 0.24571146159865093, + 0.0040877992287278175, + 0.9693343810720856, + 0.04561791396157964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.964966455825929, + 0.007622532080858946, + -0.26226243802085364, + -0.028917962729229696 + ], + [ + -0.008489748780276177, + 0.9999616146087646, + -0.0021737147860874414, + -0.0007279056236303208 + ], + [ + 0.26223581058378803, + 0.00432410417124629, + 0.9649941222383999, + 0.048960475326953294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.960488438136632, + 0.007998919114470484, + -0.278204933877145, + -0.029717924283606936 + ], + [ + -0.008964982907072767, + 0.9999573826789858, + -0.002200479514825328, + -0.0006609234686900876 + ], + [ + 0.2781754739879082, + 0.004607637412846089, + 0.9605192274447498, + 0.05331146462823449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9561899616896316, + 0.00830158032476902, + -0.29262920826075944, + -0.03173608248692691 + ], + [ + -0.009430328711803191, + 0.9999525547027588, + -0.002446782751254067, + -0.000491517606530278 + ], + [ + 0.2925949832794393, + 0.00509917875751853, + 0.9562228776751447, + 0.05661588181219854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9518139635580164, + 0.008982736617326738, + -0.30654445894235616, + -0.03263172112994675 + ], + [ + -0.010506384320425364, + 0.9999393224716189, + -0.0033206692791386927, + 0.0019270238044877563 + ], + [ + 0.3064960487051349, + 0.006381333805620672, + 0.9518505591119019, + 0.06021904769013492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9472136551450808, + 0.00959303416311741, + -0.3204594563117935, + -0.03200666359429517 + ], + [ + -0.011324979955014419, + 0.9999296069145205, + -0.003541219765249061, + 0.0021221329097297135 + ], + [ + 0.3204029001080929, + 0.006983487866818907, + 0.9472555986487462, + 0.06391847003121674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9424872033328091, + 0.010277467779815197, + -0.3340842103599509, + -0.031819830251043915 + ], + [ + -0.012064168894055783, + 0.9999218583106995, + -0.0032736048589613017, + 0.0014182275560045293 + ], + [ + 0.3340244790665317, + 0.0071157789789140224, + 0.9425375467461067, + 0.06767759945597324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9375695868274891, + 0.010673862881958485, + -0.3476339393648567, + -0.03229562162398622 + ], + [ + -0.012567815924347124, + 0.9999158978462219, + -0.0031936966941630627, + 0.0014413500265796904 + ], + [ + 0.34757062037436603, + 0.007363311946392059, + 0.937624899581625, + 0.07109941169236707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9323297516041524, + 0.010835468769073486, + -0.36144687693431166, + -0.03040763749195948 + ], + [ + -0.01298087391333419, + 0.9999095797538757, + -0.003508025622977906, + 0.0017626662839890016 + ], + [ + 0.36137617663412896, + 0.007962532341480255, + 0.932386094963921, + 0.07459098301021702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9273633371081459, + 0.010755755007266998, + -0.3740074206598792, + -0.030970324818175944 + ], + [ + -0.013207578384180746, + 0.9999048113822937, + -0.003993220208050883, + 0.002518967801175459 + ], + [ + 0.3739288808923404, + 0.008642897941172123, + 0.9274171180719402, + 0.07785712023617786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9221320338509543, + 0.010849849320948126, + -0.38672311072042115, + -0.03081662973879746 + ], + [ + -0.013587023804953021, + 0.9998982548713686, + -0.004344929664620303, + 0.0027945443398287983 + ], + [ + 0.3866365958215522, + 0.009261014871299269, + 0.9221856725105865, + 0.08088817776908834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9166868745576737, + 0.010827329009771349, + -0.3994595265928335, + -0.0302195817560054 + ], + [ + -0.013937621993639987, + 0.9998909235000613, + -0.004882316046004142, + 0.003999689281786642 + ], + [ + 0.3993631196663687, + 0.010043070651590826, + 0.9167378064528126, + 0.08398707812479161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9111214616042154, + 0.010438570752739906, + -0.4120058038356777, + -0.029904802722142076 + ], + [ + -0.013882689384898334, + 0.9998892545700073, + -0.005367407189497522, + 0.005864640323473902 + ], + [ + 0.4119041134384878, + 0.010610107332468033, + 0.9111654305666708, + 0.08725004920727311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9053935434871242, + 0.010770156048238277, + -0.42443674025761496, + -0.030120032804577125 + ], + [ + -0.01417316778478298, + 0.9998877644538879, + -0.004861378645112566, + 0.004791021943655634 + ], + [ + 0.4243367357139235, + 0.010417073965072632, + 0.9054445284041664, + 0.08954805552305163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.899532773718846, + 0.011013920418918133, + -0.4367143958245671, + -0.03044713674672199 + ], + [ + -0.014347488405206967, + 0.9998876452445984, + -0.004335449089848241, + 0.003668030267127258 + ], + [ + 0.436617597402544, + 0.010165633633732796, + 0.8995897333065432, + 0.0923184846095827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8935882036659852, + 0.010770684108138084, + -0.4487584889734646, + -0.03028909016745749 + ], + [ + -0.014581184732551856, + 0.9998810291290283, + -0.005036499750437433, + 0.00655051304765086 + ], + [ + 0.4486508656478184, + 0.011043987236917019, + 0.8936388934901028, + 0.09588466292479811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8876317487914054, + 0.010726790875196457, + -0.46042895013011814, + -0.031088759110393396 + ], + [ + -0.014759477684836493, + 0.9998777508735657, + -0.00515932450268027, + 0.0068902080109982415 + ], + [ + 0.46031735288961073, + 0.011375270783901215, + 0.8876815443387711, + 0.09875265975689772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8816242994609909, + 0.01060201320797205, + -0.47183275907963285, + -0.031617604494081096 + ], + [ + -0.014637601273241305, + 0.9998809695243835, + -0.004883330119317734, + 0.0057627826211741045 + ], + [ + 0.47172478699907594, + 0.011211763136088848, + 0.881674557244782, + 0.1007132188141473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8753209033660803, + 0.010560670867562296, + -0.4834271905159826, + -0.031509942266673086 + ], + [ + -0.01501890745087835, + 0.9998728632926943, + -0.005351445636579356, + 0.006985700151839309 + ], + [ + 0.48330920546163264, + 0.011944780126214031, + 0.8753682596285525, + 0.1042536771326868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8692469837689591, + 0.01073315367102623, + -0.49426150449883305, + -0.03311792119092278 + ], + [ + -0.015433895572109464, + 0.9998661279678345, + -0.005430626652017168, + 0.007446474206388911 + ], + [ + 0.49413708028698317, + 0.01234893687069416, + 0.869296265949702, + 0.10584446744604303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.862830397261138, + 0.011067933402955532, + -0.5053723119643576, + -0.03242543810891866 + ], + [ + -0.015686159223099853, + 0.9998650550842285, + -0.004883639221210834, + 0.0057037786196245535 + ], + [ + 0.5052500799480495, + 0.01214110292494297, + 0.8628875840720646, + 0.10819160708230027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8564754293436644, + 0.011033737100660801, + -0.5160698552652467, + -0.03328524766571707 + ], + [ + -0.016018608246049153, + 0.9998581409454346, + -0.005207380783713649, + 0.007376794302291902 + ], + [ + 0.5159391560506495, + 0.01272671390324831, + 0.8565306454250714, + 0.11063725341467379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8497432271233801, + 0.01123670767992735, + -0.5270770117593648, + -0.03298396266725738 + ], + [ + -0.016477057987994734, + 0.9998504519462588, + -0.005248265986393601, + 0.008478584238739087 + ], + [ + 0.5269392388351904, + 0.013144357129931453, + 0.8498013059360637, + 0.11422165712947849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8434515423692923, + 0.011081221513450147, + -0.5370909592171841, + -0.03475099169859453 + ], + [ + -0.016195149312043203, + 0.9998573064804079, + -0.004803996919799446, + 0.007840982600590766 + ], + [ + 0.5369611080400816, + 0.012750206515192989, + 0.8435106311698378, + 0.11588250489299244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8366995295820686, + 0.011335542425513268, + -0.5475449031944245, + -0.03478234981442069 + ], + [ + -0.01655622485647339, + 0.9998523592948914, + -0.004600020938056475, + 0.007761306560780711 + ], + [ + 0.5474119133840774, + 0.012914111837744713, + 0.8367636753971395, + 0.1184816352344929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8302062363704289, + 0.011563494801521303, + -0.5573364174961406, + -0.0363974255941379 + ], + [ + -0.01697639168242875, + 0.9998455643653872, + -0.004543389784463134, + 0.008015809175145468 + ], + [ + 0.557197832937344, + 0.013233511708676819, + 0.8302743158784738, + 0.11890821389997057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8231546143662241, + 0.011870907619595531, + -0.5676932117626305, + -0.036316428742777886 + ], + [ + -0.017581306058817286, + 0.9998348951339724, + -0.004585551830728547, + 0.008612973696925971 + ], + [ + 0.5675450438114549, + 0.013755405321717266, + 0.8232274839893017, + 0.12302217211424979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8164933275599737, + 0.012344984337687492, + -0.5772229007496363, + -0.03791378016780755 + ], + [ + -0.018038734553608073, + 0.9998287558555603, + -0.004132956402519523, + 0.007903358300672136 + ], + [ + 0.5770729757397455, + 0.013786900788545609, + 0.8165762222746231, + 0.1250515996439009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8096115024337728, + 0.01265900582075119, + -0.5868296162775866, + -0.03860571988394277 + ], + [ + -0.018521485755800413, + 0.9998205304145813, + -0.003984929305859062, + 0.008149567226951978 + ], + [ + 0.5866738448909464, + 0.014095200225710869, + 0.8097006256323495, + 0.12666268534813913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8026635905549504, + 0.012931415811181068, + -0.5962918326092338, + -0.03951121400717446 + ], + [ + -0.018777675703600293, + 0.9998172521591187, + -0.0035940530222270724, + 0.007575370437274516 + ], + [ + 0.5961363960808947, + 0.014081789180636406, + 0.8027597260989631, + 0.12885058154638837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7954977517532519, + 0.013244349509477619, + -0.6058118239658742, + -0.0405268985049036 + ], + [ + -0.019316904388512256, + 0.9998072385787966, + -0.0035072896295223407, + 0.00818385280885912 + ], + [ + 0.6056485600732691, + 0.014492450281977657, + 0.7956002516017888, + 0.12996102775666699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7879809320142874, + 0.013627559877932072, + -0.615548829399106, + -0.041349002104342975 + ], + [ + -0.01994778120162429, + 0.9997952580451965, + -0.0034013584871566316, + 0.00943977965327037 + ], + [ + 0.6153764580727039, + 0.01495903730392456, + 0.7880914274499499, + 0.13252570278018985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7801336800681623, + 0.013762841001152992, + -0.6254614995697583, + -0.04157674447103106 + ], + [ + -0.020278735005572784, + 0.9997889399528503, + -0.003293869822545142, + 0.010614538780621394 + ], + [ + 0.6252841293363331, + 0.015253225341439247, + 0.7802481465328827, + 0.1352288127816706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7721850421562408, + 0.013394848443567753, + -0.6352565381593352, + -0.04271858285458588 + ], + [ + -0.019644139911869956, + 0.9998031258583069, + -0.0027968215380660636, + 0.00980082028025135 + ], + [ + 0.6350940054340513, + 0.014638731256127357, + 0.7722961505925638, + 0.13728726047302697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7644165913737325, + 0.012859703972935677, + -0.6445943607599279, + -0.044101493745790546 + ], + [ + -0.019127665585943435, + 0.9998133182525635, + -0.0027369172224295897, + 0.009826680096558665 + ], + [ + 0.644438838557619, + 0.014421730302274227, + 0.7645198373893272, + 0.1383144766544075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7563154075301135, + 0.012150449678301815, + -0.6540943215049423, + -0.04461132810326898 + ], + [ + -0.018080846550504955, + 0.9998338222503664, + -0.0023335952361589643, + 0.009010107923390307 + ], + [ + 0.6539572661935903, + 0.013591513969004158, + 0.7564093699085334, + 0.1413323662604678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7486638109402927, + 0.011548399925231935, + -0.6628492958769191, + -0.04643734732636964 + ], + [ + -0.017644471047942537, + 0.9998411536216738, + -0.0025091842736466386, + 0.010398688180067471 + ], + [ + 0.6627150148227391, + 0.013574158772826198, + 0.7487486718939903, + 0.14208740320124488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7407808197246577, + 0.010826105251908302, + -0.6716596093192436, + -0.047467077191185966 + ], + [ + -0.01694074967250906, + 0.9998531937599182, + -0.002568066245076283, + 0.011150701424069437 + ], + [ + 0.6715332370577081, + 0.01328079029917717, + 0.7408554861498928, + 0.1432622239107364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7328986703062416, + 0.010269312188029291, + -0.6802602887473616, + -0.048364419610885764 + ], + [ + -0.016653879300617194, + 0.9998572468757632, + -0.0028485565526777308, + 0.012559263979868823 + ], + [ + 0.6801339522674557, + 0.01341667585074902, + 0.7329650622104411, + 0.14579891581650054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7252587517694481, + 0.009605573490262033, + -0.6884093482933075, + -0.05098423597391845 + ], + [ + -0.01499234006307636, + 0.9998859167099001, + -0.0018431591791848992, + 0.010107969514441015 + ], + [ + 0.6883131511950032, + 0.011657634750008585, + 0.7253200428769502, + 0.14701431352432892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7172366132486736, + 0.008899434469640255, + -0.6967729530218211, + -0.052092700599393665 + ], + [ + -0.013976481270005956, + 0.9999009966850281, + -0.0016158656460493637, + 0.010316523235495765 + ], + [ + 0.6966895968403923, + 0.01089739054441452, + 0.7172899802018372, + 0.14762574637003967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7093638432585039, + 0.0077556101605296135, + -0.7047998526600093, + -0.05301969779179602 + ], + [ + -0.012749809221610953, + 0.9999170303344727, + -0.0018292945490354508, + 0.011452674870587331 + ], + [ + 0.7047272112174957, + 0.01028369925916195, + 0.7094038820860585, + 0.14861144837297152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7016805225564455, + 0.006658867001533508, + -0.7124606257558616, + -0.055097104692193866 + ], + [ + -0.011308351754799767, + 0.9999344348907471, + -0.0017915654952369207, + 0.010419289110079673 + ], + [ + 0.712402034031212, + 0.009313861839473248, + 0.7017097851691622, + 0.1489152014539086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6936713739922424, + 0.005289234220981598, + -0.7202722607346457, + -0.056460289541357386 + ], + [ + -0.010101401984225274, + 0.999946117401123, + -0.00238535318664681, + 0.011661685257810351 + ], + [ + 0.7202208381910615, + 0.008930409327149391, + 0.6936874099586475, + 0.15111443113182016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.685904483622361, + 0.005259272176772357, + -0.7276725496473833, + -0.05786922052214877 + ], + [ + -0.009736680478804383, + 0.999950706958771, + -0.0019506299211376871, + 0.009496521002569014 + ], + [ + 0.7276264411036077, + 0.008423060178756716, + 0.685921845752125, + 0.15133104498861957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6778831826390053, + 0.0054379841312766075, + -0.7351495775517531, + -0.059771828598079224 + ], + [ + -0.009831194672187914, + 0.9999502897262573, + -0.001668623593171217, + 0.008102818357814791 + ], + [ + 0.7351039856187598, + 0.008358529768884182, + 0.6779029102689963, + 0.15294033591407497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6695188415110633, + 0.005608484148979188, + -0.7427739036307263, + -0.06124379174379427 + ], + [ + -0.01102312236179667, + 0.9999364018440249, + -0.0023857342153013874, + 0.010393708358896388 + ], + [ + 0.7427132932015543, + 0.00978498160839081, + 0.6695380803111358, + 0.15451635987874948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6618546824778548, + 0.006018341518938541, + -0.7496079596499619, + -0.06363144497452691 + ], + [ + -0.01129907707075848, + 0.9999342560768127, + -0.0019482197102662483, + 0.00846371265562113 + ], + [ + 0.7495469958792146, + 0.009759316220879555, + 0.6618791671745149, + 0.1534074248746535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6534039984060973, + 0.00578389223664999, + -0.756987330488986, + -0.06479636164099685 + ], + [ + -0.011008947743097833, + 0.9999376535415649, + -0.0018623275135257165, + 0.0077728685551053615 + ], + [ + 0.7569293348736319, + 0.009550485759973526, + 0.6534268779994559, + 0.15599497890427388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6457986576834519, + 0.005525314249098302, + -0.7634878260011331, + -0.06843384359101447 + ], + [ + -0.011096957644181744, + 0.999936103820801, + -0.002149922453151854, + 0.009147595569128602 + ], + [ + 0.7634271340439633, + 0.009860808029770853, + 0.6458187124168249, + 0.1547694151292927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6378194782868227, + 0.005478494800627232, + -0.7701663821509693, + -0.07035452265222768 + ], + [ + -0.01129188935900373, + 0.9999337196350098, + -0.0022385491009379284, + 0.00977659021898089 + ], + [ + 0.7701031418155432, + 0.01012442447245121, + 0.6378390995220519, + 0.15602144235994037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6298197429930246, + 0.005495008081197739, + -0.7767219097335926, + -0.07215488784549168 + ], + [ + -0.011075804212314608, + 0.9999368190765381, + -0.0019068604969716782, + 0.008937440380184585 + ], + [ + 0.7766623469104373, + 0.00980379804968834, + 0.629840842936957, + 0.15754860907803458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6218887510963068, + 0.005751725286245346, + -0.7830844592846746, + -0.07470577467745212 + ], + [ + -0.011630534305036867, + 0.9999305605888367, + -0.0018919705612866794, + 0.009266511410807709 + ], + [ + 0.7830192357884926, + 0.010284285992383957, + 0.6219125001665082, + 0.15756217147303292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6141940226600083, + 0.005315891467034817, + -0.789137135990793, + -0.0762420402033764 + ], + [ + -0.010985372153069236, + 0.9999380111694336, + -0.001814118025495728, + 0.009275353394593329 + ], + [ + 0.789078610656902, + 0.00978318601846695, + 0.6142143707961936, + 0.15828695665006964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6068433015086876, + 0.005222121253609657, + -0.7948043950635246, + -0.07886808729827147 + ], + [ + -0.010495079191097581, + 0.9999439120292664, + -0.001443173499419144, + 0.0083766293765395 + ], + [ + 0.7947523071164017, + 0.00921731535345316, + 0.6068640400688006, + 0.15767152870185425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5996075703884957, + 0.004453210160136224, + -0.8002817848338658, + -0.08198969763398702 + ], + [ + -0.009664037989817176, + 0.9999518990516665, + -0.0016764533891312514, + 0.009401246388183187 + ], + [ + 0.8002358659781312, + 0.008739167824387552, + 0.5996217425611217, + 0.15902899441021967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5923559052036612, + 0.003815949894487858, + -0.805667396946419, + -0.08343181851238564 + ], + [ + -0.008716463638712774, + 0.9999606013298035, + -0.0016724640585417656, + 0.009140270812569603 + ], + [ + 0.8056292560964734, + 0.008013264276087284, + 0.5923659257839579, + 0.15883796560729363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5854322863211274, + 0.00299663539044559, + -0.8107158422314241, + -0.08681196544395117 + ], + [ + -0.007255183910780393, + 0.9999724626541138, + -0.0015429157963273586, + 0.008373054275460742 + ], + [ + 0.8106889163644999, + 0.006785165052860975, + 0.5854378634152695, + 0.16024714749321922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.578348422206539, + 0.0021717692725360394, + -0.8157870260976001, + -0.08880479425966958 + ], + [ + -0.006314826623256268, + 0.9999784231185913, + -0.0018147472228199708, + 0.008573220534382357 + ], + [ + 0.8157654227001168, + 0.006201109383255243, + 0.5783496242700867, + 0.15979434710731946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5710260545053443, + 0.0016479046316817403, + -0.82093035541, + -0.09051438305887659 + ], + [ + -0.005073087357936249, + 0.9999859929084778, + -0.0015214242942144633, + 0.006962768053745578 + ], + [ + 0.8209163252181664, + 0.005033424124121666, + 0.5710263507176873, + 0.16181495794908088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5643444451868229, + 0.0002499428810551763, + -0.8255394131986987, + -0.09405864599379433 + ], + [ + -0.0038179632303880647, + 0.9999900460243227, + -0.0023072262484681388, + 0.008145038507043092 + ], + [ + 0.8255306095341004, + 0.004453949630260468, + 0.564339793954207, + 0.1610128611056744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.557314607121214, + -0.0007921459618955851, + -0.8303010959290275, + -0.09542542105115115 + ], + [ + -0.0019891107200415248, + 0.9999954104423523, + -0.002289173261764867, + 0.006982349915172312 + ], + [ + 0.8302990838118146, + 0.0029273503459990025, + 0.5573104295133451, + 0.16132627981905134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.549986583296072, + -0.0008249189122579992, + -0.8351731117199681, + -0.09693730450873117 + ], + [ + -0.0017908214611432008, + 0.9999960660934448, + -0.002167028094953465, + 0.0066774440292440805 + ], + [ + 0.8351716461183372, + 0.002687482163310051, + 0.5499829345398745, + 0.16271875672343947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5427693664380032, + -0.0008845060365274549, + -0.8398813310244326, + -0.0981100274184345 + ], + [ + -0.0015993113355625517, + 0.999996542930603, + -0.0020866760957432983, + 0.006619793301648691 + ], + [ + 0.8398802709776982, + 0.0024758153595030308, + 0.5427660840091721, + 0.16365585912506847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5361050340708411, + -0.0011688161175698042, + -0.8441505666442862, + -0.10100321926914115 + ], + [ + -0.0010450288308615902, + 0.9999973773956299, + -0.0020482821022085804, + 0.006310116230373197 + ], + [ + 0.8441506716899062, + 0.001980255823582411, + 0.536102370540707, + 0.1637143297652874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.529076515778714, + -0.001442446606233716, + -0.848572892427819, + -0.10208420049315123 + ], + [ + -0.0006279243644758157, + 0.999997615814209, + -0.0020913504112451686, + 0.006379565209767703 + ], + [ + 0.8485739118011212, + 0.0016393241239711642, + 0.5290743828706785, + 0.16423381350764815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.5221857418401342, + -0.0014531849883496763, + -0.8528305379078066, + -0.10347352364856555 + ], + [ + -0.0008463914712768764, + 0.9999971985816958, + -0.002222193437508493, + 0.007646526926010342 + ], + [ + 0.8528313586750652, + 0.0018822263227775697, + 0.5221830933663268, + 0.1660635798628603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.5150874621311641, + -0.0012736815260723233, + -0.8571366997431973, + -0.1031271294985496 + ], + [ + -0.0008444227099325385, + 0.9999976754188538, + -0.0019934162911358563, + 0.00713325106541945 + ], + [ + 0.8571372139753026, + 0.0017505694413557649, + 0.515085217980066, + 0.16860485389203575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.508807422015971, + -0.0022252695634961133, + -0.860877494820774, + -0.10462680420646565 + ], + [ + -0.00011006199767584334, + 0.9999964833259585, + -0.002649926559193391, + 0.009024696032020434 + ], + [ + 0.8608803331088565, + 0.0014430524315685036, + 0.5088054339784975, + 0.17029217118569442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.5033825007742823, + -0.0025507272221148014, + -0.8640599747004469, + -0.10504247297876967 + ], + [ + 0.0007112760093743249, + 0.999996542930603, + -0.002537641744941392, + 0.00842944231300227 + ], + [ + 0.864063473101778, + 0.000662819598801434, + 0.5033825177079971, + 0.17141310879911698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.49760437215890524, + -0.0030336659401655197, + -0.8673988008686532, + -0.10348533715733806 + ], + [ + 0.0016968433245088208, + 0.9999953508377075, + -0.0025239778427688657, + 0.007992931425792668 + ], + [ + 0.867402493499187, + -0.000215897336602211, + 0.4976072473909952, + 0.175385682236691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4933276079032013, + -0.003761997679248453, + -0.8698354934946898, + -0.10439177449986752 + ], + [ + 0.002905389755541084, + 0.9999921917915346, + -0.0026771260085450975, + 0.008308526472762224 + ], + [ + 0.8698387557379003, + -0.001206510700285435, + 0.49333470473126234, + 0.17726720231017695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.4902455289677237, + -0.004539810586720705, + -0.8715725652964534, + -0.10457188424490585 + ], + [ + 0.004297141963475243, + 0.9999868869781494, + -0.0027916166573675595, + 0.008535881833591247 + ], + [ + 0.871573756138729, + -0.0023766930680722, + 0.49025861443938545, + 0.17708690763886503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.4870314050940498, + -0.005660193972289562, + -0.8733660958513839, + -0.10408789718043962 + ], + [ + 0.005765992107215378, + 0.9999780654907227, + -0.0032653549016978707, + 0.009969247635697186 + ], + [ + 0.8733654451755128, + -0.003445491660386324, + 0.48705334971025255, + 0.1796090415106035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.48502832993942757, + -0.0064145904034376144, + -0.8744750009157434, + -0.10394645473058291 + ], + [ + 0.007272076855309915, + 0.9999681115150452, + -0.0033016640479813634, + 0.009891288240176077 + ], + [ + 0.8744682543932042, + -0.004757847636938095, + 0.48505952006004893, + 0.17968414218764764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.48291367207453484, + -0.0074282484129071236, + -0.8756365750639885, + -0.10327285156870597 + ], + [ + 0.008747679699278343, + 0.9999550580978394, + -0.0036585276475236623, + 0.01067512093345461 + ], + [ + 0.8756243368867043, + -0.005893034394830465, + 0.48295693464549083, + 0.18067290550723863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.48065750333041507, + -0.008415607735514643, + -0.8768680089944432, + -0.10271140328179731 + ], + [ + 0.010209048994220489, + 0.9999398589134219, + -0.004000653421413688, + 0.011092580962776363 + ], + [ + 0.876849030628979, + -0.00702904397621751, + 0.48071457703604975, + 0.18220014384505964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.478197951471743, + -0.009412487968802452, + -0.8782016521052567, + -0.10073739758210021 + ], + [ + 0.011755453365941054, + 0.9999215602874756, + -0.0043159967457589, + 0.011724268127085602 + ], + [ + 0.8781734581181213, + -0.008259756490588188, + 0.4782711472444133, + 0.18464710094106881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4765601460286623, + -0.010227596387267113, + -0.8790824115272826, + -0.10043131590311768 + ], + [ + 0.013222181340293727, + 0.999902606010437, + -0.004465377676947166, + 0.012423685202632193 + ], + [ + 0.8790424319098661, + -0.009495366364717484, + 0.4766489656475355, + 0.1848433440826416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.4743045272378847, + -0.010898209176957607, + -0.8802933513924553, + -0.09940653685063358 + ], + [ + 0.014955027036487096, + 0.9998788237571716, + -0.004320890515245876, + 0.01220435034052034 + ], + [ + 0.8802338318135551, + -0.011115392670035362, + 0.47441002133517673, + 0.18667182885918993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4720942061327854, + -0.01192661747336388, + -0.8814674295109319, + -0.09883353206769463 + ], + [ + 0.01648351750537286, + 0.9998530745506289, + -0.004700221233955999, + 0.013303403405820109 + ], + [ + 0.8813939990100554, + -0.012310735881328586, + 0.4722214820942309, + 0.18832540270716192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.46992962402512034, + -0.012528479099273682, + -0.8826149745604644, + -0.09807308950351837 + ], + [ + 0.01815411119922451, + 0.9998249411582947, + -0.004526470273740386, + 0.012907610293003073 + ], + [ + 0.8825172442216443, + -0.013895966112613678, + 0.47007484093899154, + 0.18978556368513208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.46793812699873544, + -0.013137735426425934, + -0.8836636143100682, + -0.09740102028614236 + ], + [ + 0.019785170186817913, + 0.999794602394104, + -0.00438719026612723, + 0.012507639174567412 + ], + [ + 0.8835398075986168, + -0.015430498868227005, + 0.468101930148307, + 0.19128061028290014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.46629419613734197, + -0.013584914617240429, + -0.8845253984502317, + -0.09654705186492585 + ], + [ + 0.020772688967865043, + 0.9997745156288147, + -0.00440424497951467, + 0.013054535770781113 + ], + [ + 0.8843857654884274, + -0.01632029563188553, + 0.4664712617035813, + 0.19224405622126106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.4644311735638464, + -0.014132389798760414, + -0.885496497282007, + -0.09540354428716084 + ], + [ + 0.021816285682896376, + 0.9997518062591553, + -0.004513534399728726, + 0.01362213707567868 + ], + [ + 0.8853404633925424, + -0.01722201704978943, + 0.4646242089041909, + 0.19443481525788459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4627988484420365, + -0.014541958458721641, + -0.886344010722654, + -0.09363282031323966 + ], + [ + 0.022911717922491456, + 0.9997276663780215, + -0.004439000129392021, + 0.013412785148049746 + ], + [ + 0.8861671691439073, + -0.01825329847633839, + 0.4630059835773627, + 0.19595259576046425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4614034654719987, + -0.015105208382010463, + -0.8870618613123851, + -0.09292810104237084 + ], + [ + 0.024007125319705076, + 0.9997014999389651, + -0.004536019053772848, + 0.013643512191790925 + ], + [ + 0.8868656314315769, + -0.019202869385480884, + 0.4616283414172359, + 0.19664837124390233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.4593881245353907, + -0.015652863308787346, + -0.888097739286081, + -0.09232457893740141 + ], + [ + 0.025087883333961624, + 0.9996744990348816, + -0.004642159631119387, + 0.013886782452872469 + ], + [ + 0.8878812973813361, + -0.020147938281297684, + 0.45963127331086834, + 0.19886926710940514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4572964369904963, + -0.016206022351980213, + -0.8891666159584328, + -0.09157700052020416 + ], + [ + 0.026049974485720426, + 0.999648988246918, + -0.004822239543577454, + 0.014369001955935247 + ], + [ + 0.8889327228307771, + -0.020957576110959057, + 0.4575580993192278, + 0.20017058867247373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.4551975724094355, + -0.016544358804821968, + -0.8902367963466368, + -0.09102683669499474 + ], + [ + 0.026717686534043338, + 0.9996309280395508, + -0.004916024078138625, + 0.014741659321103929 + ], + [ + 0.8899895749423372, + -0.02154730260372162, + 0.4554715986388121, + 0.2015101983285182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.45305398462063995, + -0.01694480888545513, + -0.8913220698923046, + -0.09023006801974164 + ], + [ + 0.027430701938643044, + 0.9996109008789062, + -0.005060599271254196, + 0.015036056672586534 + ], + [ + 0.8910609879181111, + -0.022156862542033195, + 0.45334253082762566, + 0.20295240863140585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4508118181729529, + -0.017379073426127437, + -0.8924498192058392, + -0.0896210254904761 + ], + [ + 0.028218529677421115, + 0.999588191509247, + -0.005211126137785405, + 0.015454234596863677 + ], + [ + 0.8921728279045525, + -0.022834382951259617, + 0.45111666541014345, + 0.20442382226542505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.4482254846687443, + -0.0174977146089077, + -0.8937493265969043, + -0.0878611341598779 + ], + [ + 0.02841654364758076, + 0.9995819926261902, + -0.005318474521006143, + 0.01583202378203894 + ], + [ + 0.8934687579112195, + -0.023013386875391006, + 0.4485353595529727, + 0.20761906962605592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.445886855572336, + -0.017740648239850998, + -0.8949135351386754, + -0.08661241640602403 + ], + [ + 0.029195357568419573, + 0.9995598196983337, + -0.005268679165333346, + 0.015491282648273933 + ], + [ + 0.8946131003591181, + -0.02377808466553688, + 0.4462085009478781, + 0.20983537780744652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.4435514478058278, + -0.01809324324131012, + -0.8960663055057912, + -0.08626381880834398 + ], + [ + 0.029662465078813403, + 0.9995448589324951, + -0.005499790180012307, + 0.015960864998916097 + ], + [ + 0.8957579614949251, + -0.024140093475580215, + 0.4438862548839492, + 0.21166707459534062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.4413947279276782, + -0.018253536894917488, + -0.8971274116914953, + -0.08624285517735361 + ], + [ + 0.029937698140381507, + 0.9995360374450684, + -0.005607591409934786, + 0.0160510354522392 + ], + [ + 0.8968134911563275, + -0.02438276633620262, + 0.44173644346734625, + 0.21294842726875168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.4392059470838729, + -0.0183928981423378, + -0.8981981306264522, + -0.08578671380957079 + ], + [ + 0.029964865440928277, + 0.999534010887146, + -0.005815618837974629, + 0.016648784052788246 + ], + [ + 0.8978866086707189, + -0.024360129609704018, + 0.439552405558207, + 0.2143747958088582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4370954735792573, + -0.018686318770051003, + -0.8992210292278139, + -0.0856228867599089 + ], + [ + 0.030403297280865216, + 0.9995197653770447, + -0.00599207821994592, + 0.01668757930219797 + ], + [ + 0.898901157150495, + -0.024720171466469765, + 0.437453625635686, + 0.21566283036796352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.43457818490521444, + -0.01886497437953949, + -0.9004365472358012, + -0.08489775172546926 + ], + [ + 0.030669013649981137, + 0.9995107650756836, + -0.0061388681099683465, + 0.016685293795649606 + ], + [ + 0.9001118168391118, + -0.02494768053293228, + 0.43494407922791445, + 0.21735118548214574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.4321018207065189, + -0.019014455378055573, + -0.9016244353155507, + -0.08471152410588964 + ], + [ + 0.030948783031729918, + 0.9995014667510986, + -0.006246449821760716, + 0.016396911300968056 + ], + [ + 0.901293654546166, + -0.02520507201552391, + 0.43247487187525296, + 0.21908962206051127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.42966691933218426, + -0.01935577765107155, + -0.9027799492783415, + -0.08408879726314639 + ], + [ + 0.031205689432374006, + 0.9994913339614868, + -0.006577327119702654, + 0.016833979907449635 + ], + [ + 0.9024481153148043, + -0.025345809757709503, + 0.43005239428663916, + 0.22026561325488622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.42710573867987733, + -0.019408177584409717, + -0.9039933914231338, + -0.08294837132817395 + ], + [ + 0.03142567880133378, + 0.9994842410087588, + -0.006610754709626283, + 0.01618575623826327 + ], + [ + 0.9036554253789323, + -0.025585111230611808, + 0.42749539095326416, + 0.22178418856714424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.42459715234752016, + -0.019424160942435265, + -0.9051740396320858, + -0.08190065779195707 + ], + [ + 0.031544548723439834, + 0.9994801878929138, + -0.006651027268352722, + 0.01567927736191627 + ], + [ + 0.9048327323024272, + -0.02572929859161377, + 0.4249891442541424, + 0.22354177808532877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4223035275563982, + -0.019588809460401535, + -0.9062428693229113, + -0.08201935744118481 + ], + [ + 0.03136210332293305, + 0.9994836449623108, + -0.006989703011057435, + 0.016297998460126834 + ], + [ + 0.9059117973979944, + -0.025469902902841568, + 0.422699819759952, + 0.22474107511217647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.4202040893026142, + -0.01958748698234558, + -0.9072182201158498, + -0.08166763495470933 + ], + [ + 0.03127653253695878, + 0.9994856119155884, + -0.00709298360208301, + 0.01612419692606335 + ], + [ + 0.9068904381111244, + -0.02539413794875145, + 0.4206005836470071, + 0.22573647188086682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4180653985255906, + -0.019519316032528877, + -0.9082072531903671, + -0.0809639140278364 + ], + [ + 0.03132465127077215, + 0.9994843006134033, + -0.007061712588341308, + 0.01577490766707201 + ], + [ + 0.9078767157896707, + -0.025497013702988625, + 0.4184611881732883, + 0.22727521289559227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4157466941881889, + -0.019489094614982605, + -0.9092716410542666, + -0.08039093922851939 + ], + [ + 0.03127410901484701, + 0.999485433101654, + -0.007123237960147359, + 0.01591153225373548 + ], + [ + 0.9089425962817717, + -0.025475196540355682, + 0.4161422719356521, + 0.2287992676478275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.41306004551417624, + -0.01917283423244953, + -0.9105020172192126, + -0.07845275383544938 + ], + [ + 0.0310837447379649, + 0.9994926452636719, + -0.006945236761516627, + 0.015580042813789404 + ], + [ + 0.9101732420520983, + -0.02543300949037075, + 0.4134464616826274, + 0.23207530194350262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.4117072801086986, + -0.018590211868286133, + -0.9111265916527947, + -0.07897407351853576 + ], + [ + 0.03056644742307334, + 0.9995110630989075, + -0.006581624395024516, + 0.015142117803750226 + ], + [ + 0.9108034781490147, + -0.025140196084976196, + 0.41207424673237003, + 0.23210561025859153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.41028789128366977, + -0.018184971064329147, + -0.9117748022357424, + -0.07839453211309111 + ], + [ + 0.02994736364045241, + 0.9995306134223938, + -0.006459262699361432, + 0.01563435845816285 + ], + [ + 0.9114642632229629, + -0.024655092507600784, + 0.41063988464198825, + 0.23295203643912477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.40862103337910577, + -0.017815273255109787, + -0.9125302770476449, + -0.07684229170161061 + ], + [ + 0.0294120461037667, + 0.9995472431182861, + -0.006343707846119267, + 0.015851762404663516 + ], + [ + 0.9122301421068398, + -0.02424720861017704, + 0.4089600119347933, + 0.23494185546513646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.40703273190788425, + -0.017788808792829514, + -0.9132403808439212, + -0.07581689191126831 + ], + [ + 0.02934694924703164, + 0.9995488524436951, + -0.00639000717572019, + 0.016023369541845873 + ], + [ + 0.9129420589436762, + -0.024199875071644783, + 0.4073711595977706, + 0.23700881970923063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.40548322859249175, + -0.017310068011283875, + -0.9139386100627092, + -0.07529505133103762 + ], + [ + 0.02902904898179134, + 0.9995602369308472, + -0.0060525523442486, + 0.015422412504020737 + ], + [ + 0.9136414354474515, + -0.024076558649539948, + 0.40580743621194, + 0.23830037861475892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.40370105188211375, + -0.017120927572250366, + -0.9147308358542477, + -0.07416039055808618 + ], + [ + 0.02871961776551996, + 0.999569296836853, + -0.006033919377547493, + 0.01568710048957908 + ], + [ + 0.9144401127526076, + -0.023834817111492157, + 0.40401892036779674, + 0.24019961747505156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.40220856158886437, + -0.01681988500058651, + -0.9153935552646267, + -0.07379528635260368 + ], + [ + 0.028107945122370918, + 0.9995867609977722, + -0.006016732183526681, + 0.016068881331225728 + ], + [ + 0.9151165502160564, + -0.023309849202632904, + 0.40251508140120573, + 0.24170930725321702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.4006617322731778, + -0.016582155600190163, + -0.9160759611884272, + -0.07266170859672197 + ], + [ + 0.02772592688278447, + 0.9995977282524109, + -0.005967591462036585, + 0.015985488211538796 + ], + [ + 0.915806475923275, + -0.0230080708861351, + 0.4009603720862285, + 0.24300444398688545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.39902329198953546, + -0.016265729442238808, + -0.9167965406611733, + -0.07161572072166461 + ], + [ + 0.02713191939912704, + 0.9996142983436584, + -0.005926274139918528, + 0.01582235815094886 + ], + [ + 0.9165392790083692, + -0.022509727627038956, + 0.39931071164687226, + 0.24563518113884714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.39784274784631724, + -0.016147378832101822, + -0.9173115007943422, + -0.07071905316901445 + ], + [ + 0.026693493381786868, + 0.999625563621521, + -0.006019241309848915, + 0.0160678312262513 + ], + [ + 0.9170652494199071, + -0.022091537714004517, + 0.39812481858125726, + 0.24685475106537694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.39647186579938387, + -0.015711322426795963, + -0.9179124204817382, + -0.06970681169328224 + ], + [ + 0.026023349371655655, + 0.9996441006660464, + -0.005870064580427431, + 0.015833626100288323 + ], + [ + 0.9176779800402703, + -0.021559840068221096, + 0.3967396536884531, + 0.24877294149612428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.39492967958101716, + -0.015586912631988525, + -0.9185792088594317, + -0.06842911077258344 + ], + [ + 0.02579447874812889, + 0.9996500015258789, + -0.005872604205587466, + 0.01573008521580772 + ], + [ + 0.9183492056209649, + -0.021375004202127457, + 0.39519348622670986, + 0.25052552745171713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.39362697416382564, + -0.015448791906237602, + -0.9191404916261614, + -0.06799138084583754 + ], + [ + 0.02552451620129725, + 0.9996569752693176, + -0.005871084514548669, + 0.015704321522036938 + ], + [ + 0.9189158837044186, + -0.02114959806203842, + 0.393886242893645, + 0.251516904306228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.3920107992895642, + -0.015125294215977192, + -0.9198363245775667, + -0.066742942775935 + ], + [ + 0.025102079719550512, + 0.9996684193611145, + -0.005740143275879795, + 0.015204820292241596 + ], + [ + 0.9196180925204623, + -0.02083960361778736, + 0.39226054487277906, + 0.25344340222137196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.39023464299367305, + -0.01479332149028778, + -0.9205966070847883, + -0.06545641910302129 + ], + [ + 0.024720186080272086, + 0.9996787905693054, + -0.0055853968687139335, + 0.014298014202365265 + ], + [ + 0.9203835168574408, + -0.020577702671289444, + 0.39047495499905216, + 0.25602018730288567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.38868109149789115, + -0.014453249052166942, + -0.9212590252730709, + -0.0647101548420797 + ], + [ + 0.024115569855823988, + 0.9996939897537234, + -0.005509372142127777, + 0.013376816366472356 + ], + [ + 0.9210567421703765, + -0.02007529512047768, + 0.38891066463671814, + 0.2573711234843221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.386869047898742, + -0.01428189966827631, + -0.9220241116048578, + -0.06321859863354581 + ], + [ + 0.023375350596191155, + 0.9997106194496155, + -0.005677254512949445, + 0.012990791788700717 + ], + [ + 0.9218384075298707, + -0.01935627870261669, + 0.3870909420940806, + 0.2585961028946603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.384814658774819, + -0.014146590605378151, + -0.9228855001193934, + -0.06304468596528574 + ], + [ + 0.0226630123980195, + 0.999725878238678, + -0.0058746749158436334, + 0.012922490179012393 + ], + [ + 0.9227156117163176, + -0.018654704093933105, + 0.3850298011738105, + 0.26018988663487524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.3829160702205608, + -0.014018379151821136, + -0.9236768055704324, + -0.06234784583770965 + ], + [ + 0.02178389585481737, + 0.9997438192367554, + -0.006142174920304771, + 0.013070923655101268 + ], + [ + 0.9235262620587305, + -0.01776934042572975, + 0.3831233842440499, + 0.2607454287743176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.3810777761318355, + -0.013722740113735199, + -0.9244411429473667, + -0.061778135800668446 + ], + [ + 0.021126932100513394, + 0.9997580051422119, + -0.006131719414116545, + 0.012698412760292047 + ], + [ + 0.9243016106916874, + -0.01719394326210022, + 0.3812754995107204, + 0.26193836790365527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.37904515898270436, + -0.013239637017250061, + -0.9252834372602768, + -0.060755967601863164 + ], + [ + 0.020355815079588162, + 0.9997749924659729, + -0.005966695148210512, + 0.012187613805170392 + ], + [ + 0.9251542503192712, + -0.01657325029373169, + 0.37922935497755994, + 0.2638244491163304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.37677847921294, + -0.013035249896347523, + -0.9262116574169086, + -0.05997486808032433 + ], + [ + 0.019813103148191537, + 0.9997856616973877, + -0.006010833322805735, + 0.01221345672036652 + ], + [ + 0.9260914803772958, + -0.01608637347817421, + 0.3769560334040178, + 0.2669530043569852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.3750133540625811, + -0.012730672955513004, + -0.9269320452006279, + -0.05921175184640734 + ], + [ + 0.0193168525426444, + 0.9997959136962893, + -0.005916288096858547, + 0.011693980864866008 + ], + [ + 0.9268181218269352, + -0.01568672060966492, + 0.37518273036092287, + 0.2682090744446561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.37307396335109405, + -0.012447943910956383, + -0.9277181010904674, + -0.05827899285574101 + ], + [ + 0.01875020841608896, + 0.9998069405555725, + -0.0058749809461899555, + 0.01148762356213514 + ], + [ + 0.9276121833326073, + -0.015203106217086315, + 0.3732353512549458, + 0.27014493621436864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.37109394247039795, + -0.01220423448830843, + -0.9285151807555213, + -0.05714028175200303 + ], + [ + 0.018503842770202557, + 0.9998123049736023, + -0.0057460333163721015, + 0.011091593690076049 + ], + [ + 0.9284109451786898, + -0.015048779547214508, + 0.37125008792412345, + 0.2726482050081325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.36925921942356715, + -0.012032067403197292, + -0.9292485345467034, + -0.05619611663594065 + ], + [ + 0.0182197688962658, + 0.9998177289962771, + -0.005705746134913237, + 0.01065250000438838 + ], + [ + 0.9291478281057562, + -0.014823794364929203, + 0.36941110100205204, + 0.2747703323045395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.36753325781746166, + -0.01215583086013794, + -0.9299309547515849, + -0.05563758355655862 + ], + [ + 0.0176611016568908, + 0.9998254776000977, + -0.0060893393648864995, + 0.010615428776115394 + ], + [ + 0.9298427041952225, + -0.014185569249093533, + 0.3676838363350578, + 0.2767773186026863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pan_left/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b83d0cb23897cfe44f9bb9fcc4377c0f8d17281c --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pan_left/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999071405938647, + 0.0004863918584305793, + -0.013618608355548527, + -0.0038704939652234316 + ], + [ + -0.0004849121524571475, + 0.9999998807907104, + 0.00011195469881607806, + -0.000841197615955025 + ], + [ + 0.0136186607162158, + -0.00010534047760302201, + 0.9999072597125519, + 0.0015531465178355575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999619866748611, + 0.0011968958424404263, + -0.02754424830633593, + -0.008556474931538105 + ], + [ + -0.0011843950625465918, + 0.9999991655349731, + 0.0004701569615167997, + -0.0021783914417028427 + ], + [ + 0.02754478681172555, + -0.00043735496001318097, + 0.9996204609313449, + 0.003991147968918085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9991288407619471, + 0.0017863846151158214, + -0.041694244100378544, + -0.013135503977537155 + ], + [ + -0.0017452337934220961, + 0.9999979734420776, + 0.0010233426860477997, + -0.005188399460166693 + ], + [ + 0.04169598564255289, + -0.0009496849379502237, + 0.9991299046016794, + 0.00559157645329833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9984062311132422, + 0.0018534658011049037, + -0.05640556818349572, + -0.015262865461409092 + ], + [ + -0.0018343998247941987, + 0.999998211860657, + 0.0003897911338261966, + -0.004469999577850103 + ], + [ + 0.05640619027712887, + -0.0002856995561160148, + 0.9984078361630123, + 0.007130587473511696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9975094418048375, + 0.0018996521830558781, + -0.07050768002210214, + -0.01995663158595562 + ], + [ + -0.0019467756589044958, + 0.9999979138374331, + -0.0005996355231622326, + -0.00321989506483078 + ], + [ + 0.07050639762062172, + 0.0007354046683758499, + 0.9975110623079474, + 0.009557518176734447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9963994634002359, + 0.002014815341681242, + -0.08475899664652156, + -0.02387487329542637 + ], + [ + -0.0021044558503721463, + 0.9999973177909851, + -0.0009682591457656627, + -0.0035073880571871996 + ], + [ + 0.08475682241521816, + 0.0011431443272158504, + 0.9964010358233831, + 0.011168312281370163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9950306762671985, + 0.0024909127969294786, + -0.09953757290261012, + -0.025680486112833023 + ], + [ + -0.0026405272396800997, + 0.9999955892562866, + -0.0013713785575310152, + -0.003606810700148344 + ], + [ + 0.0995337100271996, + 0.0016273952787742019, + 0.995032869076133, + 0.01271769031882286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9934797483728754, + 0.0026894090697169304, + -0.11397709051019729, + -0.02857307344675064 + ], + [ + -0.0029077406501432992, + 0.9999942183494568, + -0.0017493658473743524, + -0.00247141532599926 + ], + [ + 0.11397172491650495, + 0.0020693752449005842, + 0.9934818495521989, + 0.015049363486468792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9917743587173632, + 0.003340879688039422, + -0.12795477539782216, + -0.03357364982366562 + ], + [ + -0.003626266393057471, + 0.9999914169311523, + -0.001997480566062972, + -0.001261550234630704 + ], + [ + 0.12794700811230605, + 0.002445048186928034, + 0.991777997029645, + 0.017446216195821762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9898700697890098, + 0.0036670309491455555, + -0.14192893903148612, + -0.03793289139866829 + ], + [ + -0.004018972933010798, + 0.9999895095825195, + -0.0021931303919681252, + -0.00038313717232085764 + ], + [ + 0.14191940156196192, + 0.0027413226198405027, + 0.9898744081157453, + 0.019059384241700172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9877341280921266, + 0.0042276340536773205, + -0.15608770959183407, + -0.039912063628435135 + ], + [ + -0.0046270803668197955, + 0.9999868869781494, + -0.002195857593910147, + -0.0004817905428353697 + ], + [ + 0.1560763903426222, + 0.002891153795644641, + 0.987740782465627, + 0.021252958104014397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9854197381739671, + 0.005210375878959894, + -0.17006097912195994, + -0.04202285408973694 + ], + [ + -0.005569477171712185, + 0.9999831318855286, + -0.0016346170391017666, + -0.0019092526054009795 + ], + [ + 0.17004961293168153, + 0.0025579347275197506, + 0.9854321962817104, + 0.024068426340818405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9829324545654067, + 0.005594636779278517, + -0.1838815753321271, + -0.04463276267051697 + ], + [ + -0.006099037809090143, + 0.9999790191650391, + -0.0021776126486538466, + -0.0004816869623027742 + ], + [ + 0.18386554468054533, + 0.003261946840211749, + 0.9829459919148813, + 0.02584804780781269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9803222472996076, + 0.005581590346992016, + -0.19732494531390013, + -0.05015040934085846 + ], + [ + -0.006135926653447484, + 0.99997878074646, + -0.0021979662307130172, + -0.0010983675019815564 + ], + [ + 0.1973084883606504, + 0.003365486627444625, + 0.9803357040977408, + 0.02800150401890278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9770252198405218, + 0.005800416227430106, + -0.2130448223895628, + -0.05067237839102745 + ], + [ + -0.006574118544571544, + 0.9999741315841677, + -0.002923391539891465, + 0.00016964606766123325 + ], + [ + 0.21302234905949274, + 0.004256809130311013, + 0.9770380275118005, + 0.029885074123740196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.973297568641105, + 0.0061881085857748985, + -0.22946360090389664, + -0.052169110625982285 + ], + [ + -0.006996511338638745, + 0.999971866607666, + -0.00270959484709247, + -0.000859237858094275 + ], + [ + 0.22944037019359725, + 0.004242686554789543, + 0.973313477896048, + 0.032395344227552414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9693128188654443, + 0.006859282962977886, + -0.24573491662766847, + -0.05560212582349777 + ], + [ + -0.007653454151210165, + 0.9999681115150452, + -0.0022769515964441434, + -0.0011530111078172922 + ], + [ + 0.24571146159865093, + 0.0040877992287278175, + 0.9693343810720856, + 0.03554902970790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.964966455825929, + 0.007622532080858946, + -0.26226243802085364, + -0.057985223829746246 + ], + [ + -0.008489748780276177, + 0.9999616146087646, + -0.0021737147860874414, + -0.0004582940018735826 + ], + [ + 0.26223581058378803, + 0.00432410417124629, + 0.9649941222383999, + 0.037851784378290176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.960488438136632, + 0.007998919114470484, + -0.278204933877145, + -0.06022271513938904 + ], + [ + -0.008964982907072767, + 0.9999573826789858, + -0.002200479514825328, + -0.0003607874386943877 + ], + [ + 0.2781754739879082, + 0.004607637412846089, + 0.9605192274447498, + 0.04113214462995529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9561899616896316, + 0.00830158032476902, + -0.29262920826075944, + -0.06367271393537521 + ], + [ + -0.009430328711803191, + 0.9999525547027588, + -0.002446782751254067, + -0.00015883034211583436 + ], + [ + 0.2925949832794393, + 0.00509917875751853, + 0.9562228776751447, + 0.04336924105882645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9518139635580164, + 0.008982736617326738, + -0.30654445894235616, + -0.06598342210054398 + ], + [ + -0.010506384320425364, + 0.9999393224716189, + -0.0033206692791386927, + 0.0023181342985481024 + ], + [ + 0.3064960487051349, + 0.006381333805620672, + 0.9518505591119019, + 0.04588078334927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9472136551450808, + 0.00959303416311741, + -0.3204594563117935, + -0.06674929708242416 + ], + [ + -0.011324979955014419, + 0.9999296069145205, + -0.003541219765249061, + 0.002563492162153125 + ], + [ + 0.3204029001080929, + 0.006983487866818907, + 0.9472555986487462, + 0.048447560518980026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9424872033328091, + 0.010277467779815197, + -0.3340842103599509, + -0.06793326139450073 + ], + [ + -0.012064168894055783, + 0.9999218583106995, + -0.0032736048589613017, + 0.001907780533656478 + ], + [ + 0.3340244790665317, + 0.0071157789789140224, + 0.9425375467461067, + 0.05104412883520126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9375695868274891, + 0.010673862881958485, + -0.3476339393648567, + -0.06975588202476501 + ], + [ + -0.012567815924347124, + 0.9999158978462219, + -0.0031936966941630627, + 0.0019725498277693987 + ], + [ + 0.34757062037436603, + 0.007363311946392059, + 0.937624899581625, + 0.05326647311449051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9323297516041524, + 0.010835468769073486, + -0.36144687693431166, + -0.06918308883905411 + ], + [ + -0.01298087391333419, + 0.9999095797538757, + -0.003508025622977906, + 0.0023348163813352585 + ], + [ + 0.36137617663412896, + 0.007962532341480255, + 0.932386094963921, + 0.055508092045784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9273633371081459, + 0.010755755007266998, + -0.3740074206598792, + -0.07106033712625504 + ], + [ + -0.013207578384180746, + 0.9999048113822937, + -0.003993220208050883, + 0.00312584126368165 + ], + [ + 0.3739288808923404, + 0.008642897941172123, + 0.9274171180719402, + 0.05753784999251366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9221320338509543, + 0.010849849320948126, + -0.38672311072042115, + -0.07219191640615463 + ], + [ + -0.013587023804953021, + 0.9998982548713686, + -0.004344929664620303, + 0.0034435559064149857 + ], + [ + 0.3866365958215522, + 0.009261014871299269, + 0.9221856725105865, + 0.05928904563188553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9166868745576737, + 0.010827329009771349, + -0.3994595265928335, + -0.07285265624523163 + ], + [ + -0.013937621993639987, + 0.9998909235000613, + -0.004882316046004142, + 0.004691523499786854 + ], + [ + 0.3993631196663687, + 0.010043070651590826, + 0.9167378064528126, + 0.06107013672590256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9111214616042154, + 0.010438570752739906, + -0.4120058038356777, + -0.07377280294895172 + ], + [ + -0.013882689384898334, + 0.9998892545700073, + -0.005367407189497522, + 0.006580071989446878 + ], + [ + 0.4119041134384878, + 0.010610107332468033, + 0.9111654305666708, + 0.06298702955245972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9053935434871242, + 0.010770156048238277, + -0.42443674025761496, + -0.07519721984863281 + ], + [ + -0.01417316778478298, + 0.9998877644538879, + -0.004861378645112566, + 0.0055436925031244755 + ], + [ + 0.4243367357139235, + 0.010417073965072632, + 0.9054445284041664, + 0.0639076754450798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.899532773718846, + 0.011013920418918133, + -0.4367143958245671, + -0.07670889049768448 + ], + [ + -0.014347488405206967, + 0.9998876452445984, + -0.004335449089848241, + 0.004452584311366081 + ], + [ + 0.436617597402544, + 0.010165633633732796, + 0.8995897333065432, + 0.06527219712734222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8935882036659852, + 0.010770684108138084, + -0.4487584889734646, + -0.07771336287260056 + ], + [ + -0.014581184732551856, + 0.9998810291290283, + -0.005036499750437433, + 0.007375879678875208 + ], + [ + 0.4486508656478184, + 0.011043987236917019, + 0.8936388934901028, + 0.06740974634885788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8876317487914054, + 0.010726790875196457, + -0.46042895013011814, + -0.07965797185897827 + ], + [ + -0.014759477684836493, + 0.9998777508735657, + -0.00515932450268027, + 0.0077516380697488785 + ], + [ + 0.46031735288961073, + 0.011375270783901215, + 0.8876815443387711, + 0.06883398443460464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8816242994609909, + 0.01060201320797205, + -0.47183275907963285, + -0.08131159842014313 + ], + [ + -0.014637601273241305, + 0.9998809695243835, + -0.004883330119317734, + 0.0066415900364518166 + ], + [ + 0.47172478699907594, + 0.011211763136088848, + 0.881674557244782, + 0.06933131814002991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8753209033660803, + 0.010560670867562296, + -0.4834271905159826, + -0.08229177445173264 + ], + [ + -0.01501890745087835, + 0.9998728632926943, + -0.005351445636579356, + 0.007914955727756023 + ], + [ + 0.48330920546163264, + 0.011944780126214031, + 0.8753682596285525, + 0.07136506587266922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8692469837689591, + 0.01073315367102623, + -0.49426150449883305, + -0.08498596400022507 + ], + [ + -0.015433895572109464, + 0.9998661279678345, + -0.005430626652017168, + 0.008427920751273632 + ], + [ + 0.49413708028698317, + 0.01234893687069416, + 0.869296265949702, + 0.07146033644676208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.862830397261138, + 0.011067933402955532, + -0.5053723119643576, + -0.0853385254740715 + ], + [ + -0.015686159223099853, + 0.9998650550842285, + -0.004883639221210834, + 0.0067257690243422985 + ], + [ + 0.5052500799480495, + 0.01214110292494297, + 0.8628875840720646, + 0.07226291298866272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8564754293436644, + 0.011033737100660801, + -0.5160698552652467, + -0.08723005652427673 + ], + [ + -0.016018608246049153, + 0.9998581409454346, + -0.005207380783713649, + 0.008449144661426544 + ], + [ + 0.5159391560506495, + 0.01272671390324831, + 0.8565306454250714, + 0.07315818965435028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8497432271233801, + 0.01123670767992735, + -0.5270770117593648, + -0.08791505545377731 + ], + [ + -0.016477057987994734, + 0.9998504519462588, + -0.005248265986393601, + 0.009609689936041832 + ], + [ + 0.5269392388351904, + 0.013144357129931453, + 0.8498013059360637, + 0.07514086365699768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8434515423692923, + 0.011081221513450147, + -0.5370909592171841, + -0.09068313986063004 + ], + [ + -0.016195149312043203, + 0.9998573064804079, + -0.004803996919799446, + 0.00897923856973648 + ], + [ + 0.5369611080400816, + 0.012750206515192989, + 0.8435106311698378, + 0.07523241639137268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8366995295820686, + 0.011335542425513268, + -0.5475449031944245, + -0.0916629359126091 + ], + [ + -0.01655622485647339, + 0.9998523592948914, + -0.004600020938056475, + 0.00895223394036293 + ], + [ + 0.5474119133840774, + 0.012914111837744713, + 0.8367636753971395, + 0.07620390504598618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8302062363704289, + 0.011563494801521303, + -0.5573364174961406, + -0.09422840178012848 + ], + [ + -0.01697639168242875, + 0.9998455643653872, + -0.004543389784463134, + 0.009265546686947346 + ], + [ + 0.557197832937344, + 0.013233511708676819, + 0.8302743158784738, + 0.07501840591430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8231546143662241, + 0.011870907619595531, + -0.5676932117626305, + -0.09503542631864548 + ], + [ + -0.017581306058817286, + 0.9998348951339724, + -0.004585551830728547, + 0.00993708148598671 + ], + [ + 0.5675450438114549, + 0.013755405321717266, + 0.8232274839893017, + 0.07745161652565002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8164933275599737, + 0.012344984337687492, + -0.5772229007496363, + -0.09753358364105225 + ], + [ + -0.018038734553608073, + 0.9998287558555603, + -0.004132956402519523, + 0.009290648624300957 + ], + [ + 0.5770729757397455, + 0.013786900788545609, + 0.8165762222746231, + 0.07782944291830063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8096115024337728, + 0.01265900582075119, + -0.5868296162775866, + -0.09909003973007202 + ], + [ + -0.018521485755800413, + 0.9998205304145813, + -0.003984929305859062, + 0.009604856371879578 + ], + [ + 0.5866738448909464, + 0.014095200225710869, + 0.8097006256323495, + 0.07775549590587616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8026635905549504, + 0.012931415811181068, + -0.5962918326092338, + -0.10083594918251038 + ], + [ + -0.018777675703600293, + 0.9998172521591187, + -0.0035940530222270724, + 0.009081341326236725 + ], + [ + 0.5961363960808947, + 0.014081789180636406, + 0.8027597260989631, + 0.0782405361533165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7954977517532519, + 0.013244349509477619, + -0.6058118239658742, + -0.1026546061038971 + ], + [ + -0.019316904388512256, + 0.9998072385787966, + -0.0035072896295223407, + 0.00976560264825821 + ], + [ + 0.6056485600732691, + 0.014492450281977657, + 0.7956002516017888, + 0.07761625945568085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7879809320142874, + 0.013627559877932072, + -0.615548829399106, + -0.10422961413860321 + ], + [ + -0.01994778120162429, + 0.9997952580451965, + -0.0034013584871566316, + 0.011106688529253006 + ], + [ + 0.6153764580727039, + 0.01495903730392456, + 0.7880914274499499, + 0.07840067893266678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7801336800681623, + 0.013762841001152992, + -0.6254614995697583, + -0.10516046732664108 + ], + [ + -0.020278735005572784, + 0.9997889399528503, + -0.003293869822545142, + 0.012343401089310646 + ], + [ + 0.6252841293363331, + 0.015253225341439247, + 0.7802481465328827, + 0.07927967607975006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7721850421562408, + 0.013394848443567753, + -0.6352565381593352, + -0.1069750040769577 + ], + [ + -0.019644139911869956, + 0.9998031258583069, + -0.0027968215380660636, + 0.011507908813655376 + ], + [ + 0.6350940054340513, + 0.014638731256127357, + 0.7722961505925638, + 0.07949212938547134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7644165913737325, + 0.012859703972935677, + -0.6445943607599279, + -0.10902588814496994 + ], + [ + -0.019127665585943435, + 0.9998133182525635, + -0.0027369172224295897, + 0.011521892622113228 + ], + [ + 0.644438838557619, + 0.014421730302274227, + 0.7645198373893272, + 0.07868310809135437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7563154075301135, + 0.012150449678301815, + -0.6540943215049423, + -0.11015161871910095 + ], + [ + -0.018080846550504955, + 0.9998338222503664, + -0.0023335952361589643, + 0.01064275112003088 + ], + [ + 0.6539572661935903, + 0.013591513969004158, + 0.7564093699085334, + 0.07982134819030762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7486638109402927, + 0.011548399925231935, + -0.6628492958769191, + -0.11261479556560516 + ], + [ + -0.017644471047942537, + 0.9998411536216738, + -0.0025091842736466386, + 0.012023146264255047 + ], + [ + 0.6627150148227391, + 0.013574158772826198, + 0.7487486718939903, + 0.07873494178056717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7407808197246577, + 0.010826105251908302, + -0.6716596093192436, + -0.1142389178276062 + ], + [ + -0.01694074967250906, + 0.9998531937599182, + -0.002568066245076283, + 0.012740066275000572 + ], + [ + 0.6715332370577081, + 0.01328079029917717, + 0.7408554861498928, + 0.07803624123334885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7328986703062416, + 0.010269312188029291, + -0.6802602887473616, + -0.1157098114490509 + ], + [ + -0.016653879300617194, + 0.9998572468757632, + -0.0028485565526777308, + 0.014151427894830704 + ], + [ + 0.6801339522674557, + 0.01341667585074902, + 0.7329650622104411, + 0.07869244366884232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7252587517694481, + 0.009605573490262033, + -0.6884093482933075, + -0.11890657246112823 + ], + [ + -0.01499234006307636, + 0.9998859167099001, + -0.0018431591791848992, + 0.011564642190933228 + ], + [ + 0.6883131511950032, + 0.011657634750008585, + 0.7253200428769502, + 0.07804033160209656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7172366132486736, + 0.008899434469640255, + -0.6967729530218211, + -0.12053301930427551 + ], + [ + -0.013976481270005956, + 0.9999009966850281, + -0.0016158656460493637, + 0.011698205024003983 + ], + [ + 0.6966895968403923, + 0.01089739054441452, + 0.7172899802018372, + 0.07674042880535126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7093638432585039, + 0.0077556101605296135, + -0.7047998526600093, + -0.1219722181558609 + ], + [ + -0.012749809221610953, + 0.9999170303344727, + -0.0018292945490354508, + 0.012736096978187561 + ], + [ + 0.7047272112174957, + 0.01028369925916195, + 0.7094038820860585, + 0.07582180202007294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7016805225564455, + 0.006658867001533508, + -0.7124606257558616, + -0.12456101179122925 + ], + [ + -0.011308351754799767, + 0.9999344348907471, + -0.0017915654952369207, + 0.011577502824366093 + ], + [ + 0.712402034031212, + 0.009313861839473248, + 0.7017097851691622, + 0.07423222064971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6936713739922424, + 0.005289234220981598, + -0.7202722607346457, + -0.12638087570667267 + ], + [ + -0.010101401984225274, + 0.999946117401123, + -0.00238535318664681, + 0.012715768069028854 + ], + [ + 0.7202208381910615, + 0.008930409327149391, + 0.6936874099586475, + 0.07449984550476074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.685904483622361, + 0.005259272176772357, + -0.7276725496473833, + -0.12825165688991547 + ], + [ + -0.009736680478804383, + 0.999950706958771, + -0.0019506299211376871, + 0.010528180748224258 + ], + [ + 0.7276264411036077, + 0.008423060178756716, + 0.685921845752125, + 0.07280276715755463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6778831826390053, + 0.0054379841312766075, + -0.7351495775517531, + -0.13056805729866028 + ], + [ + -0.009831194672187914, + 0.9999502897262573, + -0.001668623593171217, + 0.009160492569208145 + ], + [ + 0.7351039856187598, + 0.008358529768884182, + 0.6779029102689963, + 0.07246769964694977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6695188415110633, + 0.005608484148979188, + -0.7427739036307263, + -0.13239477574825287 + ], + [ + -0.01102312236179667, + 0.9999364018440249, + -0.0023857342153013874, + 0.011599650606513023 + ], + [ + 0.7427132932015543, + 0.00978498160839081, + 0.6695380803111358, + 0.07206179201602936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6618546824778548, + 0.006018341518938541, + -0.7496079596499619, + -0.13519403338432312 + ], + [ + -0.01129907707075848, + 0.9999342560768127, + -0.0019482197102662483, + 0.009717945009469986 + ], + [ + 0.7495469958792146, + 0.009759316220879555, + 0.6618791671745149, + 0.06903043389320374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6534039984060973, + 0.00578389223664999, + -0.756987330488986, + -0.13666102290153503 + ], + [ + -0.011008947743097833, + 0.9999376535415649, + -0.0018623275135257165, + 0.009013587608933449 + ], + [ + 0.7569293348736319, + 0.009550485759973526, + 0.6534268779994559, + 0.06961359083652496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6457986576834519, + 0.005525314249098302, + -0.7634878260011331, + -0.14067620038986206 + ], + [ + -0.011096957644181744, + 0.999936103820801, + -0.002149922453151854, + 0.010417653247714043 + ], + [ + 0.7634271340439633, + 0.009860808029770853, + 0.6458187124168249, + 0.06645871698856354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6378194782868227, + 0.005478494800627232, + -0.7701663821509693, + -0.14291125535964966 + ], + [ + -0.01129188935900373, + 0.9999337196350098, + -0.0022385491009379284, + 0.01108822226524353 + ], + [ + 0.7701031418155432, + 0.01012442447245121, + 0.6378390995220519, + 0.06574040651321411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6298197429930246, + 0.005495008081197739, + -0.7767219097335926, + -0.14500293135643005 + ], + [ + -0.011075804212314608, + 0.9999368190765381, + -0.0019068604969716782, + 0.010242316871881485 + ], + [ + 0.7766623469104373, + 0.00980379804968834, + 0.629840842936957, + 0.06528910249471664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6218887510963068, + 0.005751725286245346, + -0.7830844592846746, + -0.1478327512741089 + ], + [ + -0.011630534305036867, + 0.9999305605888367, + -0.0018919705612866794, + 0.010656359605491161 + ], + [ + 0.7830192357884926, + 0.010284285992383957, + 0.6219125001665082, + 0.06332661211490631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6141940226600083, + 0.005315891467034817, + -0.789137135990793, + -0.14965634047985077 + ], + [ + -0.010985372153069236, + 0.9999380111694336, + -0.001814118025495728, + 0.010606810450553894 + ], + [ + 0.789078610656902, + 0.00978318601846695, + 0.6142143707961936, + 0.062090061604976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6068433015086876, + 0.005222121253609657, + -0.7948043950635246, + -0.15259255468845367 + ], + [ + -0.010495079191097581, + 0.9999439120292664, + -0.001443173499419144, + 0.009666206315159798 + ], + [ + 0.7947523071164017, + 0.00921731535345316, + 0.6068640400688006, + 0.0595402792096138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5996075703884957, + 0.004453210160136224, + -0.8002817848338658, + -0.1560201793909073 + ], + [ + -0.009664037989817176, + 0.9999518990516665, + -0.0016764533891312514, + 0.010605424642562866 + ], + [ + 0.8002358659781312, + 0.008739167824387552, + 0.5996217425611217, + 0.058968305587768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5923559052036612, + 0.003815949894487858, + -0.805667396946419, + -0.15774816274642944 + ], + [ + -0.008716463638712774, + 0.9999606013298035, + -0.0016724640585417656, + 0.010241229087114334 + ], + [ + 0.8056292560964734, + 0.008013264276087284, + 0.5923659257839579, + 0.05684114247560501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5854322863211274, + 0.00299663539044559, + -0.8107158422314241, + -0.16143806278705597 + ], + [ + -0.007255183910780393, + 0.9999724626541138, + -0.0015429157963273586, + 0.009301741607487202 + ], + [ + 0.8106889163644999, + 0.006785165052860975, + 0.5854378634152695, + 0.05633888766169548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.578348422206539, + 0.0021717692725360394, + -0.8157870260976001, + -0.16370275616645813 + ], + [ + -0.006314826623256268, + 0.9999784231185913, + -0.0018147472228199708, + 0.009392215870320797 + ], + [ + 0.8157654227001168, + 0.006201109383255243, + 0.5783496242700867, + 0.05395578220486641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5710260545053443, + 0.0016479046316817403, + -0.82093035541, + -0.16563531756401062 + ], + [ + -0.005073087357936249, + 0.9999859929084778, + -0.0015214242942144633, + 0.007629150524735451 + ], + [ + 0.8209163252181664, + 0.005033424124121666, + 0.5710263507176873, + 0.054019346833229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5643444451868229, + 0.0002499428810551763, + -0.8255394131986987, + -0.16946940124034882 + ], + [ + -0.0038179632303880647, + 0.9999900460243227, + -0.0023072262484681388, + 0.008652483113110065 + ], + [ + 0.8255306095341004, + 0.004453949630260468, + 0.564339793954207, + 0.05131444334983826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.557314607121214, + -0.0007921459618955851, + -0.8303010959290275, + -0.1710629165172577 + ], + [ + -0.0019891107200415248, + 0.9999954104423523, + -0.002289173261764867, + 0.0072492375038564205 + ], + [ + 0.8302990838118146, + 0.0029273503459990025, + 0.5573104295133451, + 0.04968869313597679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.549986583296072, + -0.0008249189122579992, + -0.8351731117199681, + -0.17274364829063416 + ], + [ + -0.0017908214611432008, + 0.9999960660934448, + -0.002167028094953465, + 0.006920228712260723 + ], + [ + 0.8351716461183372, + 0.002687482163310051, + 0.5499829345398745, + 0.049111366271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5427693664380032, + -0.0008845060365274549, + -0.8398813310244326, + -0.1740822196006775 + ], + [ + -0.0015993113355625517, + 0.999996542930603, + -0.0020866760957432983, + 0.00683872913941741 + ], + [ + 0.8398802709776982, + 0.0024758153595030308, + 0.5427660840091721, + 0.048084668815135956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5361050340708411, + -0.0011688161175698042, + -0.8441505666442862, + -0.1772003322839737 + ], + [ + -0.0010450288308615902, + 0.9999973773956299, + -0.0020482821022085804, + 0.006453714799135923 + ], + [ + 0.8441506716899062, + 0.001980255823582411, + 0.536102370540707, + 0.0462251640856266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.529076515778714, + -0.001442446606233716, + -0.848572892427819, + -0.17843885719776154 + ], + [ + -0.0006279243644758157, + 0.999997615814209, + -0.0020913504112451686, + 0.006465235259383917 + ], + [ + 0.8485739118011212, + 0.0016393241239711642, + 0.5290743828706785, + 0.044789839535951614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.5221857418401342, + -0.0014531849883496763, + -0.8528305379078066, + -0.1799880862236023 + ], + [ + -0.0008463914712768764, + 0.9999971985816958, + -0.002222193437508493, + 0.007763821166008711 + ], + [ + 0.8528313586750652, + 0.0018822263227775697, + 0.5221830933663268, + 0.044673431664705276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.5150874621311641, + -0.0012736815260723233, + -0.8571366997431973, + -0.17975494265556335 + ], + [ + -0.0008444227099325385, + 0.9999976754188538, + -0.0019934162911358563, + 0.007251599803566933 + ], + [ + 0.8571372139753026, + 0.0017505694413557649, + 0.515085217980066, + 0.0452461913228035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.508807422015971, + -0.0022252695634961133, + -0.860877494820774, + -0.18146948516368866 + ], + [ + -0.00011006199767584334, + 0.9999964833259585, + -0.002649926559193391, + 0.009034453891217709 + ], + [ + 0.8608803331088565, + 0.0014430524315685036, + 0.5088054339784975, + 0.04503440111875534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.5033825007742823, + -0.0025507272221148014, + -0.8640599747004469, + -0.18221096694469452 + ], + [ + 0.0007112760093743249, + 0.999996542930603, + -0.002537641744941392, + 0.008316840045154095 + ], + [ + 0.864063473101778, + 0.000662819598801434, + 0.5033825177079971, + 0.04432883858680725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.49760437215890524, + -0.0030336659401655197, + -0.8673988008686532, + -0.18091502785682678 + ], + [ + 0.0016968433245088208, + 0.9999953508377075, + -0.0025239778427688657, + 0.007730195298790932 + ], + [ + 0.867402493499187, + -0.000215897336602211, + 0.4976072473909952, + 0.046439796686172485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4933276079032013, + -0.003761997679248453, + -0.8698354934946898, + -0.18229500949382782 + ], + [ + 0.002905389755541084, + 0.9999921917915346, + -0.0026771260085450975, + 0.007857788354158401 + ], + [ + 0.8698387557379003, + -0.001206510700285435, + 0.49333470473126234, + 0.046590521931648254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.4902455289677237, + -0.004539810586720705, + -0.8715725652964534, + -0.18312156200408936 + ], + [ + 0.004297141963475243, + 0.9999868869781494, + -0.0027916166573675595, + 0.007864829152822495 + ], + [ + 0.871573756138729, + -0.0023766930680722, + 0.49025861443938545, + 0.04478410631418228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.4870314050940498, + -0.005660193972289562, + -0.8733660958513839, + -0.18325906991958618 + ], + [ + 0.005765992107215378, + 0.9999780654907227, + -0.0032653549016978707, + 0.009059605188667774 + ], + [ + 0.8733654451755128, + -0.003445491660386324, + 0.48705334971025255, + 0.04566638916730881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.48502832993942757, + -0.0064145904034376144, + -0.8744750009157434, + -0.1839216649532318 + ], + [ + 0.007272076855309915, + 0.9999681115150452, + -0.0033016640479813634, + 0.008733679540455341 + ], + [ + 0.8744682543932042, + -0.004757847636938095, + 0.48505952006004893, + 0.04421037435531616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.48291367207453484, + -0.0074282484129071236, + -0.8756365750639885, + -0.1840333342552185 + ], + [ + 0.008747679699278343, + 0.9999550580978394, + -0.0036585276475236623, + 0.009267712011933327 + ], + [ + 0.8756243368867043, + -0.005893034394830465, + 0.48295693464549083, + 0.043657444417476654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.48065750333041507, + -0.008415607735514643, + -0.8768680089944432, + -0.184233158826828 + ], + [ + 0.010209048994220489, + 0.9999398589134219, + -0.004000653421413688, + 0.009432406164705753 + ], + [ + 0.876849030628979, + -0.00702904397621751, + 0.48071457703604975, + 0.043629392981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.478197951471743, + -0.009412487968802452, + -0.8782016521052567, + -0.18298590183258057 + ], + [ + 0.011755453365941054, + 0.9999215602874756, + -0.0043159967457589, + 0.009792385622859001 + ], + [ + 0.8781734581181213, + -0.008259756490588188, + 0.4782711472444133, + 0.04450157284736633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4765601460286623, + -0.010227596387267113, + -0.8790824115272826, + -0.18353630602359772 + ], + [ + 0.013222181340293727, + 0.999902606010437, + -0.004465377676947166, + 0.01022854819893837 + ], + [ + 0.8790424319098661, + -0.009495366364717484, + 0.4766489656475355, + 0.04319961369037628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.4743045272378847, + -0.010898209176957607, + -0.8802933513924553, + -0.18326738476753235 + ], + [ + 0.014955027036487096, + 0.9998788237571716, + -0.004320890515245876, + 0.009698392823338509 + ], + [ + 0.8802338318135551, + -0.011115392670035362, + 0.47441002133517673, + 0.04347214102745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4720942061327854, + -0.01192661747336388, + -0.8814674295109319, + -0.18345561623573303 + ], + [ + 0.01648351750537286, + 0.9998530745506289, + -0.004700221233955999, + 0.010511730797588825 + ], + [ + 0.8813939990100554, + -0.012310735881328586, + 0.4722214820942309, + 0.04357311129570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.46992962402512034, + -0.012528479099273682, + -0.8826149745604644, + -0.18346214294433594 + ], + [ + 0.01815411119922451, + 0.9998249411582947, + -0.004526470273740386, + 0.009804286062717438 + ], + [ + 0.8825172442216443, + -0.013895966112613678, + 0.47007484093899154, + 0.0434851199388504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.46793812699873544, + -0.013137735426425934, + -0.8836636143100682, + -0.1835842728614807 + ], + [ + 0.019785170186817913, + 0.999794602394104, + -0.00438719026612723, + 0.00909356214106083 + ], + [ + 0.8835398075986168, + -0.015430498868227005, + 0.468101930148307, + 0.04344850033521652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.46629419613734197, + -0.013584914617240429, + -0.8845253984502317, + -0.18358202278614044 + ], + [ + 0.020772688967865043, + 0.9997745156288147, + -0.00440424497951467, + 0.009434210136532784 + ], + [ + 0.8843857654884274, + -0.01632029563188553, + 0.4664712617035813, + 0.04291180521249771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.4644311735638464, + -0.014132389798760414, + -0.885496497282007, + -0.18325278162956238 + ], + [ + 0.021816285682896376, + 0.9997518062591553, + -0.004513534399728726, + 0.009781659580767155 + ], + [ + 0.8853404633925424, + -0.01722201704978943, + 0.4646242089041909, + 0.04358113557100296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4627988484420365, + -0.014541958458721641, + -0.886344010722654, + -0.18233522772789001 + ], + [ + 0.022911717922491456, + 0.9997276663780215, + -0.004439000129392021, + 0.009340844117105007 + ], + [ + 0.8861671691439073, + -0.01825329847633839, + 0.4630059835773627, + 0.04360068589448929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4614034654719987, + -0.015105208382010463, + -0.8870618613123851, + -0.1825246959924698 + ], + [ + 0.024007125319705076, + 0.9997014999389651, + -0.004536019053772848, + 0.00933495257049799 + ], + [ + 0.8868656314315769, + -0.019202869385480884, + 0.4616283414172359, + 0.04282248020172119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.4593881245353907, + -0.015652863308787346, + -0.888097739286081, + -0.1827075481414795 + ], + [ + 0.025087883333961624, + 0.9996744990348816, + -0.004642159631119387, + 0.009340319782495499 + ], + [ + 0.8878812973813361, + -0.020147938281297684, + 0.45963127331086834, + 0.04350694268941879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4572964369904963, + -0.016206022351980213, + -0.8891666159584328, + -0.18273164331912994 + ], + [ + 0.026049974485720426, + 0.999648988246918, + -0.004822239543577454, + 0.009601673111319542 + ], + [ + 0.8889327228307771, + -0.020957576110959057, + 0.4575580993192278, + 0.043263062834739685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.4551975724094355, + -0.016544358804821968, + -0.8902367963466368, + -0.1829504668712616 + ], + [ + 0.026717686534043338, + 0.9996309280395508, + -0.004916024078138625, + 0.00980472844094038 + ], + [ + 0.8899895749423372, + -0.02154730260372162, + 0.4554715986388121, + 0.04305456578731537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.45305398462063995, + -0.01694480888545513, + -0.8913220698923046, + -0.1829131841659546 + ], + [ + 0.027430701938643044, + 0.9996109008789062, + -0.005060599271254196, + 0.009918277151882648 + ], + [ + 0.8910609879181111, + -0.022156862542033195, + 0.45334253082762566, + 0.042943716049194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4508118181729529, + -0.017379073426127437, + -0.8924498192058392, + -0.1830441802740097 + ], + [ + 0.028218529677421115, + 0.999588191509247, + -0.005211126137785405, + 0.010139035061001778 + ], + [ + 0.8921728279045525, + -0.022834382951259617, + 0.45111666541014345, + 0.04285157471895218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.4482254846687443, + -0.0174977146089077, + -0.8937493265969043, + -0.18195965886116028 + ], + [ + 0.02841654364758076, + 0.9995819926261902, + -0.005318474521006143, + 0.010428011417388916 + ], + [ + 0.8934687579112195, + -0.023013386875391006, + 0.4485353595529727, + 0.044442564249038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.445886855572336, + -0.017740648239850998, + -0.8949135351386754, + -0.18142898380756378 + ], + [ + 0.029195357568419573, + 0.9995598196983337, + -0.005268679165333346, + 0.009889217093586922 + ], + [ + 0.8946131003591181, + -0.02377808466553688, + 0.4462085009478781, + 0.045083142817020416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.4435514478058278, + -0.01809324324131012, + -0.8960663055057912, + -0.1817968487739563 + ], + [ + 0.029662465078813403, + 0.9995448589324951, + -0.005499790180012307, + 0.010214515030384064 + ], + [ + 0.8957579614949251, + -0.024140093475580215, + 0.4438862548839492, + 0.045336633920669556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.4413947279276782, + -0.018253536894917488, + -0.8971274116914953, + -0.182523712515831 + ], + [ + 0.029937698140381507, + 0.9995360374450684, + -0.005607591409934786, + 0.010197188705205917 + ], + [ + 0.8968134911563275, + -0.02438276633620262, + 0.44173644346734625, + 0.045056700706481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.4392059470838729, + -0.0183928981423378, + -0.8981981306264522, + -0.1828077733516693 + ], + [ + 0.029964865440928277, + 0.999534010887146, + -0.005815618837974629, + 0.010733488947153091 + ], + [ + 0.8978866086707189, + -0.024360129609704018, + 0.439552405558207, + 0.04491589963436127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4370954735792573, + -0.018686318770051003, + -0.8992210292278139, + -0.1833973377943039 + ], + [ + 0.030403297280865216, + 0.9995197653770447, + -0.00599207821994592, + 0.010630091652274132 + ], + [ + 0.898901157150495, + -0.024720171466469765, + 0.437453625635686, + 0.04464726895093918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.43457818490521444, + -0.01886497437953949, + -0.9004365472358012, + -0.18334618210792542 + ], + [ + 0.030669013649981137, + 0.9995107650756836, + -0.0061388681099683465, + 0.010518616065382957 + ], + [ + 0.9001118168391118, + -0.02494768053293228, + 0.43494407922791445, + 0.04473259299993515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.4321018207065189, + -0.019014455378055573, + -0.9016244353155507, + -0.18383920192718506 + ], + [ + 0.030948783031729918, + 0.9995014667510986, + -0.006246449821760716, + 0.010117738507688046 + ], + [ + 0.901293654546166, + -0.02520507201552391, + 0.43247487187525296, + 0.04487138241529465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.42966691933218426, + -0.01935577765107155, + -0.9027799492783415, + -0.18390122056007385 + ], + [ + 0.031205689432374006, + 0.9994913339614868, + -0.006577327119702654, + 0.010442620143294334 + ], + [ + 0.9024481153148043, + -0.025345809757709503, + 0.43005239428663916, + 0.04445108771324158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.42710573867987733, + -0.019408177584409717, + -0.9039933914231338, + -0.18341845273971558 + ], + [ + 0.03142567880133378, + 0.9994842410087588, + -0.006610754709626283, + 0.009692993946373463 + ], + [ + 0.9036554253789323, + -0.025585111230611808, + 0.42749539095326416, + 0.04435787349939346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.42459715234752016, + -0.019424160942435265, + -0.9051740396320858, + -0.18303605914115906 + ], + [ + 0.031544548723439834, + 0.9994801878929138, + -0.006651027268352722, + 0.009104965254664421 + ], + [ + 0.9048327323024272, + -0.02572929859161377, + 0.4249891442541424, + 0.044507548213005066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4223035275563982, + -0.019588809460401535, + -0.9062428693229113, + -0.18386030197143555 + ], + [ + 0.03136210332293305, + 0.9994836449623108, + -0.006989703011057435, + 0.009699241258203983 + ], + [ + 0.9059117973979944, + -0.025469902902841568, + 0.422699819759952, + 0.04411977529525757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.4202040893026142, + -0.01958748698234558, + -0.9072182201158498, + -0.18425126373767853 + ], + [ + 0.03127653253695878, + 0.9994856119155884, + -0.00709298360208301, + 0.009484951384365559 + ], + [ + 0.9068904381111244, + -0.02539413794875145, + 0.4206005836470071, + 0.04354975372552872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4180653985255906, + -0.019519316032528877, + -0.9082072531903671, + -0.18428097665309906 + ], + [ + 0.03132465127077215, + 0.9994843006134033, + -0.007061712588341308, + 0.009069533087313175 + ], + [ + 0.9078767157896707, + -0.025497013702988625, + 0.4184611881732883, + 0.04351887106895447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4157466941881889, + -0.019489094614982605, + -0.9092716410542666, + -0.18440327048301697 + ], + [ + 0.03127410901484701, + 0.999485433101654, + -0.007123237960147359, + 0.009159175679087639 + ], + [ + 0.9089425962817717, + -0.025475196540355682, + 0.4161422719356521, + 0.04345128685235977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.41306004551417624, + -0.01917283423244953, + -0.9105020172192126, + -0.18308289349079132 + ], + [ + 0.0310837447379649, + 0.9994926452636719, + -0.006945236761516627, + 0.008814986795186996 + ], + [ + 0.9101732420520983, + -0.02543300949037075, + 0.4134464616826274, + 0.04509121924638748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.4117072801086986, + -0.018590211868286133, + -0.9111265916527947, + -0.18449509143829346 + ], + [ + 0.03056644742307334, + 0.9995110630989075, + -0.006581624395024516, + 0.008439013734459877 + ], + [ + 0.9108034781490147, + -0.025140196084976196, + 0.41207424673237003, + 0.043635763227939606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.41028789128366977, + -0.018184971064329147, + -0.9117748022357424, + -0.1847934126853943 + ], + [ + 0.02994736364045241, + 0.9995306134223938, + -0.006459262699361432, + 0.00901282299309969 + ], + [ + 0.9114642632229629, + -0.024655092507600784, + 0.41063988464198825, + 0.04298854619264603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.40862103337910577, + -0.017815273255109787, + -0.9125302770476449, + -0.18406781554222107 + ], + [ + 0.0294120461037667, + 0.9995472431182861, + -0.006343707846119267, + 0.009295561350882053 + ], + [ + 0.9122301421068398, + -0.02424720861017704, + 0.4089600119347933, + 0.04345668852329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.40703273190788425, + -0.017788808792829514, + -0.9132403808439212, + -0.18388554453849792 + ], + [ + 0.02934694924703164, + 0.9995488524436951, + -0.00639000717572019, + 0.009427551180124283 + ], + [ + 0.9129420589436762, + -0.024199875071644783, + 0.4073711595977706, + 0.0440148264169693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.40548322859249175, + -0.017310068011283875, + -0.9139386100627092, + -0.1842155158519745 + ], + [ + 0.02902904898179134, + 0.9995602369308472, + -0.0060525523442486, + 0.008851208724081516 + ], + [ + 0.9136414354474515, + -0.024076558649539948, + 0.40580743621194, + 0.04380025714635849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.40370105188211375, + -0.017120927572250366, + -0.9147308358542477, + -0.18388304114341736 + ], + [ + 0.02871961776551996, + 0.999569296836853, + -0.006033919377547493, + 0.00913329515606165 + ], + [ + 0.9144401127526076, + -0.023834817111492157, + 0.40401892036779674, + 0.04416583478450775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.40220856158886437, + -0.01681988500058651, + -0.9153935552646267, + -0.1843823790550232 + ], + [ + 0.028107945122370918, + 0.9995867609977722, + -0.006016732183526681, + 0.009601639583706856 + ], + [ + 0.9151165502160564, + -0.023309849202632904, + 0.40251508140120573, + 0.044174470007419586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.4006617322731778, + -0.016582155600190163, + -0.9160759611884272, + -0.18410195410251617 + ], + [ + 0.02772592688278447, + 0.9995977282524109, + -0.005967591462036585, + 0.009555444121360779 + ], + [ + 0.915806475923275, + -0.0230080708861351, + 0.4009603720862285, + 0.043963924050331116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.39902329198953546, + -0.016265729442238808, + -0.9167965406611733, + -0.1838894933462143 + ], + [ + 0.02713191939912704, + 0.9996142983436584, + -0.005926274139918528, + 0.009479174390435219 + ], + [ + 0.9165392790083692, + -0.022509727627038956, + 0.39931071164687226, + 0.04507645219564438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.39784274784631724, + -0.016147378832101822, + -0.9173115007943422, + -0.1839272677898407 + ], + [ + 0.026693493381786868, + 0.999625563621521, + -0.006019241309848915, + 0.009774544276297092 + ], + [ + 0.9170652494199071, + -0.022091537714004517, + 0.39812481858125726, + 0.04483555257320404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.39647186579938387, + -0.015711322426795963, + -0.9179124204817382, + -0.18380886316299438 + ], + [ + 0.026023349371655655, + 0.9996441006660464, + -0.005870064580427431, + 0.009651213884353638 + ], + [ + 0.9176779800402703, + -0.021559840068221096, + 0.3967396536884531, + 0.04526875168085098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.39492967958101716, + -0.015586912631988525, + -0.9185792088594317, + -0.18338754773139954 + ], + [ + 0.02579447874812889, + 0.9996500015258789, + -0.005872604205587466, + 0.009554052725434303 + ], + [ + 0.9183492056209649, + -0.021375004202127457, + 0.39519348622670986, + 0.04551858454942703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.39362697416382564, + -0.015448791906237602, + -0.9191404916261614, + -0.1838604360818863 + ], + [ + 0.02552451620129725, + 0.9996569752693176, + -0.005871084514548669, + 0.009545212611556053 + ], + [ + 0.9189158837044186, + -0.02114959806203842, + 0.393886242893645, + 0.04503733664751053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.3920107992895642, + -0.015125294215977192, + -0.9198363245775667, + -0.18345291912555695 + ], + [ + 0.025102079719550512, + 0.9996684193611145, + -0.005740143275879795, + 0.00910304393619299 + ], + [ + 0.9196180925204623, + -0.02083960361778736, + 0.39226054487277906, + 0.045450955629348755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.39023464299367305, + -0.01479332149028778, + -0.9205966070847883, + -0.18297110497951508 + ], + [ + 0.024720186080272086, + 0.9996787905693054, + -0.0055853968687139335, + 0.008246086537837982 + ], + [ + 0.9203835168574408, + -0.020577702671289444, + 0.39047495499905216, + 0.046494804322719574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.38868109149789115, + -0.014453249052166942, + -0.9212590252730709, + -0.1830803006887436 + ], + [ + 0.024115569855823988, + 0.9996939897537234, + -0.005509372142127777, + 0.007427646778523922 + ], + [ + 0.9210567421703765, + -0.02007529512047768, + 0.38891066463671814, + 0.04633980244398117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.386869047898742, + -0.01428189966827631, + -0.9220241116048578, + -0.1823849231004715 + ], + [ + 0.023375350596191155, + 0.9997106194496155, + -0.005677254512949445, + 0.007172599900513887 + ], + [ + 0.9218384075298707, + -0.01935627870261669, + 0.3870909420940806, + 0.04602493345737457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.384814658774819, + -0.014146590605378151, + -0.9228855001193934, + -0.18295057117938995 + ], + [ + 0.0226630123980195, + 0.999725878238678, + -0.0058746749158436334, + 0.007229907438158989 + ], + [ + 0.9227156117163176, + -0.018654704093933105, + 0.3850298011738105, + 0.04604747146368027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.3829160702205608, + -0.014018379151821136, + -0.9236768055704324, + -0.18302860856056213 + ], + [ + 0.02178389585481737, + 0.9997438192367554, + -0.006142174920304771, + 0.007545005530118942 + ], + [ + 0.9235262620587305, + -0.01776934042572975, + 0.3831233842440499, + 0.04505065828561783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.3810777761318355, + -0.013722740113735199, + -0.9244411429473667, + -0.1832474172115326 + ], + [ + 0.021126932100513394, + 0.9997580051422119, + -0.006131719414116545, + 0.0072950329631567 + ], + [ + 0.9243016106916874, + -0.01719394326210022, + 0.3812754995107204, + 0.044700175523757935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.37904515898270436, + -0.013239637017250061, + -0.9252834372602768, + -0.18296746909618378 + ], + [ + 0.020355815079588162, + 0.9997749924659729, + -0.005966695148210512, + 0.00694203469902277 + ], + [ + 0.9251542503192712, + -0.01657325029373169, + 0.37922935497755994, + 0.04501628130674362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.37677847921294, + -0.013035249896347523, + -0.9262116574169086, + -0.1828717738389969 + ], + [ + 0.019813103148191537, + 0.9997856616973877, + -0.006010833322805735, + 0.007064792327582836 + ], + [ + 0.9260914803772958, + -0.01608637347817421, + 0.3769560334040178, + 0.04654480516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.3750133540625811, + -0.012730672955513004, + -0.9269320452006279, + -0.18291254341602325 + ], + [ + 0.0193168525426444, + 0.9997959136962893, + -0.005916288096858547, + 0.006636613979935646 + ], + [ + 0.9268181218269352, + -0.01568672060966492, + 0.37518273036092287, + 0.04626719653606415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.37307396335109405, + -0.012447943910956383, + -0.9277181010904674, + -0.18274147808551788 + ], + [ + 0.01875020841608896, + 0.9998069405555725, + -0.0058749809461899555, + 0.006539481692016125 + ], + [ + 0.9276121833326073, + -0.015203106217086315, + 0.3732353512549458, + 0.04664554446935654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.37109394247039795, + -0.01220423448830843, + -0.9285151807555213, + -0.1823538988828659 + ], + [ + 0.018503842770202557, + 0.9998123049736023, + -0.0057460333163721015, + 0.006175641901791096 + ], + [ + 0.9284109451786898, + -0.015048779547214508, + 0.37125008792412345, + 0.04758725315332413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.36925921942356715, + -0.012032067403197292, + -0.9292485345467034, + -0.18219545483589172 + ], + [ + 0.0182197688962658, + 0.9998177289962771, + -0.005705746134913237, + 0.00577645655721426 + ], + [ + 0.9291478281057562, + -0.014823794364929203, + 0.36941110100205204, + 0.04816693067550659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.36753325781746166, + -0.01215583086013794, + -0.9299309547515849, + -0.18244881927967072 + ], + [ + 0.0176611016568908, + 0.9998254776000977, + -0.0060893393648864995, + 0.005836910102516413 + ], + [ + 0.9298427041952225, + -0.014185569249093533, + 0.3676838363350578, + 0.048644840717315674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pan_right/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8dcb002797e9edb625d2332d1e4dc47a5f8d05b2 --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pan_right/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999483522317474, + 0.0004863918584305793, + -0.010151313863426527, + -0.0038704939652234316 + ], + [ + -0.00048529744399896963, + 0.9999998807907104, + 0.0001102725760816783, + -0.000841197615955025 + ], + [ + 0.010151365810730839, + -0.00010534047760302201, + 0.9999484715312809, + 0.0015531465178355575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997868484176283, + 0.0011968958424404263, + -0.020611194638304842, + -0.008556474931538105 + ], + [ + -0.0011876271321681097, + 0.9999991655349731, + 0.0004619318430089074, + -0.0021783914417028427 + ], + [ + 0.020611729010071092, + -0.00043735496001318097, + 0.9997874463206233, + 0.003991147968918085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995085028355247, + 0.0017863846151158214, + -0.03129861327442455, + -0.013135503977537155 + ], + [ + -0.0017557846222699483, + 0.9999979734420776, + 0.0010051326315419179, + -0.005188399460166693 + ], + [ + 0.031300343655843735, + -0.0009496849379502237, + 0.9995095847339789, + 0.00559157645329833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9990925247257134, + 0.0018534658011049037, + -0.04255252618883407, + -0.015262865461409092 + ], + [ + -0.001839629669793852, + 0.999998211860657, + 0.00036431102540090894, + -0.004469999577850103 + ], + [ + 0.04255312596103518, + -0.0002856995561160148, + 0.9990941382493606, + 0.007130587473511696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9985819021418537, + 0.0018996521830558781, + -0.053203422320887726, + -0.01995663158595562 + ], + [ + -0.0019360872849895556, + 0.9999979138374331, + -0.0006332963379357639, + -0.00321989506483078 + ], + [ + 0.05320211201774308, + 0.0007354046683758499, + 0.9985835001686231, + 0.009557518176734447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9979471260839273, + 0.002014815341681242, + -0.06401180920449805, + -0.02387487329542637 + ], + [ + -0.0020838569814113123, + 0.9999973177909851, + -0.0010118301638850956, + -0.0035073880571871996 + ], + [ + 0.06400960273144922, + 0.0011431443272158504, + 0.9979486529346074, + 0.011168312281370163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9971533878120655, + 0.0024909127969294786, + -0.07535845212729218, + -0.025680486112833023 + ], + [ + -0.0026064655038214738, + 0.9999955892562866, + -0.0014350612631302976, + -0.003606810700148344 + ], + [ + 0.07535453716940135, + 0.0016273952787742019, + 0.9971554862215043, + 0.01271769031882286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9962588755056903, + 0.0026894090697169304, + -0.08637731510263018, + -0.02857307344675064 + ], + [ + -0.0028581001642504758, + 0.9999942183494568, + -0.001829344146837048, + -0.00247141532599926 + ], + [ + 0.0863718932933498, + 0.0020693752449005842, + 0.9962608270523456, + 0.015049363486468792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9952839861796866, + 0.003340879688039422, + -0.09694632541059833, + -0.03357364982366562 + ], + [ + -0.0035621736652955067, + 0.9999914169311523, + -0.00210965763655918, + -0.001261550234630704 + ], + [ + 0.09693844838161526, + 0.002445048186928034, + 0.9952873803592558, + 0.017446216195821762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9941954859881762, + 0.0036670309491455555, + -0.10752634300224558, + -0.03793289139866829 + ], + [ + -0.003940524530859819, + 0.9999895095825195, + -0.002331143662269591, + -0.00038313717232085764 + ], + [ + 0.10751666086286141, + 0.0027413226198405027, + 0.9941994910575559, + 0.019059384241700172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9929678986088271, + 0.0042276340536773205, + -0.11830821279990862, + -0.039912063628435135 + ], + [ + -0.0045399786452902085, + 0.9999868869781494, + -0.002370708162986527, + -0.0004817905428353697 + ], + [ + 0.11829664802786047, + 0.002891153795644641, + 0.9929741164972853, + 0.021252958104014397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9916410471332495, + 0.005210375878959894, + -0.12892180049643298, + -0.04202285408973694 + ], + [ + -0.00549665867336374, + 0.9999831318855286, + -0.0018648839801124768, + -0.0019092526054009795 + ], + [ + 0.12890992590613992, + 0.0025579347275197506, + 0.9916530216409788, + 0.024068426340818405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9902201637762776, + 0.005594636779278517, + -0.139401116335135, + -0.04463276267051697 + ], + [ + -0.005994712876093066, + 0.9999790191650391, + -0.0024502401060900784, + -0.0004816869623027742 + ], + [ + 0.13938449193763963, + 0.003261946840211749, + 0.9902329649882848, + 0.02584804780781269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9887428165987748, + 0.005581590346992016, + -0.14952085211771735, + -0.05015040934085846 + ], + [ + -0.006022038240985616, + 0.99997878074646, + -0.0024931319403410828, + -0.0010983675019815564 + ], + [ + 0.14950376154095707, + 0.003365486627444625, + 0.9887554589447701, + 0.02800150401890278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9867800437435845, + 0.005800416227430106, + -0.16196148252232606, + -0.05067237839102745 + ], + [ + -0.006413241680487486, + 0.9999741315841677, + -0.0032612242917724197, + 0.00016964606766123325 + ], + [ + 0.161938373718027, + 0.004256809130311013, + 0.9867916657129482, + 0.029885074123740196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9845242602310866, + 0.0061881085857748985, + -0.17513903699318714, + -0.052169110625982285 + ], + [ + -0.006835493091219689, + 0.999971866607666, + -0.003093397702685268, + -0.000859237858094275 + ], + [ + 0.17511495982369585, + 0.004242686554789543, + 0.9845388568129859, + 0.032395344227552414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9821064230090468, + 0.006859282962977886, + -0.18820192334632516, + -0.05560212582349777 + ], + [ + -0.007506016049827601, + 0.9999681115150452, + -0.0027238928167158277, + -0.0011530111078172922 + ], + [ + 0.18817723873993414, + 0.0040877992287278175, + 0.9821265659320912, + 0.03554902970790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9794461236335625, + 0.007622532080858946, + -0.20156174777245012, + -0.057985223829746246 + ], + [ + -0.008337631322116497, + 0.9999616146087646, + -0.002699032096866939, + -0.0004582940018735826 + ], + [ + 0.20153344648629593, + 0.00432410417124629, + 0.9794720752806337, + 0.037851784378290176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.976720439459216, + 0.007998919114470484, + -0.21436699412532945, + -0.06022271513938904 + ], + [ + -0.008800663234104226, + 0.9999573826789858, + -0.00278592089965938, + -0.0003607874386943877 + ], + [ + 0.21433557111614684, + 0.004607637412846089, + 0.9767492224587494, + 0.04113214462995529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9741692824749465, + 0.00830158032476902, + -0.22566635869261917, + -0.06367271393537521 + ], + [ + -0.009238109606914572, + 0.9999525547027588, + -0.003094378182305254, + -0.00015883034211583436 + ], + [ + 0.22562993505992238, + 0.00509917875751853, + 0.9741997477080793, + 0.04336924105882645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9715939210563102, + 0.008982736617326738, + -0.23648378189361588, + -0.06598342210054398 + ], + [ + -0.01023694940076976, + 0.9999393224716189, + -0.004076251085982696, + 0.0023181342985481024 + ], + [ + 0.2364328374734457, + 0.006381333805620672, + 0.9716268975886556, + 0.04588078334927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9688816555568124, + 0.00959303416311741, + -0.247338450626757, + -0.06674929708242416 + ], + [ + -0.011022159598178845, + 0.9999296069145205, + -0.004394019367224379, + 0.002563492162153125 + ], + [ + 0.2472788623128618, + 0.006983487866818907, + 0.9689191668154408, + 0.048447560518980026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9661075268063968, + 0.010277467779815197, + -0.25793533047250294, + -0.06793326139450073 + ], + [ + -0.011765016851658873, + 0.9999218583106995, + -0.004224338807091697, + 0.001907780533656478 + ], + [ + 0.2578717782360875, + 0.0071157789789140224, + 0.966152951468449, + 0.05104412883520126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9632218418683292, + 0.010673862881958485, + -0.268495380388529, + -0.06975588202476501 + ], + [ + -0.012258844417960246, + 0.9999158978462219, + -0.004227343044848161, + 0.0019725498277693987 + ], + [ + 0.26842768266576855, + 0.007363311946392059, + 0.963271699803103, + 0.05326647311449051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.960122833147361, + 0.010835468769073486, + -0.2793684947178419, + -0.06918308883905411 + ], + [ + -0.012628404576021064, + 0.9999095797538757, + -0.0046187367525850525, + 0.0023348163813352585 + ], + [ + 0.27929318169597644, + 0.007962532341480255, + 0.9601728436999816, + 0.055508092045784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9572704124898322, + 0.010755755007266998, + -0.28899423366662313, + -0.07106033712625504 + ], + [ + -0.012794412772056578, + 0.9999048113822937, + -0.005166133585429237, + 0.00312584126368165 + ], + [ + 0.2889111707580933, + 0.008642897941172123, + 0.957316903783407, + 0.05753784999251366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.954247112697454, + 0.010849849320948126, + -0.298822188145307, + -0.07219191640615463 + ], + [ + -0.013121325519642478, + 0.9998982548713686, + -0.0055961099233696795, + 0.0034435559064149857 + ], + [ + 0.2987310376252359, + 0.009261014871299269, + 0.9542924284367087, + 0.05928904563188553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9510926891234188, + 0.010827329009771349, + -0.3087157852589834, + -0.07285265624523163 + ], + [ + -0.013398695391909292, + 0.9998909235000613, + -0.0062104169429673, + 0.004691523499786854 + ], + [ + 0.3086148951035709, + 0.010043070651590826, + 0.9511340355858268, + 0.06107013672590256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9478796683022526, + 0.010438570752739906, + -0.3184575868295436, + -0.07377280294895172 + ], + [ + -0.01327372693474957, + 0.9998892545700073, + -0.006733965975347835, + 0.006580071989446878 + ], + [ + 0.31835199613456827, + 0.010610107332468033, + 0.9479132065144091, + 0.06298702955245972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9445720912348833, + 0.010770156048238277, + -0.3281273830829125, + -0.07519721984863281 + ], + [ + -0.013591750351521334, + 0.9998877644538879, + -0.006306822477974644, + 0.0055436925031244755 + ], + [ + 0.3280226249400443, + 0.010417073965072632, + 0.9446124161902778, + 0.0639076754450798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9411944951267602, + 0.011013920418918133, + -0.33768564798910294, + -0.07670889049768448 + ], + [ + -0.0137995393223461, + 0.9998876452445984, + -0.005849722800204985, + 0.004452584311366081 + ], + [ + 0.33758329726026093, + 0.010165633633732796, + 0.9412407407475507, + 0.06527219712734222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9377854496792635, + 0.010770684108138084, + -0.34704828126157183, + -0.07771336287260056 + ], + [ + -0.01393380138158359, + 0.9998810291290283, + -0.006620155360679904, + 0.007375879678875208 + ], + [ + 0.34693570673271135, + 0.011043987236917019, + 0.9378239102297543, + 0.06740974634885788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9343982383661305, + 0.010726790875196457, + -0.3560686334383912, + -0.07965797185897827 + ], + [ + -0.014073864893423806, + 0.9998777508735657, + -0.006810810364031317, + 0.0077516380697488785 + ], + [ + 0.3559520804048515, + 0.011375270783901215, + 0.9344349661621306, + 0.06883398443460464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9310029096962427, + 0.01060201320797205, + -0.36485769839474624, + -0.08131159842014313 + ], + [ + -0.013961596605247935, + 0.9998809695243835, + -0.006571157000175883, + 0.0066415900364518166 + ], + [ + 0.36474456433219815, + 0.011211763136088848, + 0.9310401185514086, + 0.06933131814002991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9274091324915181, + 0.010560670867562296, + -0.37389949635044556, + -0.08229177445173264 + ], + [ + -0.014260555422239553, + 0.9998728632926943, + -0.0071303653811391424, + 0.007914955727756023 + ], + [ + 0.37377664589867016, + 0.011944780126214031, + 0.9274418564146302, + 0.07136506587266922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9240223638674825, + 0.01073315367102623, + -0.3821876825509068, + -0.08498596400022507 + ], + [ + -0.014637645224687669, + 0.9998661279678345, + -0.007310005515767927, + 0.008427920751273632 + ], + [ + 0.38205809052277634, + 0.01234893687069416, + 0.92405577081404, + 0.07146033644676208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9203998077335016, + 0.011067933402955532, + -0.39082177787598615, + -0.0853385254740715 + ], + [ + -0.014932385404060264, + 0.9998650550842285, + -0.006850502854535378, + 0.0067257690243422985 + ], + [ + 0.39069323358855457, + 0.01214110292494297, + 0.9204408852617064, + 0.07226291298866272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9168550868374689, + 0.011033737100660801, + -0.3990676713580849, + -0.08723005652427673 + ], + [ + -0.015195573427301337, + 0.9998581409454346, + -0.007266854407684081, + 0.008449144661426544 + ], + [ + 0.3989308505321986, + 0.01272671390324831, + 0.9168926522729924, + 0.07315818965435028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9130466300521535, + 0.01123670767992735, + -0.407700355307233, + -0.08791505545377731 + ], + [ + -0.015619035767834338, + 0.9998504519462588, + -0.007421823056822948, + 0.009609689936041832 + ], + [ + 0.4075560099592959, + 0.013144357129931453, + 0.9130856037310563, + 0.07514086365699768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9096080964261408, + 0.011081221513450147, + -0.41531953206415123, + -0.09068313986063004 + ], + [ + -0.015375428589019113, + 0.9998573064804079, + -0.0069969595789020934, + 0.00897923856973648 + ], + [ + 0.4151827584724394, + 0.012750206515192989, + 0.9096486648763832, + 0.07523241639137268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9058400985886838, + 0.011335542425513268, + -0.42346810931390133, + -0.0916629359126091 + ], + [ + -0.015737408108802555, + 0.9998523592948914, + -0.0068994753529279945, + 0.00895223394036293 + ], + [ + 0.42332737237222084, + 0.012914111837744713, + 0.9058847538066733, + 0.07620390504598618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9022994584958125, + 0.011563494801521303, + -0.43095471267170105, + -0.09422840178012848 + ], + [ + -0.016137326593819595, + 0.9998455643653872, + -0.006958947886944043, + 0.009265546686947346 + ], + [ + 0.430807715344623, + 0.013233511708676819, + 0.9023467055611641, + 0.07501840591430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8983535301777319, + 0.011870907619595531, + -0.4391127835203444, + -0.09503542631864548 + ], + [ + -0.016705038481061297, + 0.9998348951339724, + -0.00714641852065526, + 0.00993708148598671 + ], + [ + 0.43895543460281483, + 0.013755405321717266, + 0.8984035805710906, + 0.07745161652565002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.894735190007498, + 0.012344984337687492, + -0.44642644507469503, + -0.09753358364105225 + ], + [ + -0.017201058083369084, + 0.9998287558555603, + -0.006826483262502308, + 0.009290648624300957 + ], + [ + 0.4462656632845727, + 0.013786900788545609, + 0.8947943360832141, + 0.07782944291830063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8909725455477128, + 0.01265900582075119, + -0.45388071835428234, + -0.09909003973007202 + ], + [ + -0.017677174076357008, + 0.9998205304145813, + -0.006814881719383234, + 0.009604856371879578 + ], + [ + 0.45371298914374114, + 0.014095200225710869, + 0.891036377995195, + 0.07775549590587616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8871842200865325, + 0.012931415811181068, + -0.4612341583929953, + -0.10083594918251038 + ], + [ + -0.017968458191860676, + 0.9998172521591187, + -0.006530913578016117, + 0.009081341326236725 + ], + [ + 0.461065425676501, + 0.014081789180636406, + 0.8872544470581968, + 0.0782405361533165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8832520036013588, + 0.013244349509477619, + -0.4687115714760231, + -0.1026546061038971 + ], + [ + -0.018491865085119654, + 0.9998072385787966, + -0.006595058860541857, + 0.00976560264825821 + ], + [ + 0.4685338399817603, + 0.014492450281977657, + 0.88332665501478, + 0.07761625945568085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8790722004593903, + 0.013627559877932072, + -0.47649383728669586, + -0.10422961413860321 + ], + [ + -0.01910859381282124, + 0.9997952580451965, + -0.006659193413818041, + 0.011106688529253006 + ], + [ + 0.4763055417656985, + 0.01495903730392456, + 0.8791526113556681, + 0.07840067893266678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8746610873839044, + 0.013762841001152992, + -0.48453960461158446, + -0.10516046732664108 + ], + [ + -0.019429751642558814, + 0.9997889399528503, + -0.006675434288688606, + 0.012343401089310646 + ], + [ + 0.4843454329979711, + 0.015253225341439247, + 0.8747439134409012, + 0.07927967607975006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8701962563547576, + 0.013394848443567753, + -0.4925231812109795, + -0.1069750040769577 + ], + [ + -0.018867152099753693, + 0.9998031258583069, + -0.006143697196124848, + 0.011507908813655376 + ], + [ + 0.4923439179165512, + 0.014638731256127357, + 0.8702776605480225, + 0.07949212938547134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8658943240638793, + 0.012859703972935677, + -0.5000616308465323, + -0.10902588814496994 + ], + [ + -0.018347854575668503, + 0.9998133182525635, + -0.0060592523565401145, + 0.011521892622113228 + ], + [ + 0.49989037073347564, + 0.014421730302274227, + 0.8659685996912615, + 0.07868310809135437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8613569453390837, + 0.012150449678301815, + -0.5078548905037494, + -0.11015161871910095 + ], + [ + -0.017369216276898015, + 0.9998338222503664, + -0.005538321463717317, + 0.01064275112003088 + ], + [ + 0.5077032062649437, + 0.013591513969004158, + 0.8614248053319076, + 0.07982134819030762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8571899723531388, + 0.011548399925231935, + -0.5148708985302967, + -0.11261479556560516 + ], + [ + -0.016888792243111666, + 0.9998411536216738, + -0.005691402362318906, + 0.012023146264255047 + ], + [ + 0.5147233706925359, + 0.013574158772826198, + 0.8572488647979838, + 0.07873494178056717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8528650355981033, + 0.010826105251908302, + -0.5220192378802343, + -0.1142389178276062 + ], + [ + -0.0161665737984754, + 0.9998531937599182, + -0.005676782127593467, + 0.012740066275000572 + ], + [ + 0.5218811750299799, + 0.01328079029917717, + 0.8529148720598824, + 0.07803624123334885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8485611413363309, + 0.010269312188029291, + -0.5289976472511804, + -0.1157098114490509 + ], + [ + -0.015811953086885773, + 0.9998572468757632, + -0.005953831520244139, + 0.014151427894830704 + ], + [ + 0.5288610160787384, + 0.01341667585074902, + 0.8486023810479615, + 0.07869244366884232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8444665028141253, + 0.009605573490262033, + -0.5355221876455497, + -0.11890657246112823 + ], + [ + -0.014354906802518438, + 0.9998859167099001, + -0.004701504761004496, + 0.011564642190933228 + ], + [ + 0.5354159715014394, + 0.011657634750008585, + 0.844508079397815, + 0.07804033160209656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8400947374323628, + 0.008899434469640255, + -0.5423667943243075, + -0.12053301930427551 + ], + [ + -0.013387069675227748, + 0.9999009966850281, + -0.004328904709913053, + 0.011698205024003983 + ], + [ + 0.5422745815951502, + 0.01089739054441452, + 0.8401306970938421, + 0.07674042880535126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8358597646102441, + 0.0077556101605296135, + -0.5488882840230365, + -0.1219722181558609 + ], + [ + -0.012127395870936915, + 0.9999170303344727, + -0.004339380500047069, + 0.012736096978187561 + ], + [ + 0.5488091084134671, + 0.01028369925916195, + 0.8358844852439686, + 0.07582180202007294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8317913092431246, + 0.006658867001533508, + -0.5550485716179522, + -0.12456101179122925 + ], + [ + -0.010708544640195232, + 0.9999344348907471, + -0.004051616717182466, + 0.011577502824366093 + ], + [ + 0.5549852567854763, + 0.009313861839473248, + 0.8318080580546927, + 0.07423222064971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8274880577249029, + 0.005289234220981598, + -0.5614584748694695, + -0.12638087570667267 + ], + [ + -0.009390859508519301, + 0.999946117401123, + -0.0044204060405362115, + 0.012715768069028854 + ], + [ + 0.5614048489455679, + 0.008930409327149391, + 0.8274931263038843, + 0.07449984550476074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8233898338535767, + 0.005259272176772357, + -0.5674517439132252, + -0.12825165688991547 + ], + [ + -0.009110150754027532, + 0.999950706958771, + -0.003951336112564905, + 0.010528180748224258 + ], + [ + 0.5674030178794172, + 0.008423060178756716, + 0.8233971287139844, + 0.07280276715755463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8191110132181649, + 0.0054379841312766075, + -0.5736093258516807, + -0.13056805729866028 + ], + [ + -0.009248894878240422, + 0.9999502897262573, + -0.0037275510606028907, + 0.009160492569208145 + ], + [ + 0.5735605748888573, + 0.008358529768884182, + 0.8191205603309711, + 0.07246769964694977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8145819066467801, + 0.005608484148979188, + -0.5800214378941871, + -0.13239477574825287 + ], + [ + -0.010244100066017161, + 0.9999364018440249, + -0.0047179834873204846, + 0.011599650606513023 + ], + [ + 0.5799580985016244, + 0.00978498160839081, + 0.8145875526101534, + 0.07206179201602936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8106162637413616, + 0.006018341518938541, + -0.5855467418118181, + -0.13519403338432312 + ], + [ + -0.010593165287043009, + 0.9999342560768127, + -0.004387431126729735, + 0.009717945009469986 + ], + [ + 0.5854818838953361, + 0.009759316220879555, + 0.8106267295133764, + 0.06903043389320374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8060540445770497, + 0.00578389223664999, + -0.5918137214317494, + -0.13666102290153503 + ], + [ + -0.010314292717357757, + 0.9999376535415649, + -0.0042755771444980915, + 0.009013587608933449 + ], + [ + 0.5917520794157878, + 0.009550485759973526, + 0.8060633842269761, + 0.06961359083652496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8021690290587012, + 0.005525314249098302, + -0.5970715330148519, + -0.14067620038986206 + ], + [ + -0.01031987485987395, + 0.999936103820801, + -0.004611379228373193, + 0.010417653247714043 + ], + [ + 0.597007873808483, + 0.009860808029770853, + 0.8021747919954725, + 0.06645871698856354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7980074418734338, + 0.005478494800627232, + -0.6026226562221222, + -0.14291125535964966 + ], + [ + -0.010473111827666809, + 0.9999337196350098, + -0.004778262866197014, + 0.01108822226524353 + ], + [ + 0.6025565973116759, + 0.01012442447245121, + 0.7980119754423786, + 0.06574040651321411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7938453438388384, + 0.005495008081197739, + -0.6080948970262742, + -0.14500293135643005 + ], + [ + -0.010323861208392432, + 0.9999368190765381, + -0.004441558921627297, + 0.010242316871881485 + ], + [ + 0.6080320530991011, + 0.00980379804968834, + 0.7938519452291195, + 0.06528910249471664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7897519188018104, + 0.005751725286245346, + -0.613399377128926, + -0.1478327512741089 + ], + [ + -0.010850854347318807, + 0.9999305605888367, + -0.0045943270191277615, + 0.010656359605491161 + ], + [ + 0.6133303834677486, + 0.010284285992383957, + 0.7897595344112388, + 0.06332661211490631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7858597595055025, + 0.005315891467034817, + -0.618381884648142, + -0.14965634047985077 + ], + [ + -0.010227320271895926, + 0.9999380111694336, + -0.0044012890847937, + 0.010606810450553894 + ], + [ + 0.6183201842257126, + 0.00978318601846695, + 0.7858654445055283, + 0.062090061604976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.782251424317139, + 0.005222121253609657, + -0.6229410310391078, + -0.15259255468845367 + ], + [ + -0.009826893248503317, + 0.9999439120292664, + -0.003957474707355066, + 0.009666206315159798 + ], + [ + 0.6228854594002674, + 0.00921731535345316, + 0.7822588428795088, + 0.0595402792096138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7787487377165355, + 0.004453210160136224, + -0.6273201551910917, + -0.1560201793909073 + ], + [ + -0.008950197910670043, + 0.9999518990516665, + -0.004012241716845692, + 0.010605424642562866 + ], + [ + 0.627272158391561, + 0.008739167824387552, + 0.7787511249793466, + 0.058968305587768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7752474836147017, + 0.003815949894487858, + -0.6316461130103945, + -0.15774816274642944 + ], + [ + -0.008019852428501173, + 0.9999606013298035, + -0.0038020838256382214, + 0.010241229087114334 + ], + [ + 0.6316066780748816, + 0.008013264276087284, + 0.7752476330306696, + 0.05684114247560501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7720173977243225, + 0.00299663539044559, + -0.6355944275425605, + -0.16143806278705597 + ], + [ + -0.006626062702658799, + 0.9999724626541138, + -0.003333703015302525, + 0.009301741607487202 + ], + [ + 0.6355669678377065, + 0.006785165052860975, + 0.7720159586628159, + 0.05633888766169548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.768675070637656, + 0.0021717692725360394, + -0.639635837956375, + -0.16370275616645813 + ], + [ + -0.005635827332649927, + 0.9999784231185913, + -0.0033775424558508465, + 0.009392215870320797 + ], + [ + 0.6396146519106387, + 0.006201109383255243, + 0.7686706770962992, + 0.05395578220486641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7651586442569913, + 0.0016479046316817403, + -0.6438397723629168, + -0.16563531756401062 + ], + [ + -0.004501621363047893, + 0.9999859929084778, + -0.0027904036138217347, + 0.007629150524735451 + ], + [ + 0.6438261493931055, + 0.005033424124121666, + 0.765155275471132, + 0.054019346833229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.762157775893457, + 0.0002499428810551763, + -0.6473913037744743, + -0.16946940124034882 + ], + [ + -0.0030739420307692605, + 0.9999900460243227, + -0.003232803208004747, + 0.008652483113110065 + ], + [ + 0.6473840392332972, + 0.004453949630260468, + 0.7621509667146009, + 0.05131444334983826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.758896010194449, + -0.0007921459618955851, + -0.6512114302763456, + -0.1710629165172577 + ], + [ + -0.0013051709230671668, + 0.9999954104423523, + -0.002737408362035762, + 0.0072492375038564205 + ], + [ + 0.6512106074923393, + 0.0029273503459990025, + 0.7588914468568916, + 0.04968869313597679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7554127476343182, + -0.0008249189122579992, + -0.6552487688330834, + -0.17274364829063416 + ], + [ + -0.0011378182670928737, + 0.9999960660934448, + -0.0025706850956658386, + 0.006920228712260723 + ], + [ + 0.655248344949253, + 0.002687482163310051, + 0.7554088384486705, + 0.049111366271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7520283917382574, + -0.0008845060365274549, + -0.6591301338631499, + -0.1740822196006775 + ], + [ + -0.0009667139631534797, + 0.999996542930603, + -0.00244488813446535, + 0.00683872913941741 + ], + [ + 0.659130013265449, + 0.0024758153595030308, + 0.7520249444938065, + 0.048084668815135956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7490896406918943, + -0.0011688161175698042, + -0.6624677327463248, + -0.1772003322839737 + ], + [ + -0.0004363103289755858, + 0.9999973773956299, + -0.0022576930979185724, + 0.006453714799135923 + ], + [ + 0.6624685719862317, + 0.001980255823582411, + 0.7490871106516305, + 0.0462251640856266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7458765234502921, + -0.001442446606233716, + -0.6660826713536125, + -0.17843885719776154 + ], + [ + -1.6040787689777576e-05, + 0.999997615814209, + -0.0021835242712752207, + 0.006465235259383917 + ], + [ + 0.6660842481251444, + 0.0016393241239711642, + 0.7458747621410764, + 0.044789839535951614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7427828836154972, + -0.0014531849883496763, + -0.6695307783642936, + -0.1799880862236023 + ], + [ + -0.0001808108975951974, + 0.9999971985816958, + -0.00237103977521822, + 0.007763821166008711 + ], + [ + 0.6695323171394579, + 0.0018822263227775697, + 0.7427805770502163, + 0.044673431664705276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7395373569965118, + -0.0012736815260723233, + -0.6731143389484413, + -0.17975494265556335 + ], + [ + -0.0002364007741788514, + 0.9999976754188538, + -0.00215194630434481, + 0.007251599803566933 + ], + [ + 0.673115475978596, + 0.0017505694413557649, + 0.7395353550446552, + 0.0452461913228035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7369444010228937, + -0.0022252695634961133, + -0.6759497049251805, + -0.18146948516368866 + ], + [ + 0.0006644667861550075, + 0.9999964833259585, + -0.0025676269788557212, + 0.009034453891217709 + ], + [ + 0.6759529983280087, + 0.0014430524315685036, + 0.7369433232149118, + 0.04503440111875534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7350333997735286, + -0.0025507272221148014, + -0.6780261670337476, + -0.18221096694469452 + ], + [ + 0.0014254636415048341, + 0.999996542930603, + -0.0022166624898546095, + 0.008316840045154095 + ], + [ + 0.6780295060556252, + 0.000662819598801434, + 0.735034443819277, + 0.04432883858680725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7328549082423972, + -0.0030336659401655197, + -0.6803781848391844, + -0.18091502785682678 + ], + [ + 0.002370140511850362, + 0.9999953508377075, + -0.001905826690127942, + 0.007730195298790932 + ], + [ + 0.6803808564178994, + -0.000215897336602211, + 0.7328587507867365, + 0.046439796686172485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7318625993224538, + -0.003761997679248453, + -0.6814418905347884, + -0.18229500949382782 + ], + [ + 0.0035754612992510582, + 0.9999921917915346, + -0.0016805861461971004, + 0.007857788354158401 + ], + [ + 0.6814428699733023, + -0.001206510700285435, + 0.7318703483804282, + 0.046590521931648254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7318122633816964, + -0.004539810586720705, + -0.6814911785301718, + -0.18312156200408936 + ], + [ + 0.004942042904501981, + 0.9999868869781494, + -0.001354534807974131, + 0.007864829152822495 + ], + [ + 0.6814883385872447, + -0.0023766930680722, + 0.7318250923488451, + 0.04478410631418228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.731662766154281, + -0.005660193972289562, + -0.6816432524085007, + -0.18325906991958618 + ], + [ + 0.006490066383669002, + 0.9999780654907227, + -0.0013372531361271563, + 0.009059605188667774 + ], + [ + 0.6816358953390276, + -0.003445491660386324, + 0.7316834510059398, + 0.04566638916730881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7324619446958271, + -0.0064145904034376144, + -0.6807778695307498, + -0.1839216649532318 + ], + [ + 0.007937657177049121, + 0.9999681115150452, + -0.0008818649641001662, + 0.008733679540455341 + ], + [ + 0.6807617766924307, + -0.004757847636938095, + 0.7324895011786503, + 0.04421037435531616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7331745036915842, + -0.0074282484129071236, + -0.6800001275021222, + -0.1840333342552185 + ], + [ + 0.009453742149601362, + 0.9999550580978394, + -0.0007303999162870136, + 0.009267712011933327 + ], + [ + 0.6799749383470803, + -0.005893034394830465, + 0.7332117451939336, + 0.043657444417476654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7337784195183559, + -0.008415607735514643, + -0.6793367145641774, + -0.184233158826828 + ], + [ + 0.010950683386159617, + 0.9999398589134219, + -0.0005589655988977723, + 0.009432406164705753 + ], + [ + 0.6793006266413354, + -0.00702904397621751, + 0.7338265365429472, + 0.043629392981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.734226624873531, + -0.009412487968802452, + -0.6788392194614252, + -0.18298590183258057 + ], + [ + 0.012518513214504923, + 0.9999215602874756, + -0.00032455915713760364, + 0.009792385622859001 + ], + [ + 0.6787890721009224, + -0.008259756490588188, + 0.7342869387548684, + 0.04450157284736633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7353112841812416, + -0.010227596387267113, + -0.6776523993871904, + -0.18353630602359772 + ], + [ + 0.01395575063363937, + 0.999902606010437, + 5.197542750198854e-05, + 0.01022854819893837 + ], + [ + 0.6775858370834879, + -0.009495366364717484, + 0.735382395039986, + 0.04319961369037628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7359205515284326, + -0.010898209176957607, + -0.6769801407000072, + -0.18326738476753235 + ], + [ + 0.01554599160874988, + 0.9998788237571716, + 0.0008031646204110459, + 0.009698392823338509 + ], + [ + 0.6768894162036124, + -0.011115392670035362, + 0.7360008051924601, + 0.04347214102745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7365646122387884, + -0.01192661747336388, + -0.6762620355677803, + -0.18345561623573303 + ], + [ + 0.01711115112219819, + 0.9998530745506289, + 0.0010034621424648013, + 0.010511730797588825 + ], + [ + 0.6761507129083051, + -0.012310735881328586, + 0.7366605209157068, + 0.04357311129570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7372468413559755, + -0.012528479099273682, + -0.6755073202900153, + -0.18346214294433594 + ], + [ + 0.01862471541849287, + 0.9998249411582947, + 0.001783441098836218, + 0.009804286062717438 + ], + [ + 0.6753667754659812, + -0.013895966112613678, + 0.7373511789026086, + 0.0434851199388504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7380624089998906, + -0.013137735426425934, + -0.6746045911316464, + -0.1835842728614807 + ], + [ + 0.020107432373352316, + 0.999794602394104, + 0.002528153694618489, + 0.00909356214106083 + ], + [ + 0.6744328746250726, + -0.015430498868227005, + 0.7381749834862547, + 0.04344850033521652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7391439759720497, + -0.013584914617240429, + -0.6734104548038596, + -0.18358202278614044 + ], + [ + 0.021033083430099443, + 0.9997745156288147, + 0.0029174273286096475, + 0.009434210136532784 + ], + [ + 0.6732189574979738, + -0.01632029563188553, + 0.7392630488934396, + 0.04291180521249771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7400578653502666, + -0.014132389798760414, + -0.6723947632230649, + -0.18325278162956238 + ], + [ + 0.022040585482029487, + 0.9997518062591553, + 0.003245751898194766, + 0.009781659580767155 + ], + [ + 0.6721819695160265, + -0.01722201704978943, + 0.7401856466303048, + 0.04358113557100296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7411472276281018, + -0.014541958458721641, + -0.6711849718537908, + -0.18233522772789001 + ], + [ + 0.02303100884991001, + 0.9997276663780215, + 0.0037714946193684886, + 0.009340844117105007 + ], + [ + 0.6709473330002529, + -0.01825329847633839, + 0.7412802903334307, + 0.04360068589448929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7424137712937853, + -0.015105208382010463, + -0.669771375872321, + -0.1825246959924698 + ], + [ + 0.02407799287794234, + 0.9997014999389651, + 0.004143403666307808, + 0.00933495257049799 + ], + [ + 0.6695089098543513, + -0.019202869385480884, + 0.7425558520675706, + 0.04282248020172119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7432115741301498, + -0.015652863308787346, + -0.6688733808189532, + -0.1827075481414795 + ], + [ + 0.02511217343035219, + 0.9996744990348816, + 0.004508911378944751, + 0.009340319782495499 + ], + [ + 0.6685850640660296, + -0.020147938281297684, + 0.7433627094176556, + 0.04350694268941879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.7439525032102261, + -0.016206022351980213, + -0.6680359086055274, + -0.18273164331912994 + ], + [ + 0.026059537963865884, + 0.999648988246918, + 0.004770287835357518, + 0.009601673111319542 + ], + [ + 0.6677241695750888, + -0.020957576110959057, + 0.7441137233899275, + 0.043263062834739685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.744690350353364, + -0.016544358804821968, + -0.6672051150789767, + -0.1829504668712616 + ], + [ + 0.02669965423242648, + 0.9996309280395508, + 0.0050130360398774635, + 0.00980472844094038 + ], + [ + 0.6668759380126539, + -0.02154730260372162, + 0.7448572373095266, + 0.04305456578731537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7453951923006096, + -0.01694480888545513, + -0.6664074973714496, + -0.1829131841659546 + ], + [ + 0.02739902848105934, + 0.9996109008789062, + 0.005229370146106772, + 0.009918277151882648 + ], + [ + 0.6660595616161826, + -0.022156862542033195, + 0.7455694433293625, + 0.042943716049194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.7460272673259293, + -0.017379073426127437, + -0.6656885845582341, + -0.1830441802740097 + ], + [ + 0.028169019274541535, + 0.999588191509247, + 0.005472440578929468, + 0.010139035061001778 + ], + [ + 0.665319277028254, + -0.022834382951259617, + 0.7462096624116944, + 0.04285157471895218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7464068473910582, + -0.0174977146089077, + -0.6652599206826548, + -0.18195965886116028 + ], + [ + 0.02837352638437125, + 0.9995819926261902, + 0.005543385664090348, + 0.010428011417388916 + ], + [ + 0.6648848026858813, + -0.023013386875391006, + 0.7465913134306402, + 0.044442564249038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7469719859444347, + -0.017740648239850998, + -0.6646188197461863, + -0.18142898380756378 + ], + [ + 0.029058440952941016, + 0.9995598196983337, + 0.005977866933909802, + 0.009889217093586922 + ], + [ + 0.6642202444382644, + -0.02377808466553688, + 0.7471586796194489, + 0.045083142817020416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7475403650045971, + -0.01809324324131012, + -0.6639699642319957, + -0.1817968487739563 + ], + [ + 0.029557244165875077, + 0.9995448589324951, + 0.006039771841289047, + 0.010214515030384064 + ], + [ + 0.6635584716421461, + -0.024140093475580215, + 0.7477349046074961, + 0.045336633920669556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7482439164507491, + -0.018253536894917488, + -0.6631726322346809, + -0.182523712515831 + ], + [ + 0.029831681356993777, + 0.9995360374450684, + 0.006146677051884741, + 0.010197188705205917 + ], + [ + 0.6627526902436132, + -0.02438276633620262, + 0.7484413103123274, + 0.045056700706481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7489249856587475, + -0.0183928981423378, + -0.6623995106208487, + -0.1828077733516693 + ], + [ + 0.029914738523666672, + 0.999534010887146, + 0.0060681959775699505, + 0.010733488947153091 + ], + [ + 0.6619792922344845, + -0.024360129609704018, + 0.7491262216175204, + 0.04491589963436127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7496635628655774, + -0.018686318770051003, + -0.661555330218639, + -0.1833973377943039 + ], + [ + 0.030366089324402705, + 0.9995197653770447, + 0.0061778722943269465, + 0.010630091652274132 + ], + [ + 0.6611222073748113, + -0.024720171466469765, + 0.7498709167744557, + 0.04464726895093918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7501052034363657, + -0.01886497437953949, + -0.6610494370099187, + -0.18334618210792542 + ], + [ + 0.030646349098054654, + 0.9995107650756836, + 0.006251030866543572, + 0.010518616065382957 + ], + [ + 0.6606081144383029, + -0.02494768053293228, + 0.7503163026398235, + 0.04473259299993515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7505792134301669, + -0.019014455378055573, + -0.660506964522348, + -0.18383920192718506 + ], + [ + 0.030924045366616693, + 0.9995014667510986, + 0.00636778805271508, + 0.010117738507688046 + ], + [ + 0.6600565433954305, + -0.02520507201552391, + 0.7507929981356886, + 0.04487138241529465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7510838224786174, + -0.01935577765107155, + -0.6599230182364632, + -0.18390122056007385 + ], + [ + 0.03126841648766245, + 0.9994913339614868, + 0.0062723532540374235, + 0.010442620143294334 + ], + [ + 0.6594659875864779, + -0.025345809757709503, + 0.7513070436802152, + 0.04445108771324158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7515006195807239, + -0.019408177584409717, + -0.6594468761922913, + -0.18341845273971558 + ], + [ + 0.03146160755126847, + 0.9994842410087588, + 0.006437593979540211, + 0.009692993946373463 + ], + [ + 0.6589817864392261, + -0.025585111230611808, + 0.751723647522432, + 0.04435787349939346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7519581965975662, + -0.019424160942435265, + -0.6589246196456982, + -0.18303605914115906 + ], + [ + 0.03156413893449273, + 0.9994801878929138, + 0.006557427179456956, + 0.009104965254664421 + ], + [ + 0.6584547602369029, + -0.02572929859161377, + 0.7521804137978514, + 0.044507548213005066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7525726313668402, + -0.019588809460401535, + -0.6582179290347469, + -0.18386030197143555 + ], + [ + 0.03151122672100192, + 0.9994836449623108, + 0.006283316286701494, + 0.009699241258203983 + ], + [ + 0.6577549257412214, + -0.025469902902841568, + 0.7528012884906091, + 0.04411977529525757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.753330489541107, + -0.01958748698234558, + -0.6573504005510044, + -0.18425126373767853 + ], + [ + 0.031453174439153186, + 0.9994856119155884, + 0.006263363442676788, + 0.009484951384365559 + ], + [ + 0.6568895293813112, + -0.02539413794875145, + 0.7535590646331511, + 0.04354975372552872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.754061223255298, + -0.019519316032528877, + -0.6565141002100991, + -0.18428097665309906 + ], + [ + 0.031462305920080175, + 0.9994843006134033, + 0.0064206594760284315, + 0.009069533087313175 + ], + [ + 0.6560502160270091, + -0.025497013702988625, + 0.7542864251273209, + 0.04351887106895447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.7546625202245045, + -0.019489094614982605, + -0.6558236893573804, + -0.18440327048301697 + ], + [ + 0.03141929109514979, + 0.999485433101654, + 0.00645279480439758, + 0.009159175679087639 + ], + [ + 0.6553604736423648, + -0.025475196540355682, + 0.7548865367818326, + 0.04345128685235977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7550028552568071, + -0.01917283423244953, + -0.6554412354395301, + -0.18308289349079132 + ], + [ + 0.031149490853942065, + 0.9994926452636719, + 0.006644149317155817, + 0.008814986795186996 + ], + [ + 0.6549813097768942, + -0.02543300949037075, + 0.7552170489789382, + 0.04509121924638748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7563057324822512, + -0.018590211868286133, + -0.6539542717391076, + -0.18449509143829346 + ], + [ + 0.03050408808768142, + 0.9995110630989075, + 0.006864845058969744, + 0.008439013734459877 + ], + [ + 0.6535069129820229, + -0.025140196084976196, + 0.7565030570414767, + 0.043635763227939606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.7575570235515793, + -0.018184971064329147, + -0.6525157467783438, + -0.1847934126853943 + ], + [ + 0.029867395089486493, + 0.9995306134223938, + 0.0068194848926712275, + 0.00901282299309969 + ], + [ + 0.652085435583971, + -0.024655092507600784, + 0.7577445497597636, + 0.04298854619264603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7586293107120184, + -0.017815273255109787, + -0.6512789144268895, + -0.18406781554222107 + ], + [ + 0.029310066605501797, + 0.9995472431182861, + 0.00679934414690574, + 0.009295561350882053 + ], + [ + 0.6508629149585946, + -0.02424720861017704, + 0.7588080056651831, + 0.04345668852329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7597536052125599, + -0.017788808792829514, + -0.6499677664429704, + -0.18388554453849792 + ], + [ + 0.029247405644460208, + 0.9995488524436951, + 0.0068311700961111894, + 0.009427551180124283 + ], + [ + 0.6495530237647457, + -0.024199875071644783, + 0.7599311376555291, + 0.0440148264169693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7609077866507158, + -0.017310068011283875, + -0.6486291481636147, + -0.1842155158519745 + ], + [ + 0.028790955410652106, + 0.9995602369308472, + 0.007099293007684104, + 0.008851208724081516 + ], + [ + 0.6482209775965576, + -0.024076558649539948, + 0.7610715551478393, + 0.04380025714635849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7618933532645745, + -0.017120927572250366, + -0.6474763004192494, + -0.18388304114341736 + ], + [ + 0.028479526166853838, + 0.999569296836853, + 0.007081046318433479, + 0.00913329515606165 + ], + [ + 0.6470761332466117, + -0.023834817111492157, + 0.762052810249247, + 0.04416583478450775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.7630835729811725, + -0.01681988500058651, + -0.6460809149647465, + -0.1843823790550232 + ], + [ + 0.02789761596607904, + 0.9995867609977722, + 0.006926807964688542, + 0.009601639583706856 + ], + [ + 0.6456975038443823, + -0.023309849202632904, + 0.7632374628933574, + 0.044174470007419586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.7642332429780623, + -0.016582155600190163, + -0.644726717844606, + -0.18410195410251617 + ], + [ + 0.02750901907222908, + 0.9995977282524109, + 0.006898770836244623, + 0.009555444121360779 + ], + [ + 0.6443530033113544, + -0.0230080708861351, + 0.7643820565987748, + 0.043963924050331116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.7653176572357853, + -0.016265729442238808, + -0.6434472535038048, + -0.1838894933462143 + ], + [ + 0.026934595888463884, + 0.9996142983436584, + 0.006766780607300485, + 0.009479174390435219 + ], + [ + 0.6430889648291275, + -0.022509727627038956, + 0.7654605657485656, + 0.04507645219564438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.7667196101141128, + -0.016147378832101822, + -0.6417789969841173, + -0.1839272677898407 + ], + [ + 0.026560686170377174, + 0.999625563621521, + 0.00658056266807222, + 0.009774544276297092 + ], + [ + 0.6414324547801035, + -0.022091537714004517, + 0.7668614273900637, + 0.04483555257320404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.7679881299330106, + -0.015711322426795963, + -0.6402713364871844, + -0.18380886316299438 + ], + [ + 0.025872349237965327, + 0.9996441006660464, + 0.006503377246200188, + 0.009651213884353638 + ], + [ + 0.6399412894404626, + -0.021559840068221096, + 0.7681213276097095, + 0.04526875168085098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.7691327423306122, + -0.015586912631988525, + -0.6388990839230999, + -0.18338754773139954 + ], + [ + 0.025646907583169756, + 0.9996500015258789, + 0.006486813197827281, + 0.009554052725434303 + ], + [ + 0.6385743385477137, + -0.021375004202127457, + 0.769263263888916, + 0.04551858454942703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7704417910430235, + -0.015448791906237602, + -0.6373232184304672, + -0.1838604360818863 + ], + [ + 0.02538349590166011, + 0.9996569752693176, + 0.006453580130258201, + 0.009545212611556053 + ], + [ + 0.637004895882095, + -0.02114959806203842, + 0.7705696180666516, + 0.04503733664751053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.7715328660051735, + -0.015125294215977192, + -0.6360097227604722, + -0.18345291912555695 + ], + [ + 0.024925684054524815, + 0.9996684193611145, + 0.006463275136361171, + 0.00910304393619299 + ], + [ + 0.6357010036805434, + -0.02083960361778736, + 0.7716540708597428, + 0.045450955629348755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.7725122283685949, + -0.01479332149028778, + -0.6348275723292204, + -0.18297110497951508 + ], + [ + 0.024493004720746843, + 0.9996787905693054, + 0.006509760193262876, + 0.008246086537837982 + ], + [ + 0.6345273637283395, + -0.020577702671289444, + 0.7726263865959706, + 0.046494804322719574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.7736439048466378, + -0.014453249052166942, + -0.6334558319478376, + -0.1830803006887436 + ], + [ + 0.023900050348402858, + 0.9996939897537234, + 0.006379771486141852, + 0.007427646778523922 + ], + [ + 0.6331697986783554, + -0.02007529512047768, + 0.7737525660101503, + 0.04633980244398117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.7745953833800203, + -0.01428189966827631, + -0.6322959075062606, + -0.1823849231004715 + ], + [ + 0.023303140386414317, + 0.9997106194496155, + 0.005966731302038411, + 0.007172599900513887 + ], + [ + 0.6320277423958327, + -0.01935627870261669, + 0.7747040595546907, + 0.04602493345737457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.7753801040463247, + -0.014146590605378151, + -0.6313364096800642, + -0.18295057117938995 + ], + [ + 0.022747921735727306, + 0.999725878238678, + 0.005536785441468097, + 0.007229907438158989 + ], + [ + 0.631084997998903, + -0.018654704093933105, + 0.7754893765859638, + 0.04604747146368027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.7762711924450327, + -0.014018379151821136, + -0.6302432814095862, + -0.18302860856056213 + ], + [ + 0.022082622701839295, + 0.9997438192367554, + 0.004962076780276809, + 0.007545005530118942 + ], + [ + 0.6300122319761524, + -0.01776934042572975, + 0.7763819110638858, + 0.04505065828561783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.7772040581302305, + -0.013722740113735199, + -0.629098998776282, + -0.1832474172115326 + ], + [ + 0.021483525223941657, + 0.9997580051422119, + 0.0047332216201462175, + 0.0072950329631567 + ], + [ + 0.628881825979514, + -0.01719394326210022, + 0.7773108277948205, + 0.044700175523757935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.7780056288005722, + -0.013239637017250061, + -0.6281177543829203, + -0.18296746909618378 + ], + [ + 0.0207117788894733, + 0.9997749924659729, + 0.004580706689980907, + 0.00694203469902277 + ], + [ + 0.6279157961523468, + -0.01657325029373169, + 0.7781047766868375, + 0.04501628130674362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.7786467196779882, + -0.013035249896347523, + -0.6273271416635035, + -0.1828717738389969 + ], + [ + 0.02024253755096281, + 0.9997856616973877, + 0.0043507294897855535, + 0.007064792327582836 + ], + [ + 0.6271359412625229, + -0.01608637347817421, + 0.7787437269884565, + 0.04654480516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7796280863010836, + -0.012730672955513004, + -0.6261134715014489, + -0.18291254341602325 + ], + [ + 0.019748031395423398, + 0.9997959136962893, + 0.004261280676588816, + 0.006636613979935646 + ], + [ + 0.6259313848786959, + -0.01568672060966492, + 0.7797203431562644, + 0.04626719653606415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.7804908367112221, + -0.012447943910956383, + -0.625043287325936, + -0.18274147808551788 + ], + [ + 0.019219207305964534, + 0.9998069405555725, + 0.004087516029965862, + 0.006539481692016125 + ], + [ + 0.6248717782400343, + -0.015203106217086315, + 0.7805794327630129, + 0.04664554446935654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7813256738611943, + -0.01220423448830843, + -0.6240042839572754, + -0.1823538988828659 + ], + [ + 0.018927012288327067, + 0.9998123049736023, + 0.004144550877326987, + 0.006175641901791096 + ], + [ + 0.6238365209783988, + -0.015048779547214508, + 0.7814099474698447, + 0.04758725315332413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.782257117300606, + -0.012032067403197292, + -0.6228394757231143, + -0.18219545483589172 + ], + [ + 0.018645998408439026, + 0.9998177289962771, + 0.004103932375405474, + 0.00577645655721426 + ], + [ + 0.6226766030733158, + -0.014823794364929203, + 0.7823388626434638, + 0.04816693067550659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7832586153813699, + -0.01215583086013794, + -0.6215772016716591, + -0.18244881927967072 + ], + [ + 0.018339632376130125, + 0.9998254776000977, + 0.0035570282461890933, + 0.005836910102516413 + ], + [ + 0.6214254851891531, + -0.014185569249093533, + 0.7833448949246912, + 0.048644840717315674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pull_out/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c27205863f49726744075794d80fb983e744e356 --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/pull_out/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0004863918584305793, + -0.011884978972375393, + -0.0038626231182218584 + ], + [ + -0.0004851055273320526, + 0.9999998807907104, + 0.00011111380445072427, + -0.0008412712012559857 + ], + [ + 0.011885031126439571, + -0.00010534047760302201, + 0.9999293684959412, + 0.000890941638036921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0011968958424404263, + -0.024077866226434708, + -0.008524583717993158 + ], + [ + -0.0011860182275995612, + 0.9999991655349731, + 0.00046604720409959555, + -0.002179008722767875 + ], + [ + 0.024078402668237686, + -0.00043735496001318097, + 0.999709963798523, + 0.002667028811569048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0017863846151158214, + -0.03649692237377167, + -0.01306299353573496 + ], + [ + -0.0017505328869447112, + 0.9999979734420776, + 0.001014251378364861, + -0.0051904145291303315 + ], + [ + 0.03649865835905075, + -0.0009496849379502237, + 0.9993332624435425, + 0.0036061461305628155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151672, + 0.0018534658011049032, + -0.04948023706674576, + -0.015131791985735592 + ], + [ + -0.001837058924138546, + 0.9999982118606567, + 0.00037706014700233936, + -0.0044709984126766 + ], + [ + 0.049480848014354706, + -0.0002856995561160147, + 0.9987750053405762, + 0.004484825869960501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286682, + 0.0018996521830558777, + -0.06185787543654442, + -0.01975180418384786 + ], + [ + -0.0019415044225752354, + 0.9999979138374329, + -0.0006164890946820378, + -0.0032178537102126275 + ], + [ + 0.061856579035520554, + 0.0007354046683758497, + 0.9980847835540771, + 0.006252601674899754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002014815341681242, + -0.07438942790031433, + -0.023579286164696643 + ], + [ + -0.0020942697301506996, + 0.9999973177909851, + -0.0009900982258841395, + -0.003503453892051236 + ], + [ + 0.07438723742961884, + 0.0011431443272158504, + 0.9972288012504578, + 0.007205813733355099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0024909127969294786, + -0.08745445311069489, + -0.025275068118280133 + ], + [ + -0.002623689593747258, + 0.9999955892562866, + -0.0014033232582733035, + -0.0036003052280901234 + ], + [ + 0.08745056390762329, + 0.0016273952787742019, + 0.9961675405502319, + 0.00809969509772907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0026894090697169304, + -0.10018683969974518, + -0.028042282243043382 + ], + [ + -0.0028831977397203445, + 0.9999942183494568, + -0.0017895271303132176, + -0.0024619343875605143 + ], + [ + 0.100181445479393, + 0.0020693752449005842, + 0.9949670433998108, + 0.009778014912165157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.003340879688039422, + -0.11246424168348312, + -0.03290333315137996 + ], + [ + -0.003594657639041543, + 0.9999914169311523, + -0.0020538191311061382, + -0.0012493089285512634 + ], + [ + 0.11245641857385635, + 0.002445048186928034, + 0.9936536550521851, + 0.011523777192199467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0036670309491455555, + -0.12474638968706131, + -0.03710675636762815 + ], + [ + -0.003980346955358982, + 0.9999895095825195, + -0.0022624770645052195, + -0.0003681538805029423 + ], + [ + 0.12473677843809128, + 0.0027413226198405027, + 0.9921860694885254, + 0.012488615569590732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0042276340536773205, + -0.13722291588783264, + -0.03891242649282841 + ], + [ + -0.00458436319604516, + 0.9999868869781494, + -0.0022836981806904078, + -0.00046515433092305546 + ], + [ + 0.13721147179603577, + 0.002891153795644641, + 0.9905375838279724, + 0.014037121400631816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.005210375878959894, + -0.1495237499475479, + -0.04083458587823325 + ], + [ + -0.005534265656024218, + 0.9999831318855286, + -0.0017501292750239372, + -0.001895344293281584 + ], + [ + 0.1495121270418167, + 0.0025579347275197506, + 0.9887565970420837, + 0.016210758019954162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.005594636779278517, + -0.16168241202831268, + -0.043240794884842754 + ], + [ + -0.006048411596566439, + 0.9999790191650391, + -0.002314514247700572, + -0.000461760680700054 + ], + [ + 0.16166608035564423, + 0.003261946840211749, + 0.9868401288986206, + 0.017352073188155695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.005581590346992016, + -0.1734739989042282, + -0.0485420411390974 + ], + [ + -0.006080773659050465, + 0.99997878074646, + -0.0023462402168661356, + -0.0010766142814278307 + ], + [ + 0.17345722019672394, + 0.003365486627444625, + 0.984835684299469, + 0.018870577144603065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.98223477602005, + 0.005800416227430105, + -0.1875665783882141, + -0.04880913423485314 + ], + [ + -0.006495876703411341, + 0.9999741315841675, + -0.0030933539383113384, + 0.00020037474916763729 + ], + [ + 0.18754377961158752, + 0.004256809130311012, + 0.982246994972229, + 0.020127653643883615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0061881085857748985, + -0.20237918198108673, + -0.050024695452672754 + ], + [ + -0.006918664090335369, + 0.999971866607666, + -0.0029026130214333534, + -0.000828481693628756 + ], + [ + 0.2023555189371109, + 0.004242686554789543, + 0.9793029427528381, + 0.022018624304343534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.006859282962977886, + -0.21706269681453705, + -0.05315837360770497 + ], + [ + -0.007583028636872768, + 0.9999681115150452, + -0.0025015086866915226, + -0.0011248484272386458 + ], + [ + 0.2170386165380478, + 0.0040877992287278175, + 0.9761544466018677, + 0.02455921143490747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.007622532080858946, + -0.23202507197856903, + -0.05521936204457125 + ], + [ + -0.00841778889298439, + 0.9999616146087646, + -0.0024375603534281254, + -0.00042923699103801554 + ], + [ + 0.23199759423732758, + 0.00432410417124629, + 0.9727067351341248, + 0.02625660475417478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290222, + 0.007998919114470482, + -0.24641965329647064, + -0.05712207049526126 + ], + [ + -0.008887644857168198, + 0.9999573826789856, + -0.002494553569704294, + -0.00032939901629413495 + ], + [ + 0.24638919532299042, + 0.004607637412846088, + 0.9691600203514099, + 0.028937415897056756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.00830158032476902, + -0.25930365920066833, + -0.06023822838304848 + ], + [ + -0.00933983363211155, + 0.9999525547027588, + -0.002772246953099966, + -0.00012211183942576858 + ], + [ + 0.25926831364631653, + 0.00509917875751853, + 0.9657918810844421, + 0.030577295613999397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262634, + 0.008982736617326736, + -0.2716941833496094, + -0.06220489372283418 + ], + [ + -0.01037854515016079, + 0.9999393224716187, + -0.003700912930071354, + 0.002369603948568962 + ], + [ + 0.2716444730758667, + 0.00638133380562067, + 0.9623765349388123, + 0.032496738823636476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958745002746582, + 0.009593034163117409, + -0.2841055989265442, + -0.0626100102106467 + ], + [ + -0.011181702837347984, + 0.9999296069145203, + -0.0039705075323581696, + 0.0026213406162669526 + ], + [ + 0.2840474843978882, + 0.006983487866818905, + 0.9587847590446472, + 0.03447851104945536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.010277467779815197, + -0.296245276927948, + -0.06342091611679027 + ], + [ + -0.011924072168767452, + 0.9999218583106995, + -0.0037519545294344425, + 0.0019649295099326315 + ], + [ + 0.29618358612060547, + 0.0071157789789140224, + 0.9551045298576355, + 0.03649617904266774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.010673862881958485, + -0.30833154916763306, + -0.06485524813070992 + ], + [ + -0.012424084357917309, + 0.9999158978462219, + -0.003713734447956085, + 0.00203157607065082 + ], + [ + 0.3082659840583801, + 0.007363311946392059, + 0.9512717127799988, + 0.038146922712689206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.010835468769073486, + -0.32070890069007874, + -0.06387333882762897 + ], + [ + -0.012816676869988441, + 0.9999095797538757, + -0.004067201167345047, + 0.002402154149006534 + ], + [ + 0.3206358253955841, + 0.007962532341480255, + 0.9471690654754639, + 0.039826485001488235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.010755755007266998, + -0.331837922334671, + -0.06534657157612163 + ], + [ + -0.013014215975999832, + 0.9999048113822937, + -0.00458433385938406, + 0.003204776813578329 + ], + [ + 0.3317570388317108, + 0.008642897941172123, + 0.9433252811431885, + 0.04129516303243227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135193, + 0.010849849320948124, + -0.3431485593318939, + -0.06605614746445851 + ], + [ + -0.0133688198402524, + 0.9998982548713684, + -0.004975970834493637, + 0.00353253021934964 + ], + [ + 0.34305962920188904, + 0.009261014871299267, + 0.9392679929733276, + 0.042494187479382314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060486, + 0.010827329009771347, + -0.3545053005218506, + -0.0662790480236344 + ], + [ + -0.013684280216693878, + 0.999890923500061, + -0.005552908405661583, + 0.004794491337772632 + ], + [ + 0.35440653562545776, + 0.010043070651590824, + 0.9350374937057495, + 0.04373169313400786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.010438570752739906, + -0.3656938374042511, + -0.0667495438199959 + ], + [ + -0.01359538920223713, + 0.9998892545700073, + -0.006058342754840851, + 0.006696424267519981 + ], + [ + 0.36559006571769714, + 0.010610107332468033, + 0.9307155013084412, + 0.04511236098428435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.010770156048238277, + -0.3767916262149811, + -0.0677112934999908 + ], + [ + -0.013901258818805218, + 0.9998877644538879, + -0.005591662600636482, + 0.005654785137574207 + ], + [ + 0.3766891062259674, + 0.010417073965072632, + 0.9262811541557312, + 0.04550473860754872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.011013920418918133, + -0.3877599537372589, + -0.06874825568585996 + ], + [ + -0.014093865640461445, + 0.9998876452445984, + -0.005099950358271599, + 0.004557285278986227 + ], + [ + 0.3876602351665497, + 0.010165633633732796, + 0.9217462539672852, + 0.04634892966178869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.010770684108138084, + -0.39851656556129456, + -0.06926797870176518 + ], + [ + -0.01427946425974369, + 0.9998810291290283, + -0.0058373091742396355, + 0.007499584244157108 + ], + [ + 0.3984062969684601, + 0.011043987236917019, + 0.9171425700187683, + 0.047973612414685306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.010726790875196457, + -0.4089179039001465, + -0.07072135541612738 + ], + [ + -0.014440299943089485, + 0.9998777508735657, + -0.005994876846671104, + 0.007882651934609903 + ], + [ + 0.40880364179611206, + 0.011375270783901215, + 0.9125514626502991, + 0.04889080677403519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.01060201320797205, + -0.4190731346607208, + -0.07187551459334544 + ], + [ + -0.01432447973638773, + 0.9998809695243835, + -0.005737208761274815, + 0.006770772220480521 + ], + [ + 0.41896238923072815, + 0.011211763136088848, + 0.9079343676567078, + 0.048887762841799395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523499, + 0.010560670867562294, + -0.4294537901878357, + -0.07233754752684902 + ], + [ + -0.014666726812720299, + 0.9998728632926941, + -0.0062524136155843735, + 0.008059879222156986 + ], + [ + 0.4293331503868103, + 0.011944780126214027, + 0.9030672311782837, + 0.05043304395794079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.01073315367102623, + -0.4390795826911926, + -0.07451784149897808 + ], + [ + -0.015065105631947517, + 0.9998661279678345, + -0.006382744759321213, + 0.008580092149509104 + ], + [ + 0.43895232677459717, + 0.01234893687069416, + 0.8984254598617554, + 0.050040921509660635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.011067933402955532, + -0.4490206241607666, + -0.07433603335887391 + ], + [ + -0.015340826474130154, + 0.9998650550842285, + -0.00587916374206543, + 0.006869828003452511 + ], + [ + 0.4488949775695801, + 0.01214110292494297, + 0.8935020565986633, + 0.05036915398591402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.011033737100660801, + -0.4585636258125305, + -0.07569004474886205 + ], + [ + -0.015641024336218834, + 0.9998581409454346, + -0.006250678561627865, + 0.008606446506023801 + ], + [ + 0.45842957496643066, + 0.01272671390324831, + 0.8886395692825317, + 0.05079507466578326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472046, + 0.011236707679927349, + -0.46845918893814087, + -0.07581577838848758 + ], + [ + -0.016084803268313408, + 0.9998504519462585, + -0.006349554285407066, + 0.009773685046724531 + ], + [ + 0.46831780672073364, + 0.01314435712993145, + 0.8834623098373413, + 0.05232296293934449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004211, + 0.011081221513450146, + -0.47735270857810974, + -0.07803803499763375 + ], + [ + -0.015823325142264366, + 0.9998573064804077, + -0.005914696026593447, + 0.009135919259182664 + ], + [ + 0.4772190749645233, + 0.012750206515192986, + 0.8786918520927429, + 0.05195581103792253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.011335542425513268, + -0.4867357313632965, + -0.07844693261069177 + ], + [ + -0.016187697649002075, + 0.9998523592948914, + -0.005764305591583252, + 0.00910874819814764 + ], + [ + 0.48659852147102356, + 0.012914111837744713, + 0.8735302686691284, + 0.052485533512586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325684, + 0.011563494801521301, + -0.49545857310295105, + -0.08044743484613912 + ], + [ + -0.016600852832198143, + 0.999845564365387, + -0.005766450427472591, + 0.009425938023340623 + ], + [ + 0.49531540274620056, + 0.013233511708676815, + 0.8686124086380005, + 0.05085832567404437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022583, + 0.011870907619595528, + -0.5048052072525024, + -0.08066017869489872 + ], + [ + -0.017190923914313316, + 0.9998348951339722, + -0.005882324650883675, + 0.010104591393263529 + ], + [ + 0.5046520233154297, + 0.013755405321717262, + 0.863213300704956, + 0.05287004571087313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.012344984337687492, + -0.5133175849914551, + -0.08257598513798997 + ], + [ + -0.017671290785074234, + 0.9998287558555603, + -0.005495703313499689, + 0.009450788323502272 + ], + [ + 0.5131617784500122, + 0.013786900788545609, + 0.8581811785697937, + 0.05282283903944571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.01265900582075119, + -0.5219429135322571, + -0.0835354495916935 + ], + [ + -0.018154555931687355, + 0.9998205304145813, + -0.0054163821041584015, + 0.00976627173259953 + ], + [ + 0.5217806696891785, + 0.014095200225710869, + 0.8529632091522217, + 0.05233606252054505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.012931415811181068, + -0.5304490923881531, + -0.08467657285810307 + ], + [ + -0.018431654199957848, + 0.9998172521591187, + -0.0050786263309419155, + 0.009236054446252175 + ], + [ + 0.5302864909172058, + 0.014081789180636406, + 0.8477016091346741, + 0.05241651362338603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298462, + 0.013244349509477615, + -0.5390504002571106, + -0.08587621616211948 + ], + [ + -0.018967323005199432, + 0.9998072385787964, + -0.005067991092801094, + 0.009923348066378509 + ], + [ + 0.5388793349266052, + 0.014492450281977654, + 0.8422582745552063, + 0.051400273426479064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.013627559877932072, + -0.5479176044464111, + -0.08681236578533981 + ], + [ + -0.019596006721258163, + 0.9997952580451965, + -0.0050477455370128155, + 0.01126714666552891 + ], + [ + 0.547736644744873, + 0.01495903730392456, + 0.8365170955657959, + 0.051809407020641476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.013762841001152992, + -0.5570093989372253, + -0.08708532789092979 + ], + [ + -0.019926106557250023, + 0.9997889399528503, + -0.005002694204449654, + 0.012505740172766297 + ], + [ + 0.5568229556083679, + 0.015253225341439247, + 0.8304911851882935, + 0.05232996212330875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.013394848443567753, + -0.5660153031349182, + -0.08823277549633127 + ], + [ + -0.019328225404024124, + 0.9998031258583069, + -0.004487108904868364, + 0.011656488578717242 + ], + [ + 0.5658437609672546, + 0.014638731256127357, + 0.8243825435638428, + 0.052194694168125555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.012859703972935677, + -0.5745726823806763, + -0.08961979092549015 + ], + [ + -0.01881125010550022, + 0.9998133182525635, + -0.004415334202349186, + 0.011671019803781974 + ], + [ + 0.5744086503982544, + 0.014421730302274227, + 0.81844162940979, + 0.051040377561619735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182373, + 0.012150449678301811, + -0.5833437442779541, + -0.0900629599757542 + ], + [ + -0.017797311767935753, + 0.9998338222503662, + -0.003952008672058582, + 0.010778846782909718 + ], + [ + 0.5831987857818604, + 0.013591513969004154, + 0.8122157454490662, + 0.05185100463841925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938904, + 0.011548399925231934, + -0.5913549661636353, + -0.09185862787906697 + ], + [ + -0.017339786514639854, + 0.9998411536216736, + -0.004117665346711874, + 0.01216767359099394 + ], + [ + 0.5912134647369385, + 0.013574158772826195, + 0.8064008951187134, + 0.05043080440222822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.010826105251908302, + -0.5994647741317749, + -0.09280110471295995 + ], + [ + -0.016626477241516113, + 0.9998531937599182, + -0.00414055772125721, + 0.012888139200131625 + ], + [ + 0.5993319749832153, + 0.01328079029917717, + 0.8003904819488525, + 0.04941300545504551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7943386435508728, + 0.01026931218802929, + -0.6073883771896362, + -0.09358639373684562 + ], + [ + -0.016307000070810318, + 0.9998572468757629, + -0.0044212802313268185, + 0.014312467903256515 + ], + [ + 0.607256293296814, + 0.013416675850749016, + 0.7943927049636841, + 0.049757610044337264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311462, + 0.009605573490262032, + -0.6148615479469299, + -0.09610376008693745 + ], + [ + -0.014743058010935783, + 0.9998859167098999, + -0.003287816420197487, + 0.011686574455523333 + ], + [ + 0.6147598624229431, + 0.011657634750008583, + 0.7886282205581665, + 0.048793192296628124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.008899434469640255, + -0.6226077079772949, + -0.09703060913559616 + ], + [ + -0.01374885905534029, + 0.9999009966850281, + -0.002986959181725979, + 0.01181095778781748 + ], + [ + 0.6225194931030273, + 0.01089739054441452, + 0.7825284600257874, + 0.04720127501629835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.0077556101605296135, + -0.6300268173217773, + -0.09777251258985886 + ], + [ + -0.012501758523285389, + 0.9999170303344727, + -0.0030999979935586452, + 0.012855169748801071 + ], + [ + 0.6299505233764648, + 0.01028369925916195, + 0.7765672206878662, + 0.04599339221881714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.006658867001533508, + -0.6370848417282104, + -0.09966829280979586 + ], + [ + -0.011066295206546783, + 0.9999344348907471, + -0.002936943434178829, + 0.011692257567820762 + ], + [ + 0.6370235681533813, + 0.009313861839473248, + 0.7707880735397339, + 0.04411533565710712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.005289234220981598, + -0.6443486213684082, + -0.10077761922845777 + ], + [ + -0.009799103252589703, + 0.999946117401123, + -0.003421375062316656, + 0.012851716747001701 + ], + [ + 0.6442958116531372, + 0.008930409327149391, + 0.7647242546081543, + 0.04411345128192017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592346, + 0.005259272176772356, + -0.6512006521224976, + -0.10194487557900662 + ], + [ + -0.00947636365890503, + 0.9999507069587708, + -0.002967563923448324, + 0.010648062469635084 + ], + [ + 0.6511529684066772, + 0.008423060178756714, + 0.7588997483253479, + 0.042145227655669706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.0054379841312766075, + -0.6581783890724182, + -0.1035435141711835 + ], + [ + -0.009595428593456745, + 0.9999502897262573, + -0.0027137508150190115, + 0.009271918099361244 + ], + [ + 0.658130943775177, + 0.008358529768884182, + 0.7528571486473083, + 0.041555684272027174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844727, + 0.005608484148979187, + -0.6653628349304199, + -0.10463460448956648 + ], + [ + -0.010697361081838608, + 0.9999364018440247, + -0.0035731527023017406, + 0.011748729162966673 + ], + [ + 0.6653004884719849, + 0.009784981608390808, + 0.7465115785598755, + 0.04091594469863058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.006018341518938541, + -0.6717082858085632, + -0.10672427822422507 + ], + [ + -0.01101385522633791, + 0.9999342560768127, + -0.0031874277628958225, + 0.009853041285513252 + ], + [ + 0.6716449856758118, + 0.009759316220879555, + 0.7408088445663452, + 0.03763191332880235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.00578389223664999, + -0.6787058115005493, + -0.10744520982369682 + ], + [ + -0.010729682631790638, + 0.9999376535415649, + -0.003088544122874737, + 0.009146538183759182 + ], + [ + 0.6786456108093262, + 0.009550485759973526, + 0.7344037294387817, + 0.03800018526465688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446777, + 0.005525314249098301, + -0.6847578883171082, + -0.11074638540381627 + ], + [ + -0.010778908617794514, + 0.9999361038208008, + -0.0034029053058475256, + 0.010566389506115326 + ], + [ + 0.684695303440094, + 0.009860808029770851, + 0.7287627458572388, + 0.03460551087824714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.005478494800627232, + -0.691051721572876, + -0.1122486955282704 + ], + [ + -0.010956338606774807, + 0.9999337196350098, + -0.003532210597768426, + 0.011244949490442527 + ], + [ + 0.6909866333007812, + 0.01012442447245121, + 0.7227966785430908, + 0.03366929561097101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.005495008081197739, + -0.6972485184669495, + -0.11360366032613034 + ], + [ + -0.010774627327919006, + 0.9999368190765381, + -0.003196398261934519, + 0.01038626063467059 + ], + [ + 0.6971868872642517, + 0.00980379804968834, + 0.7168223857879639, + 0.033008359293669264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.005751725286245346, + -0.70326828956604, + -0.11569665062506468 + ], + [ + -0.01132161170244217, + 0.9999305605888367, + -0.0032664949540048838, + 0.010805623282197346 + ], + [ + 0.7032006978988647, + 0.010284285992383957, + 0.710917055606842, + 0.030840998315653262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.005315891467034817, + -0.7089744210243225, + -0.11678997659130602 + ], + [ + -0.010684940032660961, + 0.9999380111694336, + -0.0031307318713515997, + 0.01075194371611324 + ], + [ + 0.7089138627052307, + 0.00978318601846695, + 0.705227255821228, + 0.029397407361608466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.005222121253609657, + -0.7142776250839233, + -0.11900731536331555 + ], + [ + -0.010238460265100002, + 0.9999439120292664, + -0.002720913151279092, + 0.009794143291147092 + ], + [ + 0.7142233848571777, + 0.00921731535345316, + 0.699857234954834, + 0.02663308471836001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479492, + 0.004453210160136223, + -0.7193988561630249, + -0.12171771737518688 + ], + [ + -0.009380107745528221, + 0.9999518990516663, + -0.002866653958335519, + 0.01074211277832456 + ], + [ + 0.7193515300750732, + 0.00873916782438755, + 0.6945912837982178, + 0.02584872119474095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.003815949894487858, + -0.7244514226913452, + -0.12272501449711275 + ], + [ + -0.008435632102191448, + 0.9999606013298035, + -0.002759345108643174, + 0.010374627890379864 + ], + [ + 0.7244123220443726, + 0.008013264276087284, + 0.68932044506073, + 0.023516379237569718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.00299663539044559, + -0.7291480302810669, + -0.12570498050838116 + ], + [ + -0.006998141296207905, + 0.9999724626541138, + -0.0024585160426795483, + 0.009422225175141696 + ], + [ + 0.7291206121444702, + 0.006785165052860975, + 0.6843516230583191, + 0.02280112600188381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.0021717692725360394, + -0.7339073419570923, + -0.12725040474474825 + ], + [ + -0.006026202347129583, + 0.9999784231185913, + -0.002618249040096998, + 0.00952226135244482 + ], + [ + 0.7338857650756836, + 0.006201109383255243, + 0.6792445778846741, + 0.020218468733773323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.0016479046316817403, + -0.7387893795967102, + -0.12845121633927553 + ], + [ + -0.004829217214137316, + 0.9999859929084778, + -0.002174766268581152, + 0.007738608959445495 + ], + [ + 0.7387754321098328, + 0.005033424124121666, + 0.6739329099655151, + 0.020099544742249495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6692056655883789, + 0.00024994288105517626, + -0.7430772185325623, + -0.13157738413637046 + ], + [ + -0.003476889804005623, + 0.9999900460243225, + -0.002794883446767926, + 0.008795003659733331 + ], + [ + 0.7430691123008728, + 0.0044539496302604675, + 0.6691998839378357, + 0.017189681056319482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.0007921459618955851, + -0.7475818395614624, + -0.13244610626176492 + ], + [ + -0.001662318129092455, + 0.9999954104423523, + -0.0025364491157233715, + 0.0073802593787083565 + ], + [ + 0.7475804090499878, + 0.0029273503459990025, + 0.6641649007797241, + 0.015380837334110248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.0008249189122579992, + -0.7522561550140381, + -0.13338720044552885 + ], + [ + -0.0014781635254621506, + 0.9999960660934448, + -0.0023912517353892326, + 0.007045333935502942 + ], + [ + 0.7522552013397217, + 0.002687482163310051, + 0.6588664650917053, + 0.014640869091678138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.0008845060365274549, + -0.7567735314369202, + -0.13398825767024464 + ], + [ + -0.0012954537523910403, + 0.999996542930603, + -0.00228775292634964, + 0.006959934592469046 + ], + [ + 0.7567729353904724, + 0.0024758153595030308, + 0.6536731719970703, + 0.013452977583503084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.0011688161175698042, + -0.7607991099357605, + -0.13638925420132694 + ], + [ + -0.0007480338681489229, + 0.9999973773956299, + -0.002174394205212593, + 0.006570354488289711 + ], + [ + 0.7607995867729187, + 0.001980255823582411, + 0.648983895778656, + 0.01141212066968545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.001442446606233716, + -0.7650463581085205, + -0.13689329337994782 + ], + [ + -0.0003252641763538122, + 0.999997615814209, + -0.0021592217963188887, + 0.006582491012561499 + ], + [ + 0.7650476694107056, + 0.0016393241239711642, + 0.6439716219902039, + 0.009819195162973658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877441, + -0.0014531849883496761, + -0.769130527973175, + -0.1377113750833549 + ], + [ + -0.0005189653020352125, + 0.9999971985816956, + -0.0023206027690321207, + 0.007891377477154186 + ], + [ + 0.7691317200660706, + 0.0018822263227775693, + 0.6390875577926636, + 0.009544777825770782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.0012736815260723233, + -0.7733120322227478, + -0.13673626006833767 + ], + [ + -0.000546193914487958, + 0.9999976754188538, + -0.002094858093187213, + 0.007368134955770725 + ], + [ + 0.7733128666877747, + 0.0017505694413557649, + 0.6340222358703613, + 0.00997608018829333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705933, + -0.002225269563496113, + -0.7768340110778809, + -0.13774041831493378 + ], + [ + 0.00028024002676829696, + 0.9999964833259583, + -0.0026373642031103373, + 0.00918291479006829 + ], + [ + 0.7768371105194092, + 0.0014430524315685034, + 0.6296999454498291, + 0.009587715447738468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.0025507272221148014, + -0.779694139957428, + -0.1378045457285761 + ], + [ + 0.0010803568875417113, + 0.999996542930603, + -0.002403823658823967, + 0.008453746558173209 + ], + [ + 0.779697597026825, + 0.000662819598801434, + 0.6261559724807739, + 0.008666975253465152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.0030336659401655197, + -0.7827765345573425, + -0.13581465798497988 + ], + [ + 0.002056846395134926, + 0.9999953508377075, + -0.0022403402253985405, + 0.00785927450383045 + ], + [ + 0.7827797532081604, + -0.000215897336602211, + 0.6222988963127136, + 0.010585489415175078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903442, + -0.003761997679248452, + -0.7847548127174377, + -0.1365609541831427 + ], + [ + 0.0032785104122012854, + 0.9999921917915344, + -0.0022044642828404903, + 0.007986260444814007 + ], + [ + 0.7847569584846497, + -0.0012065107002854347, + 0.6198024749755859, + 0.010469582992673705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.004539810586720705, + -0.7858691811561584, + -0.1368021202008456 + ], + [ + 0.004675140138715506, + 0.9999868869781494, + -0.0020980031695216894, + 0.007988486293277747 + ], + [ + 0.7858683466911316, + -0.0023766930680722, + 0.6183892488479614, + 0.008335998269501113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.005660193972289562, + -0.7870671153068542, + -0.13634778490129684 + ], + [ + 0.006203397177159786, + 0.9999780654907227, + -0.002329607494175434, + 0.00919845596646631 + ], + [ + 0.7870630621910095, + -0.003445491660386324, + 0.616862952709198, + 0.00889972311179369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.0064145904034376144, + -0.787406325340271, + -0.13646870097577177 + ], + [ + 0.007700510323047638, + 0.9999681115150452, + -0.002118071774020791, + 0.008861324925512223 + ], + [ + 0.7873947620391846, + -0.004757847636938095, + 0.6164308190345764, + 0.007061232281046992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.0074282484129071236, + -0.7878191471099854, + -0.1360337570803055 + ], + [ + 0.009217723272740841, + 0.9999550580978394, + -0.00222267908975482, + 0.009403133519388587 + ], + [ + 0.7878001928329468, + -0.005893034394830465, + 0.6159027814865112, + 0.00613224183684153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6151977777481079, + -0.00841560773551464, + -0.7883278727531433, + -0.13568051500825692 + ], + [ + 0.010718902572989464, + 0.9999398589134216, + -0.002309769857674837, + 0.009574663513555926 + ], + [ + 0.7882999777793884, + -0.007029043976217508, + 0.6152510643005371, + 0.005736446637191514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.009412487968802452, + -0.7889751195907593, + -0.13387089438785782 + ], + [ + 0.012299969792366028, + 0.9999215602874756, + -0.0023514367640018463, + 0.009938766454525341 + ], + [ + 0.7889354228973389, + -0.008259756490588188, + 0.6144207119941711, + 0.006252866272894751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.010227596387267113, + -0.7890461683273315, + -0.13389432854605038 + ], + [ + 0.013775398954749107, + 0.999902606010437, + -0.002236975822597742, + 0.010369285088439551 + ], + [ + 0.788992166519165, + -0.009495366364717484, + 0.6143298745155334, + 0.004549720922842719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.010898209176957607, + -0.7895479202270508, + -0.1330709607001172 + ], + [ + 0.015464217402040958, + 0.9998788237571716, + -0.0017835102044045925, + 0.009811781551565556 + ], + [ + 0.7894717454910278, + -0.011115392670035362, + 0.6136862635612488, + 0.004456325595742029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6129774451255798, + -0.011926617473363876, + -0.790010392665863, + -0.13270660425653522 + ], + [ + 0.017037706449627876, + 0.9998530745506287, + -0.0018748301081359386, + 0.010632166903873055 + ], + [ + 0.7899166941642761, + -0.012310735881328583, + 0.6130906343460083, + 0.0041891433940028505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.012528479099273682, + -0.790443480014801, + -0.13216183761887204 + ], + [ + 0.018658088520169258, + 0.9998249411582947, + -0.0013915528543293476, + 0.009894598764521595 + ], + [ + 0.7903226017951965, + -0.013895966112613678, + 0.612533450126648, + 0.0037312933743394797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.013137735426425934, + -0.7907539010047913, + -0.131740142928054 + ], + [ + 0.020243775099515915, + 0.999794602394104, + -0.0009433808736503124, + 0.009155412940061744 + ], + [ + 0.7906039357185364, + -0.015430498868227005, + 0.6121335029602051, + 0.0033152441808719443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.013584914617240429, + -0.7908241152763367, + -0.13120956482082013 + ], + [ + 0.021221036091446877, + 0.9997745156288147, + -0.0007547237910330296, + 0.009484191844548216 + ], + [ + 0.7906560301780701, + -0.01632029563188553, + 0.612043023109436, + 0.002379154675448962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.014132389798760414, + -0.7910428643226624, + -0.13034196752586114 + ], + [ + 0.0222689900547266, + 0.9997518062591553, + -0.0006437357515096664, + 0.009824717402556873 + ], + [ + 0.7908555865287781, + -0.01722201704978943, + 0.6117604374885559, + 0.0026620599509075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990784, + -0.014541958458721638, + -0.7911027669906616, + -0.12889649777222942 + ], + [ + 0.023335307836532593, + 0.9997276663780212, + -0.00033904053270816803, + 0.009363746192824367 + ], + [ + 0.7908922433853149, + -0.018253298476338387, + 0.6116831302642822, + 0.0022816929892198953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391724, + -0.01510520838201046, + -0.7909956574440002, + -0.12856936306748168 + ], + [ + 0.024431081488728523, + 0.9997014999389648, + -0.00019947998225688934, + 0.009348559483194983 + ], + [ + 0.7907626032829285, + -0.01920286938548088, + 0.6118217706680298, + 0.0010889422025112047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.015652863308787346, + -0.7913145422935486, + -0.12820641410271855 + ], + [ + 0.02551366202533245, + 0.9996744990348816, + -6.772205233573914e-05, + 0.009344984082788822 + ], + [ + 0.7910580039024353, + -0.020147938281297684, + 0.6114093065261841, + 0.0013966328359597616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260254, + -0.01620602235198021, + -0.791683554649353, + -0.12768080011503585 + ], + [ + 0.026492536067962646, + 0.9996489882469177, + -2.641230821609497e-05, + 0.009603509728778277 + ], + [ + 0.7914061546325684, + -0.020957576110959053, + 0.6109313368797302, + 0.0007810824556855889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.016544358804821968, + -0.7920592427253723, + -0.12734895711703015 + ], + [ + 0.027166148647665977, + 0.9996309280395508, + 4.9336813390254974e-05, + 0.009801265061987157 + ], + [ + 0.7917661070823669, + -0.02154730260372162, + 0.6104443073272705, + 0.00020218394844737086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.01694480888545513, + -0.7924621105194092, + -0.12675858428146664 + ], + [ + 0.027893470600247383, + 0.9996109008789062, + 8.585862815380096e-05, + 0.009912193129887644 + ], + [ + 0.7921522855758667, + -0.022156862542033195, + 0.6099212169647217, + -0.0002758668747958812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029053, + -0.017379073426127434, + -0.7929292917251587, + -0.12633135675989238 + ], + [ + 0.028695357963442802, + 0.9995881915092468, + 0.00013298168778419495, + 0.010129523787968206 + ], + [ + 0.7926003932952881, + -0.022834382951259613, + 0.6093137264251709, + -0.0007284798862918357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.0174977146089077, + -0.7936343550682068, + -0.12467082130987912 + ], + [ + 0.02890973910689354, + 0.9995819926261902, + 0.00011449400335550308, + 0.0104197466184712 + ], + [ + 0.7933005690574646, + -0.023013386875391006, + 0.6083950996398926, + 0.0005253020896027402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.017740648239850998, + -0.7941651940345764, + -0.12357589020239597 + ], + [ + 0.029664751142263412, + 0.9995598196983337, + 0.00036114174872636795, + 0.009862908754275729 + ], + [ + 0.7938092350959778, + -0.02377808466553688, + 0.60770183801651, + 0.0008134724979369096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.01809324324131012, + -0.7946889996528625, + -0.12337931303788495 + ], + [ + 0.03016676753759384, + 0.9995448589324951, + 0.0002750689163804054, + 0.010194294732557424 + ], + [ + 0.7943223118782043, + -0.024140093475580215, + 0.6070168018341064, + 0.0007148690176325967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.018253536894917488, + -0.7950931787490845, + -0.12354991382715717 + ], + [ + 0.030457107350230217, + 0.9995360374450684, + 0.0002747057005763054, + 0.010176813183043967 + ], + [ + 0.7947192192077637, + -0.02438276633620262, + 0.6064873337745667, + 7.220972452731678e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.0183928981423378, + -0.7955172657966614, + -0.12327568657350856 + ], + [ + 0.03052372857928276, + 0.999534010887146, + 0.00012875162065029144, + 0.010723853892097806 + ], + [ + 0.795144259929657, + -0.024360129609704018, + 0.6059309244155884, + -0.00042860000733508513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.018686318770051003, + -0.7958834171295166, + -0.12331077517657879 + ], + [ + 0.03098800592124462, + 0.9995197653770447, + 9.47415828704834e-05, + 0.01062293897648126 + ], + [ + 0.7954994440078735, + -0.024720171466469765, + 0.605449914932251, + -0.0010621948254029498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.01886497437953949, + -0.7965230345726013, + -0.12268383179279352 + ], + [ + 0.03127732127904892, + 0.9995107650756836, + 5.721487104892731e-05, + 0.0105142586414289 + ], + [ + 0.7961322665214539, + -0.02494768053293228, + 0.6046081781387329, + -0.00131372520268358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.019014455378055573, + -0.7971327304840088, + -0.12260251534695656 + ], + [ + 0.031572796404361725, + 0.9995014667510986, + 6.191711872816086e-05, + 0.010112981960818862 + ], + [ + 0.796734094619751, + -0.02520507201552391, + 0.6038042306900024, + -0.0015135783529439603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.01935577765107155, + -0.7977075576782227, + -0.1220920919187811 + ], + [ + 0.03189093992114067, + 0.9994913339614868, + -0.00015567895025014877, + 0.010454682684472657 + ], + [ + 0.7973048686981201, + -0.025345809757709503, + 0.6030444502830505, + -0.0022748730040543924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640442, + -0.019408177584409714, + -0.798369824886322, + -0.12102928761614869 + ], + [ + 0.03211335465312004, + 0.9994842410087585, + -8.842442184686661e-05, + 0.009699903934305866 + ], + [ + 0.7979597449302673, + -0.0255851112306118, + 0.6021674871444702, + -0.0026989235092472613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.019424160942435265, + -0.7989946603775024, + -0.12006893027697177 + ], + [ + 0.03223805874586105, + 0.9994801878929138, + -4.781410098075867e-05, + 0.009108733385801315 + ], + [ + 0.7985802888870239, + -0.02572929859161377, + 0.6013381481170654, + -0.0028826767048298965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.019588809460401535, + -0.7994709610939026, + -0.12032618585801282 + ], + [ + 0.03212953731417656, + 0.9994836449623108, + -0.0003609778359532356, + 0.009727928238544637 + ], + [ + 0.7990651726722717, + -0.025469902902841568, + 0.6007047295570374, + -0.003618348907950701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.01958748698234558, + -0.7998200058937073, + -0.12015972684156026 + ], + [ + 0.032067928463220596, + 0.9994856119155884, + -0.00042410846799612045, + 0.009518936235112267 + ], + [ + 0.7994168400764465, + -0.02539413794875145, + 0.6002398133277893, + -0.0045489333027246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.019519316032528877, + -0.8001946806907654, + -0.11962948589530212 + ], + [ + 0.0321090966463089, + 0.9994843006134033, + -0.00032783299684524536, + 0.009096020256594712 + ], + [ + 0.7997884154319763, + -0.025497013702988625, + 0.5997402667999268, + -0.004936965056602537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.019489094614982605, + -0.8006852269172668, + -0.11918189107187535 + ], + [ + 0.0320732407271862, + 0.999485433101654, + -0.0003429912030696869, + 0.009187114697615831 + ], + [ + 0.8002799153327942, + -0.025475196540355682, + 0.5990852117538452, + -0.005348369469311068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.01917283423244953, + -0.8014211058616638, + -0.11727082916837654 + ], + [ + 0.031849831342697144, + 0.9994926452636719, + -0.00015409104526042938, + 0.008827640629367323 + ], + [ + 0.8010174632072449, + -0.02543300949037075, + 0.5981006026268005, + -0.0040243269295882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.018590211868286133, + -0.8012843132019043, + -0.11816360855734111 + ], + [ + 0.03126666694879532, + 0.9995110630989075, + 0.00014500226825475693, + 0.008427010235432165 + ], + [ + 0.8008898496627808, + -0.025140196084976196, + 0.5982838869094849, + -0.00589104860231577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.018184971064329147, + -0.801186740398407, + -0.11793941977797755 + ], + [ + 0.03063547983765602, + 0.9995306134223938, + 0.0001844959333539009, + 0.008997427968197311 + ], + [ + 0.8008072972297668, + -0.024655092507600784, + 0.5984144806861877, + -0.00694537736130077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.017815273255109787, + -0.8012498021125793, + -0.11667793152348095 + ], + [ + 0.030087482184171677, + 0.9995472431182861, + 0.000233454629778862, + 0.009275926425066215 + ], + [ + 0.800882875919342, + -0.02424720861017704, + 0.5983299612998962, + -0.006866427427096082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.017788808792829514, + -0.8012539744377136, + -0.11596467783119505 + ], + [ + 0.030033722519874573, + 0.9995488524436951, + 0.00022612698376178741, + 0.009408382800043814 + ], + [ + 0.8008884787559509, + -0.024199875071644783, + 0.5983244180679321, + -0.006704064651040842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.017310068011283875, + -0.8012403845787048, + -0.11576517836147586 + ], + [ + 0.02964845672249794, + 0.9995602369308472, + 0.000536738894879818, + 0.008805354871472578 + ], + [ + 0.8008787035942078, + -0.024076558649539948, + 0.5983424186706543, + -0.00731641305795569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.017120927572250366, + -0.8013727068901062, + -0.11489068889460027 + ], + [ + 0.029341712594032288, + 0.999569296836853, + 0.0005371496081352234, + 0.009087050487811598 + ], + [ + 0.8010182976722717, + -0.023834817111492157, + 0.5981652736663818, + -0.007331837782796641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.01681988500058651, + -0.8013166189193726, + -0.1148641823143359 + ], + [ + 0.028740903362631798, + 0.9995867609977722, + 0.00046703219413757324, + 0.009561122221169093 + ], + [ + 0.8009777069091797, + -0.023309849202632904, + 0.5982402563095093, + -0.007725843619431884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.016582155600190163, + -0.8012941479682922, + -0.11405504845230784 + ], + [ + 0.028356844559311867, + 0.9995977282524109, + 0.00047805439680814743, + 0.009513653935679536 + ], + [ + 0.8009639382362366, + -0.0230080708861351, + 0.5982704162597656, + -0.008335211675688133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.016265729442238808, + -0.8013320565223694, + -0.11330859035450891 + ], + [ + 0.027768244966864586, + 0.9996142983436584, + 0.0004316791892051697, + 0.009441152316154234 + ], + [ + 0.8010159134864807, + -0.022509727627038956, + 0.5982196927070618, + -0.007614421400408085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.016147378832101822, + -0.8010669946670532, + -0.11283920336243333 + ], + [ + 0.027362212538719177, + 0.999625563621521, + 0.00028840918093919754, + 0.009748950348981959 + ], + [ + 0.800762414932251, + -0.022091537714004517, + 0.5985746383666992, + -0.008282991493774566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994995, + -0.01571132242679596, + -0.8009308576583862, + -0.11220246198161547 + ], + [ + 0.026675201952457428, + 0.9996441006660461, + 0.00032553263008594513, + 0.009622109973716814 + ], + [ + 0.8006407022476196, + -0.021559840068221092, + 0.5987567901611328, + -0.008262484525607919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.015586912631988525, + -0.8009005188941956, + -0.11125346126145874 + ], + [ + 0.026452653110027313, + 0.9996500015258789, + 0.0003158440813422203, + 0.009525605841286925 + ], + [ + 0.8006152510643005, + -0.021375004202127457, + 0.5987974405288696, + -0.008412840557808915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.015448791906237602, + -0.8007135391235352, + -0.11121291630710196 + ], + [ + 0.026189325377345085, + 0.9996569752693176, + 0.00029966142028570175, + 0.009518024787331457 + ], + [ + 0.8004342317581177, + -0.02114959806203842, + 0.5990474224090576, + -0.009313323531324504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.015125294215977192, + -0.8007330894470215, + -0.11027333876549802 + ], + [ + 0.025747332721948624, + 0.9996684193611145, + 0.0003721676766872406, + 0.009069031261105016 + ], + [ + 0.8004618883132935, + -0.02083960361778736, + 0.599021315574646, + -0.00929403877416194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.01479332149028778, + -0.8008558750152588, + -0.10924993502777933 + ], + [ + 0.025338858366012573, + 0.9996787905693054, + 0.0004759356379508972, + 0.008202275244013364 + ], + [ + 0.8005915880203247, + -0.020577702671289444, + 0.5988569259643555, + -0.008631760385257523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.598713219165802, + -0.014453249052166939, + -0.8008331060409546, + -0.10883087363858886 + ], + [ + 0.02473283000290394, + 0.9996939897537231, + 0.0004483424127101898, + 0.00738607860780907 + ], + [ + 0.8005815744400024, + -0.020075295120477676, + 0.5988874435424805, + -0.009186185699030264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.01428189966827631, + -0.8009747862815857, + -0.10759191325563469 + ], + [ + 0.02405443787574768, + 0.9997106194496155, + 0.00014917366206645966, + 0.007158670439354039 + ], + [ + 0.8007408976554871, + -0.01935627870261669, + 0.5986981391906738, + -0.009879992122681723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.014146590605378151, + -0.8012719750404358, + -0.1075991669040642 + ], + [ + 0.023411398753523827, + 0.999725878238678, + -0.00017419736832380295, + 0.007246288912531161 + ], + [ + 0.8010547757148743, + -0.018654704093933105, + 0.5983003377914429, + -0.01021653381207132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.014018379151821136, + -0.8014667630195618, + -0.10712811378453742 + ], + [ + 0.022625073790550232, + 0.9997438192367554, + -0.0006086602807044983, + 0.0076026468679604945 + ], + [ + 0.8012699484825134, + -0.01776934042572975, + 0.5980390906333923, + -0.011584831754498134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.013722740113735199, + -0.8016238212585449, + -0.10680117200541969 + ], + [ + 0.021986916661262512, + 0.9997580051422119, + -0.0007216222584247589, + 0.007363849920251512 + ], + [ + 0.8014397621154785, + -0.01719394326210022, + 0.5978283882141113, + -0.012311273418514936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.013239637017250061, + -0.8019078373908997, + -0.10596307411493844 + ], + [ + 0.021200206130743027, + 0.9997749924659729, + -0.0007154848426580429, + 0.007010740197158807 + ], + [ + 0.8017368912696838, + -0.01657325029373169, + 0.5974472761154175, + -0.0123544836182468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.013035249896347523, + -0.8023373484611511, + -0.10529478517983921 + ], + [ + 0.020687051117420197, + 0.9997856616973877, + -0.0008573736995458603, + 0.007147690711777337 + ], + [ + 0.8021765351295471, + -0.01608637347817421, + 0.5968702435493469, + -0.011165827650897561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.596592128276825, + -0.012730672955513, + -0.8024436831474304, + -0.10479385373213433 + ], + [ + 0.02018444985151291, + 0.9997959136962891, + -0.0008551264181733131, + 0.006719861386208148 + ], + [ + 0.8022907376289368, + -0.015686720609664917, + 0.5967273116111755, + -0.0118248000247589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.012447943910956383, + -0.8026606440544128, + -0.10407010370137675 + ], + [ + 0.019627327099442482, + 0.9998069405555725, + -0.0009239846840500832, + 0.006630044429260768 + ], + [ + 0.8025172352790833, + -0.015203106217086315, + 0.5964353084564209, + -0.011813015564782738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.01220423448830843, + -0.8029020428657532, + -0.10312714101068231 + ], + [ + 0.019357766956090927, + 0.9998123049736023, + -0.0008282237686216831, + 0.0062573672935292615 + ], + [ + 0.8027613759040833, + -0.015048779547214508, + 0.596110463142395, + -0.011234242878607574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.595792829990387, + -0.012032067403197289, + -0.8030480146408081, + -0.10242247324905647 + ], + [ + 0.019074292853474617, + 0.9998177289962769, + -0.0008287760429084301, + 0.005858785303198541 + ], + [ + 0.802911639213562, + -0.0148237943649292, + 0.5959137082099915, + -0.011029795305618394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.01215583086013794, + -0.8031197190284729, + -0.10213684737682342 + ], + [ + 0.018635351210832596, + 0.9998254776000977, + -0.0013108206912875175, + 0.005967992171645164 + ], + [ + 0.802995502948761, + -0.014185569249093533, + 0.5958163142204285, + -0.010936790704727174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/push_in/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..32dab199dc352d7273a858c2ec622a55c369779e --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/push_in/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0004863918584305793, + -0.011884978972375393, + -0.0038783648122250047 + ], + [ + -0.0004851055273320526, + 0.9999998807907104, + 0.00011111380445072427, + -0.0008411240306540642 + ], + [ + 0.011885031126439571, + -0.00010534047760302201, + 0.9999293684959412, + 0.0022153513976341938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0011968958424404263, + -0.024077866226434708, + -0.008588366145083052 + ], + [ + -0.0011860182275995612, + 0.9999991655349731, + 0.00046604720409959555, + -0.0021777741606378103 + ], + [ + 0.024078402668237686, + -0.00043735496001318097, + 0.999709963798523, + 0.005315267126267122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0017863846151158214, + -0.03649692237377167, + -0.01320801441933935 + ], + [ + -0.0017505328869447112, + 0.9999979734420776, + 0.001014251378364861, + -0.005186384391203054 + ], + [ + 0.03649865835905075, + -0.0009496849379502237, + 0.9993332624435425, + 0.0075770067760338455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151672, + 0.0018534658011049032, + -0.04948023706674576, + -0.015393938937082591 + ], + [ + -0.001837058924138546, + 0.9999982118606567, + 0.00037706014700233936, + -0.004469000743023607 + ], + [ + 0.049480848014354706, + -0.0002856995561160147, + 0.9987750053405762, + 0.009776349077062891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286682, + 0.0018996521830558777, + -0.06185787543654442, + -0.02016145898806338 + ], + [ + -0.0019415044225752354, + 0.9999979138374329, + -0.0006164890946820378, + -0.0032219364194489325 + ], + [ + 0.061856579035520554, + 0.0007354046683758497, + 0.9980847835540771, + 0.01286243467856914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002014815341681242, + -0.07438942790031433, + -0.024170460426156094 + ], + [ + -0.0020942697301506996, + 0.9999973177909851, + -0.0009900982258841395, + -0.0035113222223231632 + ], + [ + 0.07438723742961884, + 0.0011431443272158504, + 0.9972288012504578, + 0.015130810829385227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0024909127969294786, + -0.08745445311069489, + -0.026085904107385913 + ], + [ + -0.002623689593747258, + 0.9999955892562866, + -0.0014033232582733035, + -0.0036133161722065646 + ], + [ + 0.08745056390762329, + 0.0016273952787742019, + 0.9961675405502319, + 0.01733568553991665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0026894090697169304, + -0.10018683969974518, + -0.0291038646504579 + ], + [ + -0.0028831977397203445, + 0.9999942183494568, + -0.0017895271303132176, + -0.0024808962644380056 + ], + [ + 0.100181445479393, + 0.0020693752449005842, + 0.9949670433998108, + 0.020320712060772426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.003340879688039422, + -0.11246424168348312, + -0.03424396649595128 + ], + [ + -0.003594657639041543, + 0.9999914169311523, + -0.0020538191311061382, + -0.0012737915407101444 + ], + [ + 0.11245641857385635, + 0.002445048186928034, + 0.9936536550521851, + 0.023368655199444057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0036670309491455555, + -0.12474638968706131, + -0.03875902642970843 + ], + [ + -0.003980346955358982, + 0.9999895095825195, + -0.0022624770645052195, + -0.000398120464138773 + ], + [ + 0.12473677843809128, + 0.0027413226198405027, + 0.9921860694885254, + 0.025630152913809615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0042276340536773205, + -0.13722291588783264, + -0.04091170076404186 + ], + [ + -0.00458436319604516, + 0.9999868869781494, + -0.0022836981806904078, + -0.0004984267547476839 + ], + [ + 0.13721147179603577, + 0.002891153795644641, + 0.9905375838279724, + 0.028468794807396978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.005210375878959894, + -0.1495237499475479, + -0.04321112230124063 + ], + [ + -0.005534265656024218, + 0.9999831318855286, + -0.0017501292750239372, + -0.0019231609175203751 + ], + [ + 0.1495121270418167, + 0.0025579347275197506, + 0.9887565970420837, + 0.03192609466168265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.005594636779278517, + -0.16168241202831268, + -0.04602473045619118 + ], + [ + -0.006048411596566439, + 0.9999790191650391, + -0.002314514247700572, + -0.0005016132439054944 + ], + [ + 0.16166608035564423, + 0.003261946840211749, + 0.9868401288986206, + 0.034344022427469686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.005581590346992016, + -0.1734739989042282, + -0.05175877754261952 + ], + [ + -0.006080773659050465, + 0.99997878074646, + -0.0023462402168661356, + -0.001120120722535282 + ], + [ + 0.17345722019672394, + 0.003365486627444625, + 0.984835684299469, + 0.03713243089320249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.98223477602005, + 0.005800416227430105, + -0.1875665783882141, + -0.05253562254720176 + ], + [ + -0.006495876703411341, + 0.9999741315841675, + -0.0030933539383113384, + 0.0001389173861548292 + ], + [ + 0.18754377961158752, + 0.004256809130311012, + 0.982246994972229, + 0.03964249460359678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0061881085857748985, + -0.20237918198108673, + -0.054313525799291815 + ], + [ + -0.006918664090335369, + 0.999971866607666, + -0.0029026130214333534, + -0.000889994022559794 + ], + [ + 0.2023555189371109, + 0.004242686554789543, + 0.9793029427528381, + 0.04277206415076129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.006859282962977886, + -0.21706269681453705, + -0.05804587803929057 + ], + [ + -0.007583028636872768, + 0.9999681115150452, + -0.0025015086866915226, + -0.0011811737883959386 + ], + [ + 0.2170386165380478, + 0.0040877992287278175, + 0.9761544466018677, + 0.04653884798090979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.007622532080858946, + -0.23202507197856903, + -0.06075108561492124 + ], + [ + -0.00841778889298439, + 0.9999616146087646, + -0.0024375603534281254, + -0.00048735101270914967 + ], + [ + 0.23199759423732758, + 0.00432410417124629, + 0.9727067351341248, + 0.04944696400240557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290222, + 0.007998919114470482, + -0.24641965329647064, + -0.06332335978351682 + ], + [ + -0.008887644857168198, + 0.9999573826789856, + -0.002494553569704294, + -0.0003921758610946404 + ], + [ + 0.24638919532299042, + 0.004607637412846088, + 0.9691600203514099, + 0.05332687336285383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.00830158032476902, + -0.25930365920066833, + -0.06710719948770194 + ], + [ + -0.00933983363211155, + 0.9999525547027588, + -0.002772246953099966, + -0.00019554884480590013 + ], + [ + 0.25926831364631653, + 0.00509917875751853, + 0.9657918810844421, + 0.056161186503653496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262634, + 0.008982736617326736, + -0.2716941833496094, + -0.06976195047825377 + ], + [ + -0.01037854515016079, + 0.9999393224716187, + -0.003700912930071354, + 0.0022666646485272426 + ], + [ + 0.2716444730758667, + 0.00638133380562067, + 0.9623765349388123, + 0.0592648278749147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958745002746582, + 0.009593034163117409, + -0.2841055989265442, + -0.07088858395420163 + ], + [ + -0.011181702837347984, + 0.9999296069145203, + -0.0039705075323581696, + 0.002505643708039297 + ], + [ + 0.2840474843978882, + 0.006983487866818905, + 0.9587847590446472, + 0.06241660998850469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.010277467779815197, + -0.296245276927948, + -0.0724456066722112 + ], + [ + -0.011924072168767452, + 0.9999218583106995, + -0.0037519545294344425, + 0.0018506315573803241 + ], + [ + 0.29618358612060547, + 0.0071157789789140224, + 0.9551045298576355, + 0.06559207862773478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.010673862881958485, + -0.30833154916763306, + -0.07465651591882011 + ], + [ + -0.012424084357917309, + 0.9999158978462219, + -0.003713734447956085, + 0.0019135235848879776 + ], + [ + 0.3082659840583801, + 0.007363311946392059, + 0.9512717127799988, + 0.06838602351629182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.010835468769073486, + -0.32070890069007874, + -0.07449283885047925 + ], + [ + -0.012816676869988441, + 0.9999095797538757, + -0.004067201167345047, + 0.0022674786136639828 + ], + [ + 0.3206358253955841, + 0.007962532341480255, + 0.9471690654754639, + 0.07118969909007976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.010755755007266998, + -0.331837922334671, + -0.07677410267638844 + ], + [ + -0.013014215975999832, + 0.9999048113822937, + -0.00458433385938406, + 0.003046905713784971 + ], + [ + 0.3317570388317108, + 0.008642897941172123, + 0.9433252811431885, + 0.07378053695259504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135193, + 0.010849849320948124, + -0.3431485593318939, + -0.07832768534785076 + ], + [ + -0.0133688198402524, + 0.9998982548713684, + -0.004975970834493637, + 0.0033545815934803314 + ], + [ + 0.34305962920188904, + 0.009261014871299267, + 0.9392679929733276, + 0.07608390378438874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060486, + 0.010827329009771347, + -0.3545053005218506, + -0.07942626446682886 + ], + [ + -0.013684280216693878, + 0.999890923500061, + -0.005552908405661583, + 0.004588555661801076 + ], + [ + 0.35440653562545776, + 0.010043070651590824, + 0.9350374937057495, + 0.07840858031779725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.010438570752739906, + -0.3656938374042511, + -0.08079606207790754 + ], + [ + -0.01359538920223713, + 0.9998892545700073, + -0.006058342754840851, + 0.006463719711373776 + ], + [ + 0.36559006571769714, + 0.010610107332468033, + 0.9307155013084412, + 0.08086169812063508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.010770156048238277, + -0.3767916262149811, + -0.08268314619727482 + ], + [ + -0.013901258818805218, + 0.9998877644538879, + -0.005591662600636482, + 0.005432599868674744 + ], + [ + 0.3766891062259674, + 0.010417073965072632, + 0.9262811541557312, + 0.08231061228261088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.011013920418918133, + -0.3877599537372589, + -0.084669525309509 + ], + [ + -0.014093865640461445, + 0.9998876452445984, + -0.005099950358271599, + 0.004347883343745936 + ], + [ + 0.3876602351665497, + 0.010165633633732796, + 0.9217462539672852, + 0.08419546459289576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.010770684108138084, + -0.39851656556129456, + -0.08615874704343593 + ], + [ + -0.01427946425974369, + 0.9998810291290283, + -0.0058373091742396355, + 0.007252175113593308 + ], + [ + 0.3984062969684601, + 0.011043987236917019, + 0.9171425700187683, + 0.08684588028303045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.010726790875196457, + -0.4089179039001465, + -0.08859458830182916 + ], + [ + -0.014440299943089485, + 0.9998777508735657, + -0.005994876846671104, + 0.007620624204887854 + ], + [ + 0.40880364179611206, + 0.011375270783901215, + 0.9125514626502991, + 0.0887771620951741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.01060201320797205, + -0.4190731346607208, + -0.09074768224694081 + ], + [ + -0.01432447973638773, + 0.9998809695243835, + -0.005737208761274815, + 0.006512407852423112 + ], + [ + 0.41896238923072815, + 0.011211763136088848, + 0.9079343676567078, + 0.08977487343826042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523499, + 0.010560670867562294, + -0.4294537901878357, + -0.09224600137661625 + ], + [ + -0.014666726812720299, + 0.9998728632926941, + -0.0062524136155843735, + 0.0077700322333550615 + ], + [ + 0.4293331503868103, + 0.011944780126214027, + 0.9030672311782837, + 0.09229708778739765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.01073315367102623, + -0.4390795826911926, + -0.09545408650147205 + ], + [ + -0.015065105631947517, + 0.9998661279678345, + -0.006382744759321213, + 0.00827574935303816 + ], + [ + 0.43895232677459717, + 0.01234893687069416, + 0.8984254598617554, + 0.09287975138386353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.011067933402955532, + -0.4490206241607666, + -0.09634101758926909 + ], + [ + -0.015340826474130154, + 0.9998650550842285, + -0.00587916374206543, + 0.006581710045232086 + ], + [ + 0.4488949775695801, + 0.01214110292494297, + 0.8935020565986633, + 0.09415667199141142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.011033737100660801, + -0.4585636258125305, + -0.09877006829969141 + ], + [ + -0.015641024336218834, + 0.9998581409454346, + -0.006250678561627865, + 0.008291842816829287 + ], + [ + 0.45842957496643066, + 0.01272671390324831, + 0.8886395692825317, + 0.0955213046429173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472046, + 0.011236707679927349, + -0.46845918893814087, + -0.10001433251906705 + ], + [ + -0.016084803268313408, + 0.9998504519462585, + -0.006349554285407066, + 0.009445694825359133 + ], + [ + 0.46831780672073364, + 0.01314435712993145, + 0.8834623098373413, + 0.09795876437465087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004211, + 0.011081221513450146, + -0.47735270857810974, + -0.10332824472362633 + ], + [ + -0.015823325142264366, + 0.9998573064804077, + -0.005914696026593447, + 0.008822557880290297 + ], + [ + 0.4772190749645233, + 0.012750206515192986, + 0.8786918520927429, + 0.09850902174482283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.011335542425513268, + -0.4867357313632965, + -0.10487893921452643 + ], + [ + -0.016187697649002075, + 0.9998523592948914, + -0.005764305591583252, + 0.00879571968257822 + ], + [ + 0.48659852147102356, + 0.012914111837744713, + 0.8735302686691284, + 0.09992227657938635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325684, + 0.011563494801521301, + -0.49545857310295105, + -0.10800936871411784 + ], + [ + -0.016600852832198143, + 0.999845564365387, + -0.005766450427472591, + 0.009105155350554069 + ], + [ + 0.49531540274620056, + 0.013233511708676815, + 0.8686124086380005, + 0.09917848615456891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022583, + 0.011870907619595528, + -0.5048052072525024, + -0.10941067394239223 + ], + [ + -0.017190923914313316, + 0.9998348951339722, + -0.005882324650883675, + 0.00976957157870989 + ], + [ + 0.5046520233154297, + 0.013755405321717262, + 0.863213300704956, + 0.10203318734042692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.012344984337687492, + -0.5133175849914551, + -0.11249118214411452 + ], + [ + -0.017671290785074234, + 0.9998287558555603, + -0.005495703313499689, + 0.009130508925099642 + ], + [ + 0.5131617784500122, + 0.013786900788545609, + 0.8581811785697937, + 0.10283604679715555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.01265900582075119, + -0.5219429135322571, + -0.11464462986845055 + ], + [ + -0.018154555931687355, + 0.9998205304145813, + -0.0054163821041584015, + 0.009443441011159626 + ], + [ + 0.5217806696891785, + 0.014095200225710869, + 0.8529632091522217, + 0.10317492929120728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.012931415811181068, + -0.5304490923881531, + -0.11699532550691769 + ], + [ + -0.018431654199957848, + 0.9998172521591187, + -0.0050786263309419155, + 0.008926628206221275 + ], + [ + 0.5302864909172058, + 0.014081789180636406, + 0.8477016091346741, + 0.10406455868324696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298462, + 0.013244349509477615, + -0.5390504002571106, + -0.11943299604567471 + ], + [ + -0.018967323005199432, + 0.9998072385787964, + -0.005067991092801094, + 0.00960785723013791 + ], + [ + 0.5388793349266052, + 0.014492450281977654, + 0.8422582745552063, + 0.10383224548488262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.013627559877932072, + -0.5479176044464111, + -0.12164686249186661 + ], + [ + -0.019596006721258163, + 0.9997952580451965, + -0.0050477455370128155, + 0.010946230392977102 + ], + [ + 0.547736644744873, + 0.01495903730392456, + 0.8365170955657959, + 0.10499195084469208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.013762841001152992, + -0.5570093989372253, + -0.12323560676235237 + ], + [ + -0.019926106557250023, + 0.9997889399528503, + -0.005002694204449654, + 0.012181062005854995 + ], + [ + 0.5568229556083679, + 0.015253225341439247, + 0.8304911851882935, + 0.10622939003619136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.013394848443567753, + -0.5660153031349182, + -0.12571723265758414 + ], + [ + -0.019328225404024124, + 0.9998031258583069, + -0.004487108904868364, + 0.01135932904859351 + ], + [ + 0.5658437609672546, + 0.014638731256127357, + 0.8243825435638428, + 0.10678956460281713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.012859703972935677, + -0.5745726823806763, + -0.12843198536444975 + ], + [ + -0.01881125010550022, + 0.9998133182525635, + -0.004415334202349186, + 0.011372765440444481 + ], + [ + 0.5744086503982544, + 0.014421730302274227, + 0.81844162940979, + 0.106325838621089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182373, + 0.012150449678301811, + -0.5833437442779541, + -0.1302402774624477 + ], + [ + -0.017797311767935753, + 0.9998338222503662, + -0.003952008672058582, + 0.010506655457152042 + ], + [ + 0.5831987857818604, + 0.013591513969004154, + 0.8122157454490662, + 0.107791691742196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938904, + 0.011548399925231934, + -0.5913549661636353, + -0.13337096325214337 + ], + [ + -0.017339786514639854, + 0.9998411536216736, + -0.004117665346711874, + 0.011878618937516154 + ], + [ + 0.5912134647369385, + 0.013574158772826195, + 0.8064008951187134, + 0.10703907915890612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.010826105251908302, + -0.5994647741317749, + -0.13567673094225247 + ], + [ + -0.016626477241516113, + 0.9998531937599182, + -0.00414055772125721, + 0.01259199334986952 + ], + [ + 0.5993319749832153, + 0.01328079029917717, + 0.8003904819488525, + 0.10665947701165218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7943386435508728, + 0.01026931218802929, + -0.6073883771896362, + -0.1378332291612562 + ], + [ + -0.016307000070810318, + 0.9998572468757629, + -0.0044212802313268185, + 0.013990387886404892 + ], + [ + 0.607256293296814, + 0.013416675850749016, + 0.7943927049636841, + 0.10762727729334737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311462, + 0.009605573490262032, + -0.6148615479469299, + -0.14170938483531903 + ], + [ + -0.014743058010935783, + 0.9998859167098999, + -0.003287816420197487, + 0.011442709926343123 + ], + [ + 0.6147598624229431, + 0.011657634750008583, + 0.7886282205581665, + 0.10728747090756499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.008899434469640255, + -0.6226077079772949, + -0.14403542947295486 + ], + [ + -0.01374885905534029, + 0.9999009966850281, + -0.002986959181725979, + 0.011585452260190485 + ], + [ + 0.6225194931030273, + 0.01089739054441452, + 0.7825284600257874, + 0.10627958259440416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.0077556101605296135, + -0.6300268173217773, + -0.14617192372186294 + ], + [ + -0.012501758523285389, + 0.9999170303344727, + -0.0030999979935586452, + 0.012617024207574051 + ], + [ + 0.6299505233764648, + 0.01028369925916195, + 0.7765672206878662, + 0.10565021182132874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.006658867001533508, + -0.6370848417282104, + -0.14945373077266264 + ], + [ + -0.011066295206546783, + 0.9999344348907471, + -0.002936943434178829, + 0.011462748080911423 + ], + [ + 0.6370235681533813, + 0.009313861839473248, + 0.7707880735397339, + 0.10434910564233135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.005289234220981598, + -0.6443486213684082, + -0.15198413218488757 + ], + [ + -0.009799103252589703, + 0.999946117401123, + -0.003421375062316656, + 0.012579819391056008 + ], + [ + 0.6442958116531372, + 0.008930409327149391, + 0.7647242546081543, + 0.1048862397276013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592346, + 0.005259272176772356, + -0.6512006521224976, + -0.15455843820082432 + ], + [ + -0.00947636365890503, + 0.9999507069587708, + -0.002967563923448324, + 0.010408299026813433 + ], + [ + 0.6511529684066772, + 0.008423060178756714, + 0.7588997483253479, + 0.10346030665943955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.0054379841312766075, + -0.6581783890724182, + -0.15759260042613704 + ], + [ + -0.009595428593456745, + 0.9999502897262573, + -0.0027137508150190115, + 0.009049067039055047 + ], + [ + 0.658130943775177, + 0.008358529768884182, + 0.7528571486473083, + 0.10337971502187236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844727, + 0.005608484148979187, + -0.6653628349304199, + -0.16015494700693927 + ], + [ + -0.010697361081838608, + 0.9999364018440247, + -0.0035731527023017406, + 0.011450572050059374 + ], + [ + 0.6653004884719849, + 0.009784981608390808, + 0.7465115785598755, + 0.10320763933342814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.006018341518938541, + -0.6717082858085632, + -0.16366378854442115 + ], + [ + -0.01101385522633791, + 0.9999342560768127, + -0.0031874277628958225, + 0.00958284873342672 + ], + [ + 0.6716449856758118, + 0.009759316220879555, + 0.7408088445663452, + 0.10042895445760512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.00578389223664999, + -0.6787058115005493, + -0.16587683597937325 + ], + [ + -0.010729682631790638, + 0.9999376535415649, + -0.003088544122874737, + 0.008880637034107715 + ], + [ + 0.6786456108093262, + 0.009550485759973526, + 0.7344037294387817, + 0.10122699640839306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446777, + 0.005525314249098301, + -0.6847578883171082, + -0.17060601537590786 + ], + [ + -0.010778908617794514, + 0.9999361038208008, + -0.0034029053058475256, + 0.01026891698931276 + ], + [ + 0.684695303440094, + 0.009860808029770851, + 0.7287627458572388, + 0.09831192309887993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.005478494800627232, + -0.691051721572876, + -0.17357381519102894 + ], + [ + -0.010956338606774807, + 0.9999337196350098, + -0.003532210597768426, + 0.010931495040044533 + ], + [ + 0.6909866333007812, + 0.01012442447245121, + 0.7227966785430908, + 0.09781151741545721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.005495008081197739, + -0.6972485184669495, + -0.17640220238672977 + ], + [ + -0.010774627327919006, + 0.9999368190765381, + -0.003196398261934519, + 0.01009837310909238 + ], + [ + 0.6971868872642517, + 0.00980379804968834, + 0.7168223857879639, + 0.09756984569576402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.005751725286245346, + -0.70326828956604, + -0.1799688519231531 + ], + [ + -0.01132161170244217, + 0.9999305605888367, + -0.0032664949540048838, + 0.010507095928784977 + ], + [ + 0.7032006978988647, + 0.010284285992383957, + 0.710917055606842, + 0.09581222591415936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.005315891467034817, + -0.7089744210243225, + -0.18252270436839552 + ], + [ + -0.010684940032660961, + 0.9999380111694336, + -0.0031307318713515997, + 0.010461677184994548 + ], + [ + 0.7089138627052307, + 0.00978318601846695, + 0.705227255821228, + 0.09478271584834484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.005222121253609657, + -0.7142776250839233, + -0.1861777940135918 + ], + [ + -0.010238460265100002, + 0.9999439120292664, + -0.002720913151279092, + 0.009538269339172503 + ], + [ + 0.7142233848571777, + 0.00921731535345316, + 0.699857234954834, + 0.09244747370086759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479492, + 0.004453210160136223, + -0.7193988561630249, + -0.1903226414066277 + ], + [ + -0.009380107745528221, + 0.9999518990516663, + -0.002866653958335519, + 0.010468736506801173 + ], + [ + 0.7193515300750732, + 0.00873916782438755, + 0.6945912837982178, + 0.09208788998079616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.003815949894487858, + -0.7244514226913452, + -0.19277131099574613 + ], + [ + -0.008435632102191448, + 0.9999606013298035, + -0.002759345108643174, + 0.010107830283848804 + ], + [ + 0.7244123220443726, + 0.008013264276087284, + 0.68932044506073, + 0.0901659057136403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.00299663539044559, + -0.7291480302810669, + -0.19717114506573077 + ], + [ + -0.006998141296207905, + 0.9999724626541138, + -0.0024585160426795483, + 0.009181258039832708 + ], + [ + 0.7291206121444702, + 0.006785165052860975, + 0.6843516230583191, + 0.08987664932150716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.0021717692725360394, + -0.7339073419570923, + -0.200155107588168 + ], + [ + -0.006026202347129583, + 0.9999784231185913, + -0.002618249040096998, + 0.009262170388196773 + ], + [ + 0.7338857650756836, + 0.006201109383255243, + 0.6792445778846741, + 0.0876930956759595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.0016479046316817403, + -0.7387893795967102, + -0.2028194187887457 + ], + [ + -0.004829217214137316, + 0.9999859929084778, + -0.002174766268581152, + 0.007519692090025406 + ], + [ + 0.7387754321098328, + 0.005033424124121666, + 0.6739329099655151, + 0.08793914892420863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6692056655883789, + 0.00024994288105517626, + -0.7430772185325623, + -0.20736141834432717 + ], + [ + -0.003476889804005623, + 0.9999900460243225, + -0.002794883446767926, + 0.0085099625664868 + ], + [ + 0.7430691123008728, + 0.0044539496302604675, + 0.6691998839378357, + 0.08543920564335702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.0007921459618955851, + -0.7475818395614624, + -0.20967972677275046 + ], + [ + -0.001662318129092455, + 0.9999954104423523, + -0.0025364491157233715, + 0.007118215629004485 + ], + [ + 0.7475804090499878, + 0.0029273503459990025, + 0.6641649007797241, + 0.08399654893784333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.0008249189122579992, + -0.7522561550140381, + -0.21210009613573946 + ], + [ + -0.0014781635254621506, + 0.9999960660934448, + -0.0023912517353892326, + 0.006795123489018505 + ], + [ + 0.7522552013397217, + 0.002687482163310051, + 0.6588664650917053, + 0.08358186345226717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.0008845060365274549, + -0.7567735314369202, + -0.21417618153111034 + ], + [ + -0.0012954537523910403, + 0.999996542930603, + -0.00228775292634964, + 0.006717523686365774 + ], + [ + 0.7567729353904724, + 0.0024758153595030308, + 0.6536731719970703, + 0.08271636004676883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.0011688161175698042, + -0.7607991099357605, + -0.21801141036662045 + ], + [ + -0.0007480338681489229, + 0.9999973773956299, + -0.002174394205212593, + 0.0063370751099821356 + ], + [ + 0.7607995867729187, + 0.001980255823582411, + 0.648983895778656, + 0.08103820750156776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.001442446606233716, + -0.7650463581085205, + -0.21998442101557525 + ], + [ + -0.0003252641763538122, + 0.999997615814209, + -0.0021592217963188887, + 0.006347979506206335 + ], + [ + 0.7650476694107056, + 0.0016393241239711642, + 0.6439716219902039, + 0.07976048390892956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877441, + -0.0014531849883496761, + -0.769130527973175, + -0.2222647973638497 + ], + [ + -0.0005189653020352125, + 0.9999971985816956, + -0.0023206027690321207, + 0.007636264854863237 + ], + [ + 0.7691317200660706, + 0.0018822263227775693, + 0.6390875577926636, + 0.07980208550363976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.0012736815260723233, + -0.7733120322227478, + -0.22277362524278904 + ], + [ + -0.000546193914487958, + 0.9999976754188538, + -0.002094858093187213, + 0.0071350646513631405 + ], + [ + 0.7733128666877747, + 0.0017505694413557649, + 0.6340222358703613, + 0.08051630245731367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705933, + -0.002225269563496113, + -0.7768340110778809, + -0.22519855201244354 + ], + [ + 0.00028024002676829696, + 0.9999964833259583, + -0.0026373642031103373, + 0.008885992992367127 + ], + [ + 0.7768371105194092, + 0.0014430524315685034, + 0.6296999454498291, + 0.08048108678977221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.0025507272221148014, + -0.779694139957428, + -0.22661738816081295 + ], + [ + 0.0010803568875417113, + 0.999996542930603, + -0.002403823658823967, + 0.00817993353213498 + ], + [ + 0.779697597026825, + 0.000662819598801434, + 0.6261559724807739, + 0.07999070192014934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.0030336659401655197, + -0.7827765345573425, + -0.22601539772867368 + ], + [ + 0.002056846395134926, + 0.9999953508377075, + -0.0022403402253985405, + 0.0076011160937514135 + ], + [ + 0.7827797532081604, + -0.000215897336602211, + 0.6222988963127136, + 0.08229410395716989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903442, + -0.003761997679248452, + -0.7847548127174377, + -0.22802906480451293 + ], + [ + 0.0032785104122012854, + 0.9999921917915344, + -0.0022044642828404903, + 0.007729316263502797 + ], + [ + 0.7847569584846497, + -0.0012065107002854347, + 0.6198024749755859, + 0.08271146087062281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.004539810586720705, + -0.7858691811561584, + -0.22944100380733312 + ], + [ + 0.004675140138715506, + 0.9999868869781494, + -0.0020980031695216894, + 0.007741172012367243 + ], + [ + 0.7858683466911316, + -0.0023766930680722, + 0.6183892488479614, + 0.08123221435886345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.005660193972289562, + -0.7870671153068542, + -0.23017035493787552 + ], + [ + 0.006203397177159786, + 0.9999780654907227, + -0.002329607494175434, + 0.00892075441086924 + ], + [ + 0.7870630621910095, + -0.003445491660386324, + 0.616862952709198, + 0.08243305522282393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.0064145904034376144, + -0.787406325340271, + -0.23137462893069186 + ], + [ + 0.007700510323047638, + 0.9999681115150452, + -0.002118071774020791, + 0.00860603415539846 + ], + [ + 0.7873947620391846, + -0.004757847636938095, + 0.6164308190345764, + 0.08135951642958533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.0074282484129071236, + -0.7878191471099854, + -0.23203291143013152 + ], + [ + 0.009217723272740841, + 0.9999550580978394, + -0.00222267908975482, + 0.009132290504478066 + ], + [ + 0.7878001928329468, + -0.005893034394830465, + 0.6159027814865112, + 0.08118264699811178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6151977777481079, + -0.00841560773551464, + -0.7883278727531433, + -0.23278580264539908 + ], + [ + 0.010718902572989464, + 0.9999398589134216, + -0.002309769857674837, + 0.00929014881585558 + ], + [ + 0.7882999777793884, + -0.007029043976217508, + 0.6152510643005371, + 0.08152233932586696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.009412487968802452, + -0.7889751195907593, + -0.2321009092773033 + ], + [ + 0.012299969792366028, + 0.9999215602874756, + -0.0023514367640018463, + 0.009646004791192661 + ], + [ + 0.7889354228973389, + -0.008259756490588188, + 0.6144207119941711, + 0.08275027942183791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.010227596387267113, + -0.7890461683273315, + -0.23317828350114506 + ], + [ + 0.013775398954749107, + 0.999902606010437, + -0.002236975822597742, + 0.010087811309437188 + ], + [ + 0.788992166519165, + -0.009495366364717484, + 0.6143298745155334, + 0.08184950645790984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.010898209176957607, + -0.7895479202270508, + -0.2334638088349475 + ], + [ + 0.015464217402040958, + 0.9998788237571716, + -0.0017835102044045925, + 0.009585004095111462 + ], + [ + 0.7894717454910278, + -0.011115392670035362, + 0.6136862635612488, + 0.0824879564591591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6129774451255798, + -0.011926617473363876, + -0.790010392665863, + -0.23420462821493085 + ], + [ + 0.017037706449627876, + 0.9998530745506287, + -0.0018748301081359386, + 0.010391294691304596 + ], + [ + 0.7899166941642761, + -0.012310735881328583, + 0.6130906343460083, + 0.0829570791973973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.012528479099273682, + -0.790443480014801, + -0.23476244826979983 + ], + [ + 0.018658088520169258, + 0.9998249411582947, + -0.0013915528543293476, + 0.009713973360913281 + ], + [ + 0.7903226017951965, + -0.013895966112613678, + 0.612533450126648, + 0.08323894650336133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.013137735426425934, + -0.7907539010047913, + -0.23542840279490743 + ], + [ + 0.020243775099515915, + 0.999794602394104, + -0.0009433808736503124, + 0.009031711342059915 + ], + [ + 0.7906039357185364, + -0.015430498868227005, + 0.6121335029602051, + 0.0835817564895611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.013584914617240429, + -0.7908241152763367, + -0.23595448075146075 + ], + [ + 0.021221036091446877, + 0.9997745156288147, + -0.0007547237910330296, + 0.009384228428517351 + ], + [ + 0.7906560301780701, + -0.01632029563188553, + 0.612043023109436, + 0.08344445574954645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.014132389798760414, + -0.7910428643226624, + -0.23616359573326362 + ], + [ + 0.0222689900547266, + 0.9997518062591553, + -0.0006437357515096664, + 0.009738601758977436 + ], + [ + 0.7908555865287781, + -0.01722201704978943, + 0.6117604374885559, + 0.08450021119109842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990784, + -0.014541958458721638, + -0.7911027669906616, + -0.2357739576835506 + ], + [ + 0.023335307836532593, + 0.9997276663780212, + -0.00033904053270816803, + 0.009317942041385648 + ], + [ + 0.7908922433853149, + -0.018253298476338387, + 0.6116831302642822, + 0.08491967879975867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391724, + -0.01510520838201046, + -0.7909956574440002, + -0.2364800289174579 + ], + [ + 0.024431081488728523, + 0.9997014999389648, + -0.00019947998225688934, + 0.009321345657800996 + ], + [ + 0.7907626032829285, + -0.01920286938548088, + 0.6118217706680298, + 0.08455601820093117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.015652863308787346, + -0.7913145422935486, + -0.23720868218024044 + ], + [ + 0.02551366202533245, + 0.9996744990348816, + -6.772205233573914e-05, + 0.009335655482202176 + ], + [ + 0.7910580039024353, + -0.020147938281297684, + 0.6114093065261841, + 0.08561725254287783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260254, + -0.01620602235198021, + -0.791683554649353, + -0.23778248652322403 + ], + [ + 0.026492536067962646, + 0.9996489882469177, + -2.641230821609497e-05, + 0.009599836493860807 + ], + [ + 0.7914061546325684, + -0.020957576110959053, + 0.6109313368797302, + 0.08574504321379378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.016544358804821968, + -0.7920592427253723, + -0.23855197662549305 + ], + [ + 0.027166148647665977, + 0.9996309280395508, + 4.9336813390254974e-05, + 0.009808191819893603 + ], + [ + 0.7917661070823669, + -0.02154730260372162, + 0.6104443073272705, + 0.08590694762618337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.01694480888545513, + -0.7924621105194092, + -0.23906778405044254 + ], + [ + 0.027893470600247383, + 0.9996109008789062, + 8.585862815380096e-05, + 0.009924361173877653 + ], + [ + 0.7921522855758667, + -0.022156862542033195, + 0.6099212169647217, + 0.08616329897318456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029053, + -0.017379073426127434, + -0.7929292917251587, + -0.23975700378812703 + ], + [ + 0.028695357963442802, + 0.9995881915092468, + 0.00013298168778419495, + 0.01014854633403535 + ], + [ + 0.7926003932952881, + -0.022834382951259613, + 0.6093137264251709, + 0.0864316293241962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.0174977146089077, + -0.7936343550682068, + -0.23924849641244145 + ], + [ + 0.02890973910689354, + 0.9995819926261902, + 0.00011449400335550308, + 0.010436276216306632 + ], + [ + 0.7933005690574646, + -0.023013386875391006, + 0.6083950996398926, + 0.08835982640847465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.017740648239850998, + -0.7941651940345764, + -0.2392820774127316 + ], + [ + 0.029664751142263412, + 0.9995598196983337, + 0.00036114174872636795, + 0.009915525432898115 + ], + [ + 0.7938092350959778, + -0.02377808466553688, + 0.60770183801651, + 0.08935281313610392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.01809324324131012, + -0.7946889996528625, + -0.24021438451002763 + ], + [ + 0.03016676753759384, + 0.9995448589324951, + 0.0002750689163804054, + 0.010234735328210703 + ], + [ + 0.7943223118782043, + -0.024140093475580215, + 0.6070168018341064, + 0.08995839882370651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.018253536894917488, + -0.7950931787490845, + -0.2414975112045048 + ], + [ + 0.030457107350230217, + 0.9995360374450684, + 0.0002747057005763054, + 0.010217564227367868 + ], + [ + 0.7947192192077637, + -0.02438276633620262, + 0.6064873337745667, + 0.09004119168843655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.0183928981423378, + -0.7955172657966614, + -0.24233986012983005 + ], + [ + 0.03052372857928276, + 0.999534010887146, + 0.00012875162065029144, + 0.010743124002208377 + ], + [ + 0.795144259929657, + -0.024360129609704018, + 0.6059309244155884, + 0.09026039927605761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.018686318770051003, + -0.7958834171295166, + -0.243483900412029 + ], + [ + 0.03098800592124462, + 0.9995197653770447, + 9.47415828704834e-05, + 0.010637244328067003 + ], + [ + 0.7954994440078735, + -0.024720171466469765, + 0.605449914932251, + 0.09035673272728131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.01886497437953949, + -0.7965230345726013, + -0.2440085324230573 + ], + [ + 0.03127732127904892, + 0.9995107650756836, + 5.721487104892731e-05, + 0.010522973489337015 + ], + [ + 0.7961322665214539, + -0.02494768053293228, + 0.6046081781387329, + 0.09077891120255388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.019014455378055573, + -0.7971327304840088, + -0.24507588850741358 + ], + [ + 0.031572796404361725, + 0.9995014667510986, + 6.191711872816086e-05, + 0.010122495054557229 + ], + [ + 0.796734094619751, + -0.02520507201552391, + 0.6038042306900024, + 0.09125634318353326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.01935577765107155, + -0.7977075576782227, + -0.24571034920136658 + ], + [ + 0.03189093992114067, + 0.9994913339614868, + -0.00015567895025014877, + 0.010430557602116012 + ], + [ + 0.7973048686981201, + -0.025345809757709503, + 0.6030444502830505, + 0.09117704843053755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640442, + -0.019408177584409714, + -0.798369824886322, + -0.24580761786328248 + ], + [ + 0.03211335465312004, + 0.9994842410087585, + -8.842442184686661e-05, + 0.009686083958441059 + ], + [ + 0.7979597449302673, + -0.0255851112306118, + 0.6021674871444702, + 0.09141467050803419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.019424160942435265, + -0.7989946603775024, + -0.24600318800534635 + ], + [ + 0.03223805874586105, + 0.9994801878929138, + -4.781410098075867e-05, + 0.009101197123527527 + ], + [ + 0.7985802888870239, + -0.02572929859161377, + 0.6013381481170654, + 0.09189777313084002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.019588809460401535, + -0.7994709610939026, + -0.2473944180848583 + ], + [ + 0.03212953731417656, + 0.9994836449623108, + -0.0003609778359532356, + 0.00967055427786333 + ], + [ + 0.7990651726722717, + -0.025469902902841568, + 0.6007047295570374, + 0.09185789949846584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.01958748698234558, + -0.7998200058937073, + -0.2483428006337968 + ], + [ + 0.032067928463220596, + 0.9994856119155884, + -0.00042410846799612045, + 0.00945096653361885 + ], + [ + 0.7994168400764465, + -0.02539413794875145, + 0.6002398133277893, + 0.09164844075378203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.019519316032528877, + -0.8001946806907654, + -0.248932467410896 + ], + [ + 0.0321090966463089, + 0.9994843006134033, + -0.00032783299684524536, + 0.009043045918031638 + ], + [ + 0.7997884154319763, + -0.025497013702988625, + 0.5997402667999268, + 0.09197470719451148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.019489094614982605, + -0.8006852269172668, + -0.24962464989415858 + ], + [ + 0.0320732407271862, + 0.999485433101654, + -0.0003429912030696869, + 0.009131236660559447 + ], + [ + 0.8002799153327942, + -0.025475196540355682, + 0.5990852117538452, + 0.09225094317403061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.01917283423244953, + -0.8014211058616638, + -0.24889495781320609 + ], + [ + 0.031849831342697144, + 0.9994926452636719, + -0.00015409104526042938, + 0.00880233296100667 + ], + [ + 0.8010174632072449, + -0.02543300949037075, + 0.5981006026268005, + 0.09420676542236317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.018590211868286133, + -0.8012843132019043, + -0.2508265743192458 + ], + [ + 0.03126666694879532, + 0.9995110630989075, + 0.00014500226825475693, + 0.008451017233487589 + ], + [ + 0.8008898496627808, + -0.025140196084976196, + 0.5982838869094849, + 0.09316257505819497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.018184971064329147, + -0.801186740398407, + -0.251647405592811 + ], + [ + 0.03063547983765602, + 0.9995306134223938, + 0.0001844959333539009, + 0.009028218018002068 + ], + [ + 0.8008072972297668, + -0.024655092507600784, + 0.5984144806861877, + 0.09292246974659282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.017815273255109787, + -0.8012498021125793, + -0.2514576995609612 + ], + [ + 0.030087482184171677, + 0.9995472431182861, + 0.000233454629778862, + 0.009315196276697892 + ], + [ + 0.800882875919342, + -0.02424720861017704, + 0.5983299612998962, + 0.09377980447368117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.017788808792829514, + -0.8012539744377136, + -0.25180641124580083 + ], + [ + 0.030033722519874573, + 0.9995488524436951, + 0.00022612698376178741, + 0.009446719560204752 + ], + [ + 0.8008884787559509, + -0.024199875071644783, + 0.5983244180679321, + 0.09473371748497944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.017310068011283875, + -0.8012403845787048, + -0.2526658533424731 + ], + [ + 0.02964845672249794, + 0.9995602369308472, + 0.000536738894879818, + 0.008897062576690455 + ], + [ + 0.8008787035942078, + -0.024076558649539948, + 0.5983424186706543, + 0.09491692735067267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.017120927572250366, + -0.8013727068901062, + -0.2528753933922344 + ], + [ + 0.029341712594032288, + 0.999569296836853, + 0.0005371496081352234, + 0.009179539824311701 + ], + [ + 0.8010182976722717, + -0.023834817111492157, + 0.5981652736663818, + 0.09566350735181214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.01681988500058651, + -0.8013166189193726, + -0.25390057579571046 + ], + [ + 0.028740903362631798, + 0.9995867609977722, + 0.00046703219413757324, + 0.009642156946244618 + ], + [ + 0.8009777069091797, + -0.023309849202632904, + 0.5982402563095093, + 0.09607478363427105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.016582155600190163, + -0.8012941479682922, + -0.2541488597527245 + ], + [ + 0.028356844559311867, + 0.9995977282524109, + 0.00047805439680814743, + 0.009597234307042022 + ], + [ + 0.8009639382362366, + -0.0230080708861351, + 0.5982704162597656, + 0.09626305977635036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.016265729442238808, + -0.8013320565223694, + -0.2544703963379197 + ], + [ + 0.027768244966864586, + 0.9996142983436584, + 0.0004316791892051697, + 0.009517196464716203 + ], + [ + 0.8010159134864807, + -0.022509727627038956, + 0.5982196927070618, + 0.09776732579169684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.016147378832101822, + -0.8010669946670532, + -0.25501533221724804 + ], + [ + 0.027362212538719177, + 0.999625563621521, + 0.00028840918093919754, + 0.009800138203612226 + ], + [ + 0.800762414932251, + -0.022091537714004517, + 0.5985746383666992, + 0.09795409664018265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994995, + -0.01571132242679596, + -0.8009308576583862, + -0.2554152643443733 + ], + [ + 0.026675201952457428, + 0.9996441006660461, + 0.00032553263008594513, + 0.009680317794990461 + ], + [ + 0.8006407022476196, + -0.021559840068221092, + 0.5987567901611328, + 0.09879998788730988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.015586912631988525, + -0.8009005188941956, + -0.25552163420134033 + ], + [ + 0.026452653110027313, + 0.9996500015258789, + 0.0003158440813422203, + 0.009582499609581682 + ], + [ + 0.8006152510643005, + -0.021375004202127457, + 0.5987974405288696, + 0.09945000965666298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.015448791906237602, + -0.8007135391235352, + -0.25650795585667063 + ], + [ + 0.026189325377345085, + 0.9996569752693176, + 0.00029966142028570175, + 0.00957240043578065 + ], + [ + 0.8004342317581177, + -0.02114959806203842, + 0.5990474224090576, + 0.09938799682634555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.015125294215977192, + -0.8007330894470215, + -0.25663249948561584 + ], + [ + 0.025747332721948624, + 0.9996684193611145, + 0.0003721676766872406, + 0.009137056611280963 + ], + [ + 0.8004618883132935, + -0.02083960361778736, + 0.599021315574646, + 0.10019595003285944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.01479332149028778, + -0.8008558750152588, + -0.2566922749312508 + ], + [ + 0.025338858366012573, + 0.9996787905693054, + 0.0004759356379508972, + 0.0082898978316626 + ], + [ + 0.8005915880203247, + -0.020577702671289444, + 0.5988569259643555, + 0.10162136903069667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.598713219165802, + -0.014453249052166939, + -0.8008331060409546, + -0.25732972773889834 + ], + [ + 0.02473283000290394, + 0.9996939897537231, + 0.0004483424127101898, + 0.007469214949238774 + ], + [ + 0.8005815744400024, + -0.020075295120477676, + 0.5988874435424805, + 0.1018657905869926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.01428189966827631, + -0.8009747862815857, + -0.25717793294530833 + ], + [ + 0.02405443787574768, + 0.9997106194496155, + 0.00014917366206645966, + 0.007186529361673736 + ], + [ + 0.8007408976554871, + -0.01935627870261669, + 0.5986981391906738, + 0.10192985903743088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.014146590605378151, + -0.8012719750404358, + -0.2583019754547157 + ], + [ + 0.023411398753523827, + 0.999725878238678, + -0.00017419736832380295, + 0.007213525963786817 + ], + [ + 0.8010547757148743, + -0.018654704093933105, + 0.5983003377914429, + 0.10231147673943186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.014018379151821136, + -0.8014667630195618, + -0.25892910333658686 + ], + [ + 0.022625073790550232, + 0.9997438192367554, + -0.0006086602807044983, + 0.00748736419227739 + ], + [ + 0.8012699484825134, + -0.01776934042572975, + 0.5980390906333923, + 0.10168614832573379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.013722740113735199, + -0.8016238212585449, + -0.25969366241764547 + ], + [ + 0.021986916661262512, + 0.9997580051422119, + -0.0007216222584247589, + 0.0072262160060618886 + ], + [ + 0.8014397621154785, + -0.01719394326210022, + 0.5978283882141113, + 0.1017116244660308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.013239637017250061, + -0.8019078373908997, + -0.2599718640774291 + ], + [ + 0.021200206130743027, + 0.9997749924659729, + -0.0007154848426580429, + 0.006873329200886733 + ], + [ + 0.8017368912696838, + -0.01657325029373169, + 0.5974472761154175, + 0.10238704623173404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.013035249896347523, + -0.8023373484611511, + -0.2604487624981546 + ], + [ + 0.020687051117420197, + 0.9997856616973877, + -0.0008573736995458603, + 0.006981893943388336 + ], + [ + 0.8021765351295471, + -0.01608637347817421, + 0.5968702435493469, + 0.10425543798910862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.596592128276825, + -0.012730672955513, + -0.8024436831474304, + -0.26103123309991216 + ], + [ + 0.02018444985151291, + 0.9997959136962891, + -0.0008551264181733131, + 0.0065533665736631445 + ], + [ + 0.8022907376289368, + -0.015686720609664917, + 0.5967273116111755, + 0.1043591930968872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.012447943910956383, + -0.8026606440544128, + -0.261412852469659 + ], + [ + 0.019627327099442482, + 0.9998069405555725, + -0.0009239846840500832, + 0.006448918954771481 + ], + [ + 0.8025172352790833, + -0.015203106217086315, + 0.5964353084564209, + 0.1051041045034958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.01220423448830843, + -0.8029020428657532, + -0.2615806567550495 + ], + [ + 0.019357766956090927, + 0.9998123049736023, + -0.0008282237686216831, + 0.00609391651005293 + ], + [ + 0.8027613759040833, + -0.015048779547214508, + 0.596110463142395, + 0.10640874918525584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.595792829990387, + -0.012032067403197289, + -0.8030480146408081, + -0.261968436422727 + ], + [ + 0.019074292853474617, + 0.9998177289962769, + -0.0008287760429084301, + 0.005694127811229979 + ], + [ + 0.802911639213562, + -0.0148237943649292, + 0.5959137082099915, + 0.10736365665663158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.01215583086013794, + -0.8031197190284729, + -0.262760791182518 + ], + [ + 0.018635351210832596, + 0.9998254776000977, + -0.0013108206912875175, + 0.005705828033387661 + ], + [ + 0.802995502948761, + -0.014185569249093533, + 0.5958163142204285, + 0.10822647213935851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/tilt_down/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3c273dc1402eac2af8569729195f54ab13f4d1b0 --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/tilt_down/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.0005069969463345959, + -0.011884117817918172, + -0.0038704939652234316 + ], + [ + -0.0004851055273320526, + 0.9999981851649362, + 0.0018448833422864208, + -0.000841197615955025 + ], + [ + 0.011885031126439571, + -0.0018389877720208514, + 0.9999276829857658, + 0.0015531465178355575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.0012803794813115938, + -0.02407357119456049, + -0.008556474931538105 + ], + [ + -0.0011860182275995612, + 0.999991537588967, + 0.0039335761201209, + -0.0021783914417028427 + ], + [ + 0.024078402668237686, + -0.003903881231499036, + 0.9997024370825228, + 0.003991147968918085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.001976191487847003, + -0.03648713718495326, + -0.013135503977537155 + ], + [ + -0.0017505328869447112, + 0.9999791712605313, + 0.006215516006079845, + -0.005188399460166693 + ], + [ + 0.03649865835905075, + -0.0061474930851117705, + 0.9993148050821143, + 0.00559157645329833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151675, + 0.002196568035950123, + -0.04946619334980881, + -0.015262865461409092 + ], + [ + -0.0018370589241385464, + 0.9999715493885951, + 0.007312066208551705, + -0.004469999577850103 + ], + [ + 0.04948084801435472, + -0.0072122248437763384, + 0.9987490058718995, + 0.007130587473511696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286684, + 0.0024358109735035335, + -0.06183908357051385, + -0.01995663158595562 + ], + [ + -0.0019415044225752358, + 0.9999656838241081, + 0.008052261310090377, + -0.00321989506483078 + ], + [ + 0.06185657903552057, + -0.007916765765363416, + 0.9980536562740663, + 0.009557518176734447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.002788537668291682, + -0.07436444393572547, + -0.02387487329542637 + ], + [ + -0.0020942697301506996, + 0.9999535105583985, + 0.00941236450612832, + -0.0035073880571871996 + ], + [ + 0.07438723742961884, + -0.009230527366564044, + 0.9971867358659124, + 0.011168312281370163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.003552085125732735, + -0.08741778255430749, + -0.025680486112833023 + ], + [ + -0.002623689593747258, + 0.9999389753056065, + 0.010732824091016899, + -0.003606810700148344 + ], + [ + 0.08745056390762329, + -0.010462310999883664, + 0.9961139278766427, + 0.01271769031882286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.004078713943980695, + -0.10013990145156869, + -0.02857307344675064 + ], + [ + -0.0028831977397203445, + 0.9999228499348592, + 0.012080286331045909, + -0.00247141532599926 + ], + [ + 0.100181445479393, + -0.011730739618254604, + 0.9949000399606354, + 0.015049363486468792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.005095286703998641, + -0.11239842164343283, + -0.03357364982366562 + ], + [ + -0.003594657639041543, + 0.9999017253847896, + 0.013549600788130561, + -0.001261550234630704 + ], + [ + 0.11245641857385635, + -0.013059529336028903, + 0.99357083952415, + 0.017446216195821762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.005829187914912106, + -0.12466406629093563, + -0.03793289139866829 + ], + [ + -0.003980346955358982, + 0.9998784410692237, + 0.015074520308597726, + -0.00038313717232085764 + ], + [ + 0.12473677843809128, + -0.014460459734849359, + 0.9920844754561237, + 0.019059384241700172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.006843750495063905, + -0.13711733885111801, + -0.039912063628435135 + ], + [ + -0.00458436319604516, + 0.9998485850880933, + 0.016786789537267487, + -0.0004817905428353697 + ], + [ + 0.13721147179603577, + -0.01599924313290145, + 0.9904125847166936, + 0.021252958104014397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.008319902721791776, + -0.14938299446013528, + -0.04202285408973694 + ], + [ + -0.005534265656024218, + 0.9998031233916467, + 0.019053647009894127, + -0.0019092526054009795 + ], + [ + 0.1495121270418167, + -0.018012462377049728, + 0.9885958235919406, + 0.024068426340818405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.009237070386348951, + -0.16151525887872872, + -0.04463276267051697 + ], + [ + -0.006048411596566439, + 0.9997771939988481, + 0.020222712633711823, + -0.0004816869623027742 + ], + [ + 0.16166608035564423, + -0.018979408042779866, + 0.9866629933123974, + 0.02584804780781269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.009790230829033419, + -0.17328743124341145, + -0.05015040934085846 + ], + [ + -0.006080773659050465, + 0.999741161476698, + 0.02192434344638204, + -0.0010983675019815564 + ], + [ + 0.17345722019672394, + -0.020537868152877566, + 0.9846272632532466, + 0.02800150401890278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9822347760200503, + 0.010675866759128901, + -0.18735232057707438, + -0.05067237839102745 + ], + [ + -0.0064958767034113424, + 0.9997164271973433, + 0.022910649660736398, + 0.00016964606766123325 + ], + [ + 0.18754377961158758, + -0.021286617987096756, + 0.9820255391030407, + 0.029885074123740196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.011799073578078923, + -0.202129680774255, + -0.052169110625982285 + ], + [ + -0.006918664090335369, + 0.9996676482053947, + 0.024834498196399237, + -0.000859237858094275 + ], + [ + 0.2023555189371109, + -0.02292165095438572, + 0.9790438457960378, + 0.032395344227552414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.013253105842838555, + -0.21676627804315957, + -0.05560212582349777 + ], + [ + -0.007583028636872768, + 0.9996075144783639, + 0.026968474021775688, + -0.0011530111078172922 + ], + [ + 0.2170386165380478, + -0.0246810876542141, + 0.975850940274865, + 0.03554902970790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.014858654374249153, + -0.2316742484873329, + -0.057985223829746246 + ], + [ + -0.00841778889298439, + 0.9995507658488928, + 0.028765237394047405, + -0.0004582940018735826 + ], + [ + 0.23199759423732758, + -0.02602918339702494, + 0.9723680229541982, + 0.037851784378290176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290224, + 0.016110580146821707, + -0.24602251410203396, + -0.06022271513938904 + ], + [ + -0.0088876448571682, + 0.999497038717719, + 0.030441083525891966, + -0.0003607874386943877 + ], + [ + 0.24638919532299047, + -0.027314813790363098, + 0.9687859806570653, + 0.04113214462995529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + 0.01728625037194783, + -0.2588599804118498, + -0.06367271393537521 + ], + [ + -0.00933983363211155, + 0.9994475607887521, + 0.03189624183437234, + -0.00015883034211583436 + ], + [ + 0.25926831364631653, + -0.028386410631700217, + 0.9653880934028941, + 0.04336924105882645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262636, + 0.018866762136745364, + -0.2711871385402024, + -0.06598342210054398 + ], + [ + -0.010378545150160791, + 0.9994113389356801, + 0.03270047382389631, + 0.0023181342985481024 + ], + [ + 0.27164447307586675, + -0.02865450098310698, + 0.9619710161929949, + 0.04588078334927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9587450027465823, + 0.020420056833381214, + -0.2835331354970467, + -0.06674929708242416 + ], + [ + -0.011181702837347986, + 0.9993537138942742, + 0.03416340498271685, + 0.002563492162153125 + ], + [ + 0.28404748439788824, + -0.029583610501419617, + 0.9583536890255021, + 0.048447560518980026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + 0.02207945922403504, + -0.2956000472368973, + -0.06793326139450073 + ], + [ + -0.011924072168767452, + 0.9992765250888328, + 0.03611407338837283, + 0.001907780533656478 + ], + [ + 0.29618358612060547, + -0.030966228276825113, + 0.9546289278936393, + 0.05104412883520126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + 0.023490751193144685, + -0.3076206432756377, + -0.06975588202476501 + ], + [ + -0.012424084357917309, + 0.9992048644992894, + 0.03788447373427336, + 0.0019725498277693987 + ], + [ + 0.3082659840583801, + -0.032214530531071886, + 0.9507546023663914, + 0.05326647311449051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + 0.024721832697301563, + -0.31993817739271285, + -0.06918308883905411 + ], + [ + -0.012816676869988441, + 0.9991466835551578, + 0.039263399618951776, + 0.0023348163813352585 + ], + [ + 0.3206358253955841, + -0.03308644366371143, + 0.9466244914223595, + 0.055508092045784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + 0.025698366541592542, + -0.331016142993452, + -0.07106033712625504 + ], + [ + -0.013014215975999832, + 0.9990956480631841, + 0.04047880882141974, + 0.00312584126368165 + ], + [ + 0.3317570388317108, + -0.03387473695178492, + 0.9427564838945127, + 0.05753784999251366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135195, + 0.02689550302982786, + -0.34226493381387196, + -0.07219191640615463 + ], + [ + -0.013368819840252403, + 0.9990357427140648, + 0.04181943519837436, + 0.0034435559064149857 + ], + [ + 0.3430596292018891, + -0.034701909416370864, + 0.9386724170355959, + 0.05928904563188553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060488, + 0.02801748055826485, + -0.3535622433670495, + -0.07285265624523163 + ], + [ + -0.013684280216693882, + 0.998982409941013, + 0.04297485681201074, + 0.004691523499786854 + ], + [ + 0.3544065356254578, + -0.035342873425209004, + 0.9344232762520914, + 0.06107013672590256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + 0.028804482458314688, + -0.36470707186057616, + -0.07377280294895172 + ], + [ + -0.01359538920223713, + 0.9989301353614568, + 0.04420191837739418, + 0.006580071989446878 + ], + [ + 0.36559006571769714, + -0.03617935974063922, + 0.9300725631273008, + 0.06298702955245972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + 0.030344864604628215, + -0.37572212476664213, + -0.07519721984863281 + ], + [ + -0.013901258818805218, + 0.9988262473830707, + 0.04639973851096501, + 0.0055436925031244755 + ], + [ + 0.3766891062259674, + -0.03775406923906613, + 0.9255700525783875, + 0.0639076754450798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + 0.03182887683837943, + -0.3866083428542673, + -0.07670889049768448 + ], + [ + -0.014093865640461445, + 0.9987177653755257, + 0.04862239946527962, + 0.004452584311366081 + ], + [ + 0.3876602351665497, + -0.03936619578166053, + 0.920961345247225, + 0.06527219712734222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + 0.03285273472248053, + -0.39730612691497874, + -0.07771336287260056 + ], + [ + -0.01427946425974369, + 0.9986662465072111, + 0.049617282046871325, + 0.007375879678875208 + ], + [ + 0.3984062969684601, + -0.039830585132801785, + 0.9163438153240842, + 0.06740974634885788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + 0.034092483421214785, + -0.4076353992807099, + -0.07965797185897827 + ], + [ + -0.014440299943089485, + 0.9985844579174482, + 0.05119116765715605, + 0.0077516380697488785 + ], + [ + 0.40880364179611206, + -0.040825978807100365, + 0.9117087299269704, + 0.06883398443460464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + 0.03527290323864256, + -0.41772062096039986, + -0.08131159842014313 + ], + [ + -0.01432447973638773, + 0.9984822361424718, + 0.05317981655967848, + 0.0066415900364518166 + ], + [ + 0.41896238923072815, + -0.042297822384848575, + 0.9070178685264725, + 0.06933131814002991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523501, + 0.036585347604362266, + -0.4280228942668121, + -0.08229177445173264 + ], + [ + -0.014666726812720302, + 0.9984116870319101, + 0.054396126914021195, + 0.007914955727756023 + ], + [ + 0.4293331503868104, + -0.042843485053699296, + 0.9021294461377086, + 0.07136506587266922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + 0.038099943795830156, + -0.43755511059379976, + -0.08498596400022507 + ], + [ + -0.015065105631947517, + 0.9983172832962479, + 0.05599656382361128, + 0.008427920751273632 + ], + [ + 0.43895232677459717, + -0.043714604238235207, + 0.897446286161984, + 0.07146033644676208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + 0.039829873284992684, + -0.44738752917983543, + -0.0853385254740715 + ], + [ + -0.015340826474130154, + 0.9981853446826607, + 0.05822980856615488, + 0.0067257690243422985 + ], + [ + 0.4488949775695801, + -0.045162292984376434, + 0.8924425465085516, + 0.07226291298866272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + 0.04119962794523509, + -0.45684235019305647, + -0.08723005652427673 + ], + [ + -0.015641024336218834, + 0.9981004471164588, + 0.059589180756798726, + 0.008449144661426544 + ], + [ + 0.45842957496643066, + -0.04580504970365209, + 0.8875495201751082, + 0.07315818965435028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472048, + 0.04286273144049682, + -0.46662946922962856, + -0.08791505545377731 + ], + [ + -0.01608480326831341, + 0.9979946422264424, + 0.06122039843121204, + 0.009609689936041832 + ], + [ + 0.46831780672073375, + -0.0465772943009557, + 0.882331560516279, + 0.07514086365699768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004214, + 0.04413286144364541, + -0.47543736958497906, + -0.09068313986063004 + ], + [ + -0.01582332514226437, + 0.997863704619333, + 0.06338488743165521, + 0.00897923856973648 + ], + [ + 0.4772190749645234, + -0.04816961728173311, + 0.8774631768178573, + 0.07523241639137268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + 0.04587719962148087, + -0.4847014021670812, + -0.0916629359126091 + ], + [ + -0.016187697649002075, + 0.9977366939043057, + 0.06526451749166205, + 0.00895223394036293 + ], + [ + 0.48659852147102356, + -0.04916077256831506, + 0.8722414361896619, + 0.07620390504598618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325686, + 0.047579461604073774, + -0.4933042741622088, + -0.09422840178012848 + ], + [ + -0.016600852832198146, + 0.9976154197922249, + 0.06699163174945795, + 0.009265546686947346 + ], + [ + 0.4953154027462007, + -0.0499966170368918, + 0.8672733021123844, + 0.07501840591430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022585, + 0.049437391418671234, + -0.5025188156145719, + -0.09503542631864548 + ], + [ + -0.01719092391431332, + 0.9974957633969743, + 0.0686048196262277, + 0.00993708148598671 + ], + [ + 0.5046520233154298, + -0.050577608004043026, + 0.8618400775422893, + 0.07745161652565002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + 0.0514300119088664, + -0.5108838376527597, + -0.09753358364105225 + ], + [ + -0.017671290785074234, + 0.9973397326215223, + 0.0707191736731852, + 0.009290648624300957 + ], + [ + 0.5131617784500122, + -0.05165685270304458, + 0.8567360056946418, + 0.07782944291830063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + 0.053301018782100466, + -0.5193685173474623, + -0.09909003973007202 + ], + [ + -0.018154555931687355, + 0.997201240105673, + 0.07252666382304596, + 0.009604856371879578 + ], + [ + 0.5217806696891785, + -0.052428105135537376, + 0.8514670895745512, + 0.07775549590587616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + 0.0551506265007146, + -0.5277327633631209, + -0.10083594918251038 + ], + [ + -0.018431654199957848, + 0.9970438203062595, + 0.0745918933230634, + 0.009081341326236725 + ], + [ + 0.5302864909172058, + -0.0534984566993373, + 0.8461289677388624, + 0.0782405361533165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298464, + 0.057077527406507726, + -0.536183646408989, + -0.1026546061038971 + ], + [ + -0.018967323005199436, + 0.9969021505588056, + 0.07633021066067977, + 0.00976560264825821 + ], + [ + 0.5388793349266053, + -0.05411299929782068, + 0.8406430963725825, + 0.07761625945568085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + 0.05912603089966983, + -0.544888542842086, + -0.10422961413860321 + ], + [ + -0.019596006721258163, + 0.9967546912302946, + 0.07807767449833172, + 0.011106688529253006 + ], + [ + 0.547736644744873, + -0.05462819211946539, + 0.8348654889242062, + 0.07840067893266678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + 0.06097690915951978, + -0.5538327390523097, + -0.10516046732664108 + ], + [ + -0.019926106557250023, + 0.9966077063753654, + 0.07985005319084518, + 0.012343401089310646 + ], + [ + 0.5568229556083679, + -0.055271133378165846, + 0.828790306032754, + 0.07927967607975006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + 0.06235015656199075, + -0.5627301336559424, + -0.1069750040769577 + ], + [ + -0.019328225404024124, + 0.9964372601328562, + 0.08209269907423074, + 0.011507908813655376 + ], + [ + 0.5658437609672546, + -0.05679128238645586, + 0.8225543269781529, + 0.07949212938547134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + 0.06354833123462914, + -0.571192392212721, + -0.10902588814496994 + ], + [ + -0.01881125010550022, + 0.9962972470131497, + 0.08389256299183628, + 0.011521892622113228 + ], + [ + 0.5744086503982544, + -0.057908845070896726, + 0.8165177601977917, + 0.07868310809135437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182375, + 0.06462187187142368, + -0.5798806524548319, + -0.11015161871910095 + ], + [ + -0.017797311767935756, + 0.9961290048719906, + 0.08608307697253259, + 0.01064275112003088 + ], + [ + 0.5831987857818605, + -0.05959071531177034, + 0.8101407859477164, + 0.07982134819030762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938906, + 0.06576275905804858, + -0.587800409210729, + -0.11261479556560516 + ], + [ + -0.017339786514639858, + 0.9960007606562924, + 0.08764572103368008, + 0.012023146264255047 + ], + [ + 0.5912134647369386, + -0.0604789313449993, + 0.804244341166302, + 0.07873494178056717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + 0.06682080035903808, + -0.5958273244986024, + -0.1142389178276062 + ], + [ + -0.016626477241516113, + 0.9958614337187577, + 0.08935075893226653, + 0.012740066275000572 + ], + [ + 0.5993319749832153, + -0.06160340381514318, + 0.7981267591201762, + 0.07803624123334885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.794338643550873, + 0.06805389347738475, + -0.6036511965534765, + -0.1157098114490509 + ], + [ + -0.01630700007081032, + 0.9957357864202151, + 0.0907981579712959, + 0.014151427894830704 + ], + [ + 0.6072562932968141, + -0.06228074516934387, + 0.7920611628350138, + 0.07869244366884232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311465, + 0.06916421016577662, + -0.6110346162190126, + -0.11890657246112823 + ], + [ + -0.014743058010935787, + 0.9954955250424454, + 0.09365530306435407, + 0.011564642190933228 + ], + [ + 0.6147598624229432, + -0.0648458584248589, + 0.7860441370265718, + 0.07804033160209656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + 0.07028507434397338, + -0.618691818509896, + -0.12053301930427551 + ], + [ + -0.01374885905534029, + 0.9953169746580662, + 0.09568199963619117, + 0.011698205024003983 + ], + [ + 0.6225194931030273, + -0.06636328774474068, + 0.7797855204546418, + 0.07674042880535126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + 0.07096439129728961, + -0.626065487949444, + -0.1219722181558609 + ], + [ + -0.012501758523285389, + 0.9951768886844086, + 0.09729664829217392, + 0.012736096978187561 + ], + [ + 0.6299505233764648, + -0.06772730300022929, + 0.7736765571901769, + 0.07582180202007294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + 0.07167945235064313, + -0.633074633973211, + -0.12456101179122925 + ], + [ + -0.011066295206546783, + 0.9950073663472512, + 0.09918588927725736, + 0.011577502824366093 + ], + [ + 0.6370235681533813, + -0.06944321327151519, + 0.7677099989344843, + 0.07423222064971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + 0.07216898326759819, + -0.6403161404432453, + -0.12638087570667267 + ], + [ + -0.009799103252589703, + 0.9948958274814168, + 0.10043025427113347, + 0.012715768069028854 + ], + [ + 0.6442958116531372, + -0.07052586177063937, + 0.7615175904851157, + 0.07449984550476074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592348, + 0.07397256174147686, + -0.6470069623875766, + -0.12825165688991547 + ], + [ + -0.009476363658905031, + 0.9946768674819039, + 0.10260678378826946, + 0.010528180748224258 + ], + [ + 0.6511529684066774, + -0.07173571426928349, + 0.7555486504847503, + 0.07280276715755463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + 0.07602051194068297, + -0.6537960272727665, + -0.13056805729866028 + ], + [ + -0.009595428593456745, + 0.9944698303033955, + 0.10458347375875286, + 0.009160492569208145 + ], + [ + 0.658130943775177, + -0.07246142016263189, + 0.7494084960001903, + 0.07246769964694977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844728, + 0.07810659350890249, + -0.6607862871243091, + -0.13239477574825287 + ], + [ + -0.01069736108183861, + 0.9943668906620173, + 0.10545170415010233, + 0.011599650606513023 + ], + [ + 0.665300488471985, + -0.07165092837405214, + 0.7431294821578339, + 0.07206179201602936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + 0.08036211998541834, + -0.6669109170871071, + -0.13519403338432312 + ], + [ + -0.01101385522633791, + 0.9941377218089316, + 0.10755866421716007, + 0.009717945009469986 + ], + [ + 0.6716449856758118, + -0.07233325853599482, + 0.7373336342188571, + 0.06903043389320374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + 0.08207222592417132, + -0.6737500884644663, + -0.13666102290153503 + ], + [ + -0.010729682631790638, + 0.9939420014483555, + 0.10938074708031024, + 0.009013587608933449 + ], + [ + 0.6786456108093262, + -0.0730987242824449, + 0.7308191473272453, + 0.06961359083652496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446778, + 0.08367436525121497, + -0.6796488029194658, + -0.14067620038986206 + ], + [ + -0.010778908617794515, + 0.9937852204833058, + 0.11079136716275163, + 0.010417653247714043 + ], + [ + 0.6846953034400941, + -0.0734133102203988, + 0.7251226524987797, + 0.06645871698856354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + 0.08553555539359055, + -0.6857595530195888, + -0.14291125535964966 + ], + [ + -0.010956338606774807, + 0.9936042586736898, + 0.11238548536319304, + 0.01108822226524353 + ], + [ + 0.6909866333007812, + -0.07371707927698307, + 0.7190989742077885, + 0.06574040651321411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + 0.08746966360911722, + -0.6917620613811344, + -0.14500293135643005 + ], + [ + -0.010774627327919006, + 0.9933714932420536, + 0.11444184340007373, + 0.010242316871881485 + ], + [ + 0.6971868872642517, + -0.07457940423307069, + 0.7129995509726411, + 0.06528910249471664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + 0.08964220063506775, + -0.6975554783085101, + -0.1478327512741089 + ], + [ + -0.01132161170244217, + 0.9931737363350831, + 0.11609360638295489, + 0.010656359605491161 + ], + [ + 0.7032006978988647, + -0.07463364361088362, + 0.707063395836921, + 0.06332661211490631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + 0.09110965848006217, + -0.703115935319709, + -0.14965634047985077 + ], + [ + -0.010684940032660961, + 0.9929619234641643, + 0.11795103311917171, + 0.010606810450553894 + ], + [ + 0.7089138627052307, + -0.07566798810288457, + 0.701224321211318, + 0.062090061604976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + 0.09288666706192673, + -0.708231504049378, + -0.15259255468845367 + ], + [ + -0.010238460265100002, + 0.9927114668755254, + 0.12007986553378973, + 0.009666206315159798 + ], + [ + 0.7142233848571777, + -0.07678585558461856, + 0.6956932086797232, + 0.0595402792096138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479493, + 0.09398914188765756, + -0.713246511759168, + -0.1560201793909073 + ], + [ + -0.009380107745528223, + 0.9925278546944253, + 0.12165720602427493, + 0.010605424642562866 + ], + [ + 0.7193515300750734, + -0.077810688393578, + 0.6902745260796148, + 0.058968305587768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + 0.09523121647149893, + -0.7181750766508609, + -0.15774816274642944 + ], + [ + -0.008435632102191448, + 0.9923105246704229, + 0.12348538709337568, + 0.010241229087114334 + ], + [ + 0.7244123220443726, + -0.07906212041085958, + 0.6848182747993953, + 0.05684114247560501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + 0.09626456163179183, + -0.7227717233402687, + -0.16143806278705597 + ], + [ + -0.006998141296207905, + 0.9920682115536004, + 0.12550551379324357, + 0.009301741607487202 + ], + [ + 0.7291206121444702, + -0.08083157674017942, + 0.6795950549033202, + 0.05633888766169548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + 0.09731675863022855, + -0.7274298259282496, + -0.16370275616645813 + ], + [ + -0.006026202347129583, + 0.9918757450018233, + 0.12706773157595336, + 0.009392215870320797 + ], + [ + 0.7338857650756836, + -0.08192662800881212, + 0.6743142279133801, + 0.05395578220486641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + 0.09869991437859958, + -0.7321685529276878, + -0.16563531756401062 + ], + [ + -0.004829217214137316, + 0.9916031849370311, + 0.12922785784889168, + 0.007629150524735451 + ], + [ + 0.7387754321098328, + -0.08355529684281468, + 0.6687521326040835, + 0.054019346833229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.669205665588379, + 0.09915438425642246, + -0.7364320900505782, + -0.16946940124034882 + ], + [ + -0.0034768898040056237, + 0.9914642004299415, + 0.1303328154649647, + 0.008652483113110065 + ], + [ + 0.7430691123008729, + -0.08465896651793328, + 0.6638382195368365, + 0.05131444334983826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + 0.10000578803081342, + -0.7408630620416037, + -0.1710629165172577 + ], + [ + -0.001662318129092455, + 0.9912072158943581, + 0.1323083883918198, + 0.0072492375038564205 + ], + [ + 0.7475804090499878, + -0.0866436151264566, + 0.6584956102857539, + 0.04968869313597679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + 0.10189588899076456, + -0.7453235747341541, + -0.17274364829063416 + ], + [ + -0.0014781635254621506, + 0.9909571580818713, + 0.1341706418465995, + 0.006920228712260723 + ], + [ + 0.7522552013397217, + -0.08729933789152153, + 0.6530628354044651, + 0.049111366271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + 0.10375350111269965, + -0.7496280219157317, + -0.1740822196006775 + ], + [ + -0.0012954537523910403, + 0.9907092104564474, + 0.13599110266253422, + 0.00683872913941741 + ], + [ + 0.7567729353904724, + -0.08792309039635386, + 0.6477378139537326, + 0.048084668815135956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + 0.10533499402325491, + -0.7534727538831665, + -0.1772003322839737 + ], + [ + -0.0007480338681489229, + 0.9904569031032147, + 0.13782091961486256, + 0.006453714799135923 + ], + [ + 0.7607995867729187, + -0.0888802893683398, + 0.642871925468027, + 0.0462251640856266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + 0.10697211011769385, + -0.7575321632540036, + -0.17843885719776154 + ], + [ + -0.0003252641763538122, + 0.9902145509254535, + 0.13955298996571333, + 0.006465235259383917 + ], + [ + 0.7650476694107056, + -0.08962204690548249, + 0.6377068495952893, + 0.044789839535951614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877443, + 0.1088604062776505, + -0.7613890547886609, + -0.1799880862236023 + ], + [ + -0.0005189653020352126, + 0.9899938400913404, + 0.1411098116703893, + 0.007763821166008711 + ], + [ + 0.7691317200660708, + -0.08978674947083237, + 0.6327517593186, + 0.044673431664705276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + 0.11096474948086371, + -0.7653103591470294, + -0.17975494265556335 + ], + [ + -0.000546193914487958, + 0.9897154113701834, + 0.14304944519252913, + 0.007251599803566933 + ], + [ + 0.7733128666877747, + -0.09027883160961861, + 0.6275643334628118, + 0.0452461913228035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705934, + 0.11186734051720469, + -0.7687403532517253, + -0.18146948516368866 + ], + [ + 0.000280240026768297, + 0.9895443901807616, + 0.14422836827756325, + 0.009034453891217709 + ], + [ + 0.7768371105194094, + -0.09103625677511314, + 0.6230862730410723, + 0.04503440111875534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + 0.11330302378228851, + -0.7714219875626473, + -0.18221096694469452 + ], + [ + 0.0010803568875417113, + 0.9892582100406823, + 0.14617475195274213, + 0.008316840045154095 + ], + [ + 0.779697597026825, + -0.09236151821597702, + 0.619306944217489, + 0.04432883858680725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + 0.11462604788297537, + -0.7743443519064169, + -0.18091502785682678 + ], + [ + 0.002056846395134926, + 0.9889775451406637, + 0.14805112640200357, + 0.007730195298790932 + ], + [ + 0.7827797532081604, + -0.09372426446940904, + 0.6152005569026655, + 0.046439796686172485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903443, + 0.1155491993551375, + -0.7762104426237169, + -0.18229500949382782 + ], + [ + 0.0032785104122012862, + 0.9887107973428969, + 0.14980054247026192, + 0.007857788354158401 + ], + [ + 0.7847569584846499, + -0.09539043812578865, + 0.6124191603535131, + 0.046590521931648254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + 0.11629749640613402, + -0.7772296134996913, + -0.18312156200408936 + ], + [ + 0.004675140138715506, + 0.988427987439786, + 0.15161889523170857, + 0.007864829152822495 + ], + [ + 0.7858683466911316, + -0.09739116315131437, + 0.6106765699621363, + 0.04478410631418228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + 0.11672425486342199, + -0.7783843074727521, + -0.18325906991958618 + ], + [ + 0.006203397177159786, + 0.9881909081784492, + 0.15310221267864388, + 0.009059605188667774 + ], + [ + 0.7870630621910095, + -0.09926840571227175, + 0.6088329470924154, + 0.04566638916730881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + 0.11738188866048839, + -0.7786342918022615, + -0.1839216649532318 + ], + [ + 0.007700510323047638, + 0.9878809122290185, + 0.15502262263478844, + 0.008733679540455341 + ], + [ + 0.7873947620391846, + -0.10155199218545641, + 0.6080269604655208, + 0.04421037435531616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + 0.1177964636513023, + -0.7789981903565862, + -0.1840333342552185 + ], + [ + 0.009217723272740841, + 0.9876143811174725, + 0.1566297951468406, + 0.009267712011933327 + ], + [ + 0.7878001928329468, + -0.10364292584358355, + 0.6071483410335413, + 0.043657444417476654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.615197777748108, + 0.1182540103821277, + -0.7794534280132445, + -0.184233158826828 + ], + [ + 0.010718902572989466, + 0.9873403164990137, + 0.1582534546106874, + 0.009432406164705753 + ], + [ + 0.7882999777793886, + -0.10571207125860438, + 0.6061420935493419, + 0.043629392981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + 0.11872657330592347, + -0.7800476492202569, + -0.18298590183258057 + ], + [ + 0.012299969792366028, + 0.987053161937152, + 0.15992095388805497, + 0.009792385622859001 + ], + [ + 0.7889354228973389, + -0.10784249973291346, + 0.6049388648087215, + 0.04450157284736633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + 0.11928639054203888, + -0.7800443682966737, + -0.18353630602359772 + ], + [ + 0.013775398954749107, + 0.9867369469910936, + 0.16174184062879338, + 0.01022854819893837 + ], + [ + 0.788992166519165, + -0.1100951557515785, + 0.6044587772418455, + 0.04319961369037628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + 0.12006041100051104, + -0.7804423021649419, + -0.18326738476753235 + ], + [ + 0.015464217402040958, + 0.9863564594931025, + 0.16389563118919986, + 0.009698392823338509 + ], + [ + 0.7894717454910278, + -0.11263399107093647, + 0.6033638753632901, + 0.04347214102745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.61297744512558, + 0.12047684922028218, + -0.780861059040839, + -0.18345561623573303 + ], + [ + 0.01703770644962788, + 0.9860607192772043, + 0.16551115846009334, + 0.010511730797588825 + ], + [ + 0.7899166941642763, + -0.1147586960549729, + 0.6023803796775697, + 0.04357311129570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + 0.12131053881685282, + -0.7811796279079576, + -0.18346214294433594 + ], + [ + 0.018658088520169258, + 0.9856628318155768, + 0.16769207303516753, + 0.009804286062717438 + ], + [ + 0.7903226017951965, + -0.1172710995193498, + 0.6013632966982442, + 0.0434851199388504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + 0.12211745910872013, + -0.7813780507713665, + -0.1835842728614807 + ], + [ + 0.020243775099515915, + 0.9852641694110846, + 0.1698371379249631, + 0.00909356214106083 + ], + [ + 0.7906039357185364, + -0.11975722061932158, + 0.6005029007849911, + 0.04344850033521652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + 0.12304364297712937, + -0.7813114571863611, + -0.18358202278614044 + ], + [ + 0.021221036091446877, + 0.9849158992475564, + 0.17172746757059265, + 0.009434210136532784 + ], + [ + 0.7906560301780701, + -0.1216590225869386, + 0.6000517447767655, + 0.04291180521249771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + 0.12389707943627677, + -0.7814077369366054, + -0.18325278162956238 + ], + [ + 0.0222689900547266, + 0.9845749849059383, + 0.17354016137952782, + 0.009781659580767155 + ], + [ + 0.7908555865287781, + -0.12353789169710407, + 0.5994045545893751, + 0.04358113557100296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990785, + 0.12485903187399197, + -0.7813227749500112, + -0.18233522772789001 + ], + [ + 0.023335307836532596, + 0.9841952597218145, + 0.175542623346119, + 0.009340844117105007 + ], + [ + 0.7908922433853152, + -0.12557853263796176, + 0.5989319384501662, + 0.04360068589448929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391725, + 0.12564015950517426, + -0.7810997681058705, + -0.1825246959924698 + ], + [ + 0.02443108148872853, + 0.9838388894122303, + 0.17738142082131683, + 0.00933495257049799 + ], + [ + 0.7907626032829287, + -0.12757585095008678, + 0.5986810766262455, + 0.04282248020172119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + 0.12651262948434736, + -0.7812926926293169, + -0.1827075481414795 + ], + [ + 0.02551366202533245, + 0.9834796799626412, + 0.17921168407081864, + 0.009340319782495499 + ], + [ + 0.7910580039024353, + -0.1294694117034368, + 0.5978837269544827, + 0.04350694268941879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260255, + 0.12738980957886017, + -0.7815352341885617, + -0.18273164331912994 + ], + [ + 0.026492536067962653, + 0.9831349219536009, + 0.18095255078606604, + 0.009601673111319542 + ], + [ + 0.7914061546325686, + -0.1312155361627105, + 0.5970417082982006, + 0.043263062834739685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + 0.12848063736503096, + -0.7817443863675827, + -0.1829504668712616 + ], + [ + 0.027166148647665977, + 0.9827881152412208, + 0.18272798162280346, + 0.00980472844094038 + ], + [ + 0.7917661070823669, + -0.13274126423794783, + 0.59622671473717, + 0.04305456578731537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + 0.12951653958749554, + -0.7819902743195223, + -0.1829131841659546 + ], + [ + 0.027893470600247383, + 0.9824434098323045, + 0.1844638365770304, + 0.009918277151882648 + ], + [ + 0.7921522855758667, + -0.13427740092023932, + 0.5953691267302488, + 0.042943716049194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029054, + 0.13053243046787374, + -0.7823044026880217, + -0.1830441802740097 + ], + [ + 0.02869535796344281, + 0.9820910307793149, + 0.18620896206058143, + 0.010139035061001778 + ], + [ + 0.7926003932952883, + -0.13586202242291157, + 0.5944124301510266, + 0.04285157471895218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + 0.13190449309489843, + -0.7827917119275352, + -0.18195965886116028 + ], + [ + 0.02890973910689354, + 0.9817640957632741, + 0.1878920790282079, + 0.010428011417388916 + ], + [ + 0.7933005690574646, + -0.13689563805203678, + 0.5932400842185539, + 0.044442564249038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + 0.13312357280606207, + -0.7831291083718545, + -0.18142898380756378 + ], + [ + 0.029664751142263412, + 0.9813683329113941, + 0.18983192233510007, + 0.009889217093586922 + ], + [ + 0.7938092350959778, + -0.13854339194955995, + 0.5921761982603798, + 0.045083142817020416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + 0.13423523725244163, + -0.7834786995828523, + -0.1817968487739563 + ], + [ + 0.03016676753759384, + 0.9810395110185857, + 0.19144575864119973, + 0.010214515030384064 + ], + [ + 0.7943223118782043, + -0.13979418475959224, + 0.591193477407623, + 0.045336633920669556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + 0.13551411837004507, + -0.7836723028312836, + -0.182523712515831 + ], + [ + 0.030457107350230217, + 0.9806975280328598, + 0.1931443090666904, + 0.010197188705205917 + ], + [ + 0.7947192192077637, + -0.14095491169746333, + 0.5903838735869644, + 0.045056700706481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + 0.13681848190788462, + -0.7838792776257656, + -0.1828077733516693 + ], + [ + 0.03052372857928276, + 0.9803876106615342, + 0.19470076619903878, + 0.010733488947153091 + ], + [ + 0.795144259929657, + -0.14184777242776395, + 0.5895972443414337, + 0.04491589963436127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + 0.13796153411356202, + -0.7840575280398527, + -0.1833973377943039 + ], + [ + 0.03098800592124462, + 0.980041281065264, + 0.19636409489340437, + 0.010630091652274132 + ], + [ + 0.7954994440078735, + -0.14312836364712983, + 0.5888080823906008, + 0.04464726895093918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + 0.13927227184479485, + -0.7844794874044035, + -0.18334618210792542 + ], + [ + 0.03127732127904892, + 0.9796979686646237, + 0.1980243999362959, + 0.010518616065382957 + ], + [ + 0.7961322665214539, + -0.14420528933136592, + 0.58768892312606, + 0.04473259299993515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + 0.1406074969009501, + -0.7848641101091735, + -0.18383920192718506 + ], + [ + 0.031572796404361725, + 0.9793431172029329, + 0.19972542316532835, + 0.010117738507688046 + ], + [ + 0.796734094619751, + -0.14531559342420766, + 0.5865988603485552, + 0.04487138241529465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + 0.141749541830702, + -0.7852509542154144, + -0.18390122056007385 + ], + [ + 0.03189093992114067, + 0.9790292798398429, + 0.2012079027183739, + 0.010442620143294334 + ], + [ + 0.7973048686981201, + -0.14631718700991841, + 0.5855734794839715, + 0.04445108771324158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640443, + 0.14319401283414424, + -0.7856631144037625, + -0.18341845273971558 + ], + [ + 0.03211335465312005, + 0.9786583516557825, + 0.202969422766385, + 0.009692993946373463 + ], + [ + 0.7979597449302676, + -0.14738836319212104, + 0.5844116279525211, + 0.04435787349939346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + 0.1446683149137104, + -0.7860285261999755, + -0.18303605914115906 + ], + [ + 0.03223805874586105, + 0.9782926919645654, + 0.20470480484191525, + 0.009104965254664421 + ], + [ + 0.7985802888870239, + -0.14837260954551953, + 0.5833139239925025, + 0.044507548213005066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + 0.14596817440142554, + -0.7862765614911837, + -0.18386030197143555 + ], + [ + 0.03212953731417656, + 0.9780043785642017, + 0.20609493531233203, + 0.009699241258203983 + ], + [ + 0.7990651726722717, + -0.14899908121052155, + 0.5824896238256043, + 0.04411977529525757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + 0.14740516001992743, + -0.7863634212459231, + -0.18425126373767853 + ], + [ + 0.032067928463220596, + 0.977660658282052, + 0.20772892321912084, + 0.009484951384365559 + ], + [ + 0.7994168400764465, + -0.1498378372077546, + 0.5817914731988103, + 0.04354975372552872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + 0.14891362491776364, + -0.7864586848767233, + -0.18428097665309906 + ], + [ + 0.0321090966463089, + 0.9772775399646074, + 0.20951750410851727, + 0.009069533087313175 + ], + [ + 0.7997884154319763, + -0.1508420095642687, + 0.581020802966323, + 0.04351887106895447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + 0.1504102960830375, + -0.786672358891985, + -0.18440327048301697 + ], + [ + 0.0320732407271862, + 0.9769171309254215, + 0.21119698844872106, + 0.009159175679087639 + ], + [ + 0.8002799153327942, + -0.1516891797102088, + 0.5801228053953433, + 0.04345128685235977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + 0.15223994760056606, + -0.7870618685005735, + -0.18308289349079132 + ], + [ + 0.031849831342697144, + 0.9765162427153702, + 0.21307651065586378, + 0.008814986795186996 + ], + [ + 0.8010174632072449, + -0.15244348345088235, + 0.5789059968489182, + 0.04509121924638748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + 0.15414388209599267, + -0.7865378631529013, + -0.18449509143829346 + ], + [ + 0.03126666694879532, + 0.9760990227030739, + 0.2150653020849021, + 0.008439013734459877 + ], + [ + 0.8008898496627808, + -0.15320039170771504, + 0.5788827850051468, + 0.043635763227939606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + 0.15588178957409862, + -0.7860863526623595, + -0.1847934126853943 + ], + [ + 0.03063547983765602, + 0.9757352084401326, + 0.2168001019778071, + 0.00901282299309969 + ], + [ + 0.8008072972297668, + -0.15375853918690358, + 0.5788489232162288, + 0.04298854619264603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + 0.15761899361461598, + -0.7857957000381953, + -0.18406781554222107 + ], + [ + 0.030087482184171677, + 0.9753633953653015, + 0.21854288528318852, + 0.009295561350882053 + ], + [ + 0.800882875919342, + -0.15434540268921532, + 0.5785880800562907, + 0.04345668852329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + 0.15900787945909953, + -0.7855194889628269, + -0.18388554453849792 + ], + [ + 0.030033722519874573, + 0.974986209048448, + 0.22022681880337963, + 0.009427551180124283 + ], + [ + 0.8008884787559509, + -0.15530091648556257, + 0.5783246221185444, + 0.0440148264169693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + 0.16083335312389876, + -0.7851231908798194, + -0.1842155158519745 + ], + [ + 0.02964845672249794, + 0.9745451293433268, + 0.22222229009505534, + 0.008851208724081516 + ], + [ + 0.8008787035942078, + -0.15618711239194724, + 0.5780994002589162, + 0.04380025714635849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + 0.16240826314338366, + -0.7849298679321993, + -0.18388304114341736 + ], + [ + 0.029341712594032288, + 0.9741671212657099, + 0.22391401821570228, + 0.00913329515606165 + ], + [ + 0.8010182976722717, + -0.15691395227381083, + 0.5777091004207291, + 0.04416583478450775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + 0.164049588360789, + -0.7845246744663061, + -0.1843823790550232 + ], + [ + 0.028740903362631798, + 0.9738102461506187, + 0.22553827917486483, + 0.009601639583706856 + ], + [ + 0.8009777069091797, + -0.1574207297023651, + 0.5776274467155208, + 0.044174470007419586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + 0.16563596008029233, + -0.7841632535262412, + -0.18410195410251617 + ], + [ + 0.028356844559311867, + 0.9734259317928904, + 0.2272395259996157, + 0.009555444121360779 + ], + [ + 0.8009639382362366, + -0.15813489863281321, + 0.5774514837905644, + 0.043963924050331116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + 0.16731198470906816, + -0.7838394851864574, + -0.1838894933462143 + ], + [ + 0.027768244966864586, + 0.9730572184161328, + 0.22888552048625876, + 0.009479174390435219 + ], + [ + 0.8010159134864807, + -0.15863908312850206, + 0.5772409634498605, + 0.04507645219564438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + 0.16872487342352022, + -0.7832630368377339, + -0.1839272677898407 + ], + [ + 0.027362212538719177, + 0.9727028703465388, + 0.23043540666552065, + 0.009774544276297092 + ], + [ + 0.800762414932251, + -0.1593144160627251, + 0.5774067462101452, + 0.04483555257320404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994996, + 0.17047521021915946, + -0.7827357709358442, + -0.18380886316299438 + ], + [ + 0.026675201952457435, + 0.9723113080538635, + 0.23216191375526402, + 0.009651213884353638 + ], + [ + 0.8006407022476199, + -0.15984031327686907, + 0.5774301643656855, + 0.04526875168085098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + 0.17194591747324942, + -0.7823804665727995, + -0.18338754773139954 + ], + [ + 0.026452653110027313, + 0.971915332308367, + 0.23383928697310413, + 0.009554052725434303 + ], + [ + 0.8006152510643005, + -0.16067097922524248, + 0.5772348759589703, + 0.04551858454942703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + 0.17339237322950635, + -0.7818669463616804, + -0.1838604360818863 + ], + [ + 0.026189325377345085, + 0.9715190337305045, + 0.23550992569510673, + 0.009545212611556053 + ], + [ + 0.8004342317581177, + -0.16151127338622823, + 0.5772514429278465, + 0.04503733664751053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + 0.175066605507318, + -0.7815074783369873, + -0.18345291912555695 + ], + [ + 0.025747332721948624, + 0.9711031887915563, + 0.23726711507412826, + 0.00910304393619299 + ], + [ + 0.8004618883132935, + -0.16220450112147233, + 0.5770186525647679, + 0.045450955629348755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + 0.1767729806495583, + -0.7812427844271214, + -0.18297110497951508 + ], + [ + 0.025338858366012573, + 0.9706756680424915, + 0.2390536724233774, + 0.008246086537837982 + ], + [ + 0.8005915880203247, + -0.16291110802517766, + 0.5766394285033885, + 0.046494804322719574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5987132191658021, + 0.1784518411712654, + -0.7808312881294861, + -0.1830803006887436 + ], + [ + 0.024732830002903945, + 0.9702811307781678, + 0.24071311018819982, + 0.007427646778523922 + ], + [ + 0.8005815744400027, + -0.1634302782675337, + 0.5765064888207405, + 0.04633980244398117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + 0.18000590097922683, + -0.7806167155074399, + -0.1823849231004715 + ], + [ + 0.02405443787574768, + 0.9699508755978009, + 0.24210874379124556, + 0.007172599900513887 + ], + [ + 0.8007408976554871, + -0.163686105693874, + 0.576212622387225, + 0.04602493345737457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + 0.18156269887806914, + -0.78055870399802, + -0.18295057117938995 + ], + [ + 0.023411398753523827, + 0.9696232662738314, + 0.24348015004366497, + 0.007229907438158989 + ], + [ + 0.8010547757148743, + -0.16390750946079713, + 0.5757131408336494, + 0.04604747146368027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + 0.18308782666782386, + -0.7804001120612115, + -0.18302860856056213 + ], + [ + 0.022625073790550232, + 0.9693236787083715, + 0.24474411221661937, + 0.007545005530118942 + ], + [ + 0.8012699484825134, + -0.16398301635162257, + 0.5753921043366895, + 0.04505065828561783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + 0.18476586423685118, + -0.78016065000626, + -0.1832474172115326 + ], + [ + 0.021986916661262512, + 0.968939548291687, + 0.24631837394096337, + 0.0072950329631567 + ], + [ + 0.8014397621154785, + -0.1643707501947763, + 0.5750449286099208, + 0.044700175523757935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + 0.18665677380744686, + -0.7799940489831277, + -0.18296746909618378 + ], + [ + 0.021200206130743027, + 0.9685259592265913, + 0.2480080921726293, + 0.00694203469902277 + ], + [ + 0.8017368912696838, + -0.1646715123681701, + 0.5745443528374552, + 0.04501628130674362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + 0.1883142624454443, + -0.7800338947989114, + -0.1828717738389969 + ], + [ + 0.020687051117420197, + 0.9681403778914667, + 0.2495522252385507, + 0.007064792327582836 + ], + [ + 0.8021765351295471, + -0.1650515212858664, + 0.5738212738889673, + 0.04654480516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5965921282768251, + 0.18998792553208713, + -0.7797323404919975, + -0.18291254341602325 + ], + [ + 0.020184449851512912, + 0.9677156109187391, + 0.2512351421858822, + 0.006636613979935646 + ], + [ + 0.802290737628937, + -0.16562336903131902, + 0.5734966933269121, + 0.04626719653606415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + 0.19166805148534916, + -0.7795398763766127, + -0.18274147808551788 + ], + [ + 0.019627327099442482, + 0.9673067140010218, + 0.25284875554239167, + 0.006539481692016125 + ], + [ + 0.8025172352790833, + -0.16607554314866238, + 0.5730489731079105, + 0.04664554446935654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + 0.19331659842277393, + -0.7793775250491211, + -0.1823538988828659 + ], + [ + 0.019357766956090927, + 0.9668476011469419, + 0.2546194165566375, + 0.006175641901791096 + ], + [ + 0.8027613759040833, + -0.16683663526752984, + 0.5724855344603134, + 0.04758725315332413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5957928299903871, + 0.19487148257611656, + -0.779137978629668, + -0.18219545483589172 + ], + [ + 0.01907429285347462, + 0.9664100801544878, + 0.25629618620026057, + 0.00577645655721426 + ], + [ + 0.8029116392135622, + -0.16756092873707093, + 0.5720631325935337, + 0.04816693067550659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + 0.19612104781414522, + -0.7789002387472707, + -0.18244881927967072 + ], + [ + 0.018635351210832596, + 0.9660965159553563, + 0.25750771982228027, + 0.005836910102516413 + ], + [ + 0.802995502948761, + -0.1679108172013462, + 0.5718428701425884, + 0.048644840717315674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/tilt_up/transforms.json b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8d15374464087d36a74428928ad1e06242876e43 --- /dev/null +++ b/dynpose_eval/camera_controls/6614da7d-06d2-49dc-b3f0-64d7f02a239c/tilt_up/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.058899402385578e-05, + 3.7442491702677216e-06, + -2.9383227229118347e-05 + ], + [ + 8.05891104391776e-05, + 1.0, + -3.05656467389781e-05, + 4.1633379623817746e-06 + ], + [ + -3.7417858038679697e-06, + 3.0565945053240284e-05, + 1.0, + -0.00013689594925381243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999292492866516, + 0.00046578530845191443, + -0.011885804401056882, + -0.0038704939652234316 + ], + [ + -0.0004851055273320526, + 0.999998570456478, + -0.0016226560673886646, + -0.000841197615955025 + ], + [ + 0.011885031126439571, + 0.0016283071334641079, + 0.9999280482580669, + 0.0015531465178355575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997093677520752, + 0.00111339781229422, + -0.024081871750080284, + -0.008556474931538105 + ], + [ + -0.0011860182275995612, + 0.9999947696585885, + -0.003001487315595192, + -0.0021783914417028427 + ], + [ + 0.024078402668237686, + 0.003029176570155423, + 0.9997054701694454, + 0.003991147968918085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993321895599365, + 0.0015965294142693408, + -0.03650572018984984, + -0.013135503977537155 + ], + [ + -0.0017505328869447112, + 0.9999897220893792, + -0.004187040688490128, + -0.005188399460166693 + ], + [ + 0.03649865835905075, + 0.00424814890159738, + 0.999324684253544, + 0.00559157645329833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987733960151675, + 0.001510274423478857, + -0.049491901022520976, + -0.015262865461409092 + ], + [ + -0.0018370589241385464, + 0.9999767792335948, + -0.0065579640493246, + -0.004469999577850103 + ], + [ + 0.04948084801435472, + 0.00664083947231735, + 0.9987529685404732, + 0.007130587473511696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980831742286684, + 0.0013633506364872238, + -0.06187201877247602, + -0.01995663158595562 + ], + [ + -0.0019415044225752358, + 0.9999549954501931, + -0.009285193171188375, + -0.00321989506483078 + ], + [ + 0.06185657903552057, + 0.009387519837515228, + 0.9980409062025043, + 0.009557518176734447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972272515296936, + 0.001240874984600211, + -0.07440636191529412, + -0.02387487329542637 + ], + [ + -0.0020942697301506996, + 0.9999329116894378, + -0.011392453815779077, + -0.0035073880571871996 + ], + [ + 0.07438723742961884, + 0.0115166923172049, + 0.9971629528920781, + 0.011168312281370163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.99616539478302, + 0.0014293735808657735, + -0.08747824247559481, + -0.025680486112833023 + ], + [ + -0.002623689593747258, + 0.999904913569748, + -0.013539263911678213, + -0.003606810700148344 + ], + [ + 0.08745056390762329, + 0.013716861857914594, + 0.9960744274209946, + 0.01271769031882286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949650168418884, + 0.0012995868111658258, + -0.1002145041612588, + -0.02857307344675064 + ], + [ + -0.0028831977397203445, + 0.9998732094489665, + -0.01565899632525731, + -0.00247141532599926 + ], + [ + 0.100181445479393, + 0.015869092004900557, + 0.9948426366439092, + 0.015049363486468792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9936501383781433, + 0.0015856592416752797, + -0.11250267916498764, + -0.03357364982366562 + ], + [ + -0.003594657639041543, + 0.9998376326570276, + -0.017656738990752714, + -0.001261550234630704 + ], + [ + 0.11245641857385635, + 0.017949030394661895, + 0.9934945378647507, + 0.017446216195821762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9921818971633911, + 0.0015037717157456972, + -0.12479121574279607, + -0.03793289139866829 + ], + [ + -0.003980346955358982, + 0.9997999926670728, + -0.01959879436283544, + -0.00038313717232085764 + ], + [ + 0.12473677843809128, + 0.019942280964251147, + 0.9919894237171776, + 0.019059384241700172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9905311465263367, + 0.0016099799783634583, + -0.1372785835406247, + -0.039912063628435135 + ], + [ + -0.00458436319604516, + 0.9997614833665637, + -0.02135335529416416, + -0.0004817905428353697 + ], + [ + 0.13721147179603577, + 0.021780499181860268, + 0.9903023142462187, + 0.021252958104014397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9887443780899048, + 0.002098593762509402, + -0.14959978515825764, + -0.04202285408973694 + ], + [ + -0.005534265656024218, + 0.9997303048932982, + -0.02255314802910837, + -0.0019092526054009795 + ], + [ + 0.1495121270418167, + 0.0231272246484919, + 0.9884893943307486, + 0.024068426340818405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9868269562721252, + 0.0019493611754779665, + -0.16176743278853337, + -0.04463276267051697 + ], + [ + -0.006048411596566439, + 0.9996728690658511, + -0.024850565388455745, + -0.0004816869623027742 + ], + [ + 0.16166608035564423, + 0.02550164470012583, + 0.9865159635907687, + 0.02584804780781269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848226308822632, + 0.0013696615298662406, + -0.17355836618820603, + -0.05015040934085846 + ], + [ + -0.006080773659050465, + 0.9996272730642362, + -0.02661544161743614, + -0.0010983675019815564 + ], + [ + 0.17345722019672394, + 0.027266858666815757, + 0.9844638997892644, + 0.02800150401890278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9822347760200503, + 0.0009210428560661804, + -0.1876539843348145, + -0.05067237839102745 + ], + [ + -0.0064958767034113424, + 0.9995555503332592, + -0.029095265492400286, + 0.00016964606766123325 + ], + [ + 0.18754377961158758, + 0.02979735735436897, + 0.981804154121708, + 0.029885074123740196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9792876839637756, + 0.0005723819880973483, + -0.20247295712282876, + -0.052169110625982285 + ], + [ + -0.006918664090335369, + 0.9995066299579757, + -0.030637490746176974, + -0.000859237858094275 + ], + [ + 0.2023555189371109, + 0.0314037594155157, + 0.9788084889129962, + 0.032395344227552414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9761335849761963, + 0.0004595016992360597, + -0.2171705619308341, + -0.05560212582349777 + ], + [ + -0.007583028636872768, + 0.9994600763769813, + -0.03196931843493566, + -0.0011530111078172922 + ], + [ + 0.2170386165380478, + 0.03285313520450271, + 0.9756100067293118, + 0.03554902970790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9726799130439758, + 0.0003789865666156129, + -0.23214993730597083, + -0.057985223829746246 + ], + [ + -0.00841778889298439, + 0.9993986483907332, + -0.033637984277001785, + -0.0004582940018735826 + ], + [ + 0.23199759423732758, + 0.03467318070046717, + 0.9720981745648353, + 0.037851784378290176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9691302180290224, + -0.00012142117576246741, + -0.24654941390044052, + -0.06022271513938904 + ], + [ + -0.0088876448571682, + 0.9993327190447504, + -0.035427483940376675, + -0.0003607874386943877 + ], + [ + 0.24638919532299047, + 0.036525089081398246, + 0.9684824692464339, + 0.04113214462995529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657601714134216, + -0.0006930704133671187, + -0.25943558654152876, + -0.06367271393537521 + ], + [ + -0.00933983363211155, + 0.9992553416838634, + -0.03743740276793166, + -0.00015883034211583436 + ], + [ + 0.25926831364631653, + 0.03857863758781669, + 0.9650345319803298, + 0.04336924105882645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623417258262636, + -0.0009131953615484433, + -0.27184110229576963, + -0.06598342210054398 + ], + [ + -0.010378545150160791, + 0.9991419040160244, + -0.040097394189017706, + 0.0023181342985481024 + ], + [ + 0.27164447307586675, + 0.041408710248582205, + 0.9615064405075626, + 0.04588078334927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9587450027465823, + -0.001247943578350371, + -0.2842647714415038, + -0.06674929708242416 + ], + [ + -0.011181702837347986, + 0.9990508935374386, + -0.04209864411519029, + 0.002563492162153125 + ], + [ + 0.28404748439788824, + 0.043540427293811475, + 0.9578210764386847, + 0.048447560518980026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9550566077232361, + -0.0015408642495525298, + -0.2964194935955565, + -0.06793326139450073 + ], + [ + -0.011924072168767452, + 0.9989773730464359, + -0.04361201705442583, + 0.001907780533656478 + ], + [ + 0.29618358612060547, + 0.045186472553619114, + 0.9540615703209163, + 0.05104412883520126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9512190818786621, + -0.0021615038476954303, + -0.308508676477748, + -0.06975588202476501 + ], + [ + -0.012424084357917309, + 0.9988958929929025, + -0.04530551347328458, + 0.0019725498277693987 + ], + [ + 0.3082659840583801, + 0.04692840717752556, + 0.9501419970183366, + 0.05326647311449051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9471158385276794, + -0.003071248845906974, + -0.3208771942594407, + -0.06918308883905411 + ], + [ + -0.012816676869988441, + 0.9987942142178446, + -0.04739016199451473, + 0.0023348163813352585 + ], + [ + 0.3206358253955841, + 0.04899655127444109, + 0.9459344472415432, + 0.055508092045784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9432750940322876, + -0.0042087088400938714, + -0.33198551133305026, + -0.07106033712625504 + ], + [ + -0.013014215975999832, + 0.9986824824510598, + -0.04963816261489987, + 0.00312584126368165 + ], + [ + 0.3317570388317108, + 0.05114297318246219, + 0.9419775379608344, + 0.05753784999251366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9392184615135195, + -0.005219575816671794, + -0.34328036505185616, + -0.07219191640615463 + ], + [ + -0.013368819840252403, + 0.9985700444287542, + -0.05176047478636435, + 0.0034435559064149857 + ], + [ + 0.3430596292018891, + 0.05320364877994545, + 0.9378056839116993, + 0.05928904563188553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9349913001060488, + -0.006388334007480233, + -0.3546130684847674, + -0.07285265624523163 + ], + [ + -0.013684280216693882, + 0.9984434833392823, + -0.05406758980098218, + 0.004691523499786854 + ], + [ + 0.3544065356254578, + 0.05540535113758889, + 0.9334485657865479, + 0.06107013672590256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9306766986846924, + -0.007953724239722501, + -0.3657563188046452, + -0.07377280294895172 + ], + [ + -0.01359538920223713, + 0.998321172911308, + -0.056303291542239536, + 0.006580071989446878 + ], + [ + 0.36559006571769714, + 0.05737275756328033, + 0.9290060739537791, + 0.06298702955245972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9262354373931885, + -0.008833683143130922, + -0.37684199857388534, + -0.07519721984863281 + ], + [ + -0.013901258818805218, + 0.998244829949809, + -0.05756793963405222, + 0.0055436925031244755 + ], + [ + 0.3766891062259674, + 0.05856004153481303, + 0.9244868920160568, + 0.0639076754450798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9216945767402649, + -0.009832844569534725, + -0.38779170095940274, + -0.07670889049768448 + ], + [ + -0.014093865640461445, + 0.9981698162926649, + -0.058807571355332836, + 0.004452584311366081 + ], + [ + 0.3876602351665497, + 0.05966810436062261, + 0.919869128806869, + 0.06527219712734222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9170979261398315, + -0.011344511290797697, + -0.3985006433200577, + -0.07771336287260056 + ], + [ + -0.01427946425974369, + 0.9980188631562428, + -0.061273937157988664, + 0.007375879678875208 + ], + [ + 0.3984062969684601, + 0.06188457378230526, + 0.915118988395773, + 0.06740974634885788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125081300735474, + -0.012674006153510333, + -0.40886218428779936, + -0.07965797185897827 + ], + [ + -0.014440299943089485, + 0.9978988451260354, + -0.06316130252386763, + 0.0077516380697488785 + ], + [ + 0.40880364179611206, + 0.06353929367765886, + 0.9104077805739312, + 0.06883398443460464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9078905582427979, + -0.014105706996609213, + -0.41896983651397923, + -0.08131159842014313 + ], + [ + -0.01432447973638773, + 0.9978062314744783, + -0.0646343036791721, + 0.0066415900364518166 + ], + [ + 0.41896238923072815, + 0.06468240028202916, + 0.9056968072697181, + 0.06933131814002991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9030271172523501, + -0.015502881521075517, + -0.42930379259961604, + -0.08229177445173264 + ], + [ + -0.014666726812720302, + 0.9976533350032714, + -0.0668779379317397, + 0.007914955727756023 + ], + [ + 0.4293331503868104, + 0.06668907450926324, + 0.900680669905474, + 0.07136506587266922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8983840346336365, + -0.016675436302693282, + -0.4388940764559401, + -0.08498596400022507 + ], + [ + -0.015065105631947517, + 0.9975210329488262, + -0.06873719599139638, + 0.008427920751273632 + ], + [ + 0.43895232677459717, + 0.06836438552597159, + 0.895905750601758, + 0.07146033644676208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8934528231620789, + -0.017739537187370844, + -0.44880656066050834, + -0.0853385254740715 + ], + [ + -0.015340826474130154, + 0.9974315708636212, + -0.0699639506419011, + 0.0067257690243422985 + ], + [ + 0.4488949775695801, + 0.06939455337511845, + 0.8908859228252194, + 0.07226291298866272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8885930776596069, + -0.019180029548569368, + -0.4582951764302752, + -0.08723005652427673 + ], + [ + -0.015641024336218834, + 0.9972774122977109, + -0.07206341594819646, + 0.008449144661426544 + ], + [ + 0.45842957496643066, + 0.07120325581479885, + 0.8858737775229557, + 0.07315818965435028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8834136724472048, + -0.02044067148827649, + -0.4681478978369692, + -0.08791505545377731 + ], + [ + -0.01608480326831341, + 0.997136620006282, + -0.07389048747442858, + 0.009609689936041832 + ], + [ + 0.46831780672073375, + 0.07280593457493881, + 0.8805553491508411, + 0.07514086365699768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8786419034004214, + -0.022023692613203097, + -0.4769731216963563, + -0.09068313986063004 + ], + [ + -0.01582332514226437, + 0.997043983896309, + -0.07518584393035677, + 0.00897923856973648 + ], + [ + 0.4772190749645234, + 0.07360873228590908, + 0.8756961192283637, + 0.07523241639137268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8734757304191589, + -0.0232633693851343, + -0.48631161034124465, + -0.0916629359126091 + ], + [ + -0.016187697649002075, + 0.9969178771566349, + -0.07676401378264651, + 0.00895223394036293 + ], + [ + 0.48659852147102356, + 0.07492376844354148, + 0.8704069930141509, + 0.07620390504598618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8685545921325686, + -0.024513760521309765, + -0.4949868560056328, + -0.09422840178012848 + ], + [ + -0.016600852832198146, + 0.9967763547036157, + -0.07849396942086513, + 0.009265546686947346 + ], + [ + 0.4953154027462007, + 0.07639350055582929, + 0.8653477193272536, + 0.07501840591430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8631516695022585, + -0.02576152439283663, + -0.5042871796684031, + -0.09503542631864548 + ], + [ + -0.01719092391431332, + 0.9966194958192183, + -0.08033678997761153, + 0.00993708148598671 + ], + [ + 0.5046520233154298, + 0.07801200120459698, + 0.859790987018103, + 0.07745161652565002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8581099510192871, + -0.026811850538657783, + -0.5127655081715717, + -0.09753358364105225 + ], + [ + -0.017671290785074234, + 0.9965020561512834, + -0.08167861333820703, + 0.009290648624300957 + ], + [ + 0.5131617784500122, + 0.07915045975212824, + 0.8546345526631954, + 0.07782944291830063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8528864979743958, + -0.028060024331839486, + -0.5213418172844067, + -0.09909003973007202 + ], + [ + -0.018154555931687355, + 0.9963569284262296, + -0.08332647484828826, + 0.009604856371879578 + ], + [ + 0.5217806696891785, + 0.08053275061166794, + 0.8492699140529932, + 0.07775549590587616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8476181626319885, + -0.02937000303086743, + -0.5297932276391082, + -0.10083594918251038 + ], + [ + -0.018431654199957848, + 0.9962346027945199, + -0.0847168599233066, + 0.009081341326236725 + ], + [ + 0.5302864909172058, + 0.08157251370505643, + 0.8438852054182975, + 0.0782405361533165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8421694040298464, + -0.030676724441599093, + -0.5383397490329083, + -0.1026546061038971 + ], + [ + -0.018967323005199436, + 0.996077111255413, + -0.08643255915074397, + 0.00976560264825821 + ], + [ + 0.5388793349266053, + 0.08300172079368807, + 0.8382838102439863, + 0.07761625945568085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8364213109016418, + -0.031965237545433116, + -0.547154123843716, + -0.10422961413860321 + ], + [ + -0.019596006721258163, + 0.9959155038414916, + -0.08813822639930641, + 0.011106688529253006 + ], + [ + 0.547736644744873, + 0.08444272418754004, + 0.8323785498814119, + 0.07840067893266678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8303921818733215, + -0.03355049815622222, + -0.556168365129033, + -0.10516046732664108 + ], + [ + -0.019926106557250023, + 0.9957587230123516, + -0.08981935730207893, + 0.012343401089310646 + ], + [ + 0.5568229556083679, + 0.08566756296019616, + 0.8262017539410298, + 0.07927967607975006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8242859244346619, + -0.03566105763652602, + -0.5650495857143724, + -0.1069750040769577 + ], + [ + -0.019328225404024124, + 0.99566027232074, + -0.09103321780842165, + 0.011507908813655376 + ], + [ + 0.5658437609672546, + 0.08595880513104416, + 0.8200194841624334, + 0.07949212938547134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8183525204658508, + -0.03792940145551773, + -0.5734635993937394, + -0.10902588814496994 + ], + [ + -0.01881125010550022, + 0.9955174360028747, + -0.09268873257080598, + 0.011521892622113228 + ], + [ + 0.5744086503982544, + 0.0866396227532466, + 0.813970676882797, + 0.07868310809135437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8121345043182375, + -0.040419665937546465, + -0.5820685595538598, + -0.11015161871910095 + ], + [ + -0.017797311767935756, + 0.9954173745983836, + -0.09395499367240887, + 0.01064275112003088 + ], + [ + 0.5831987857818605, + 0.08666334461687618, + 0.8076933892927245, + 0.07982134819030762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8063287138938906, + -0.04276340235479748, + -0.5899197851964868, + -0.11261479556560516 + ], + [ + -0.017339786514639858, + 0.9952450818514615, + -0.09584630766964562, + 0.012023146264255047 + ], + [ + 0.5912134647369386, + 0.08751271278520385, + 0.8017531955256721, + 0.07873494178056717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8003279566764832, + -0.04526341551440767, + -0.5978515227008755, + -0.1142389178276062 + ], + [ + -0.016626477241516113, + 0.9950872578447241, + -0.09759560730493629, + 0.012740066275000572 + ], + [ + 0.5993319749832153, + 0.08804865821258505, + 0.795643599089599, + 0.07803624123334885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.794338643550873, + -0.047608577552704485, + -0.6056067394450654, + -0.1157098114490509 + ], + [ + -0.01630700007081032, + 0.9948938602064837, + -0.09960054604421775, + 0.014151427894830704 + ], + [ + 0.6072562932968141, + 0.08899219101937332, + 0.7895062804233887, + 0.07869244366884232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7885765433311465, + -0.05004354087890049, + -0.6128969197198445, + -0.11890657246112823 + ], + [ + -0.014743058010935787, + 0.9948580917818876, + -0.10019996700454348, + 0.011564642190933228 + ], + [ + 0.6147598624229432, + 0.08805132126870503, + 0.7837839852481934, + 0.07804033160209656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7824835777282715, + -0.05257304983971587, + -0.6204479288362326, + -0.12053301930427551 + ], + [ + -0.01374885905534029, + 0.994727563063288, + -0.10162676999215359, + 0.011698205024003983 + ], + [ + 0.6225194931030273, + 0.08805172750050151, + 0.7776351568410376, + 0.07674042880535126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7765346765518188, + -0.0555315300544506, + -0.6276226487336017, + -0.1219722181558609 + ], + [ + -0.012501758523285389, + 0.9945544753337345, + -0.10346532334125645, + 0.012736096978187561 + ], + [ + 0.6299505233764648, + 0.08819079980379928, + 0.7716118101398501, + 0.07582180202007294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.770764946937561, + -0.05843133433603588, + -0.6344345634006028, + -0.12456101179122925 + ], + [ + -0.011066295206546783, + 0.9944075592326467, + -0.10502907148967675, + 0.011577502824366093 + ], + [ + 0.6370235681533813, + 0.08797356397422064, + 0.7658078442893705, + 0.07423222064971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7647136449813843, + -0.061647700465062204, + -0.64141459516087, + -0.12638087570667267 + ], + [ + -0.009799103252589703, + 0.9941852850057109, + -0.10723601349831649, + 0.012715768069028854 + ], + [ + 0.6442958116531372, + 0.08829012747485439, + 0.7596629457774162, + 0.07449984550476074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7588873505592348, + -0.06351278848973883, + -0.6481173311730317, + -0.12825165688991547 + ], + [ + -0.009476363658905031, + 0.9940503377571269, + -0.10850874982197206, + 0.010528180748224258 + ], + [ + 0.6511529684066774, + 0.08848770895490721, + 0.7537703239813592, + 0.07280276715755463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7528424263000488, + -0.0652073186384766, + -0.6549628761306673, + -0.13056805729866028 + ], + [ + -0.009595428593456745, + 0.993887530509448, + -0.10997964841252696, + 0.009160492569208145 + ], + [ + 0.658130943775177, + 0.0890819905672706, + 0.7476149745997772, + 0.07246769964694977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7464990615844728, + -0.06695647162681419, + -0.6620090544006043, + -0.13239477574825287 + ], + [ + -0.01069736108183861, + 0.9935878683662378, + -0.11255542185272419, + 0.011599650606513023 + ], + [ + 0.665300488471985, + 0.0911042663258779, + 0.7409961507634553, + 0.07206179201602936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7407912611961365, + -0.06839946127808848, + -0.6682437843746729, + -0.13519403338432312 + ], + [ + -0.01101385522633791, + 0.9934318100252162, + -0.11389431505415604, + 0.009717945009469986 + ], + [ + 0.6716449856758118, + 0.09173185344788364, + 0.7351722624690342, + 0.06903043389320374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7343875169754028, + -0.07057782024678105, + -0.6750509634562692, + -0.13666102290153503 + ], + [ + -0.010729682631790638, + 0.9932473464226155, + -0.11551865173833405, + 0.009013587608933449 + ], + [ + 0.6786456108093262, + 0.09207853117539924, + 0.7286711148991867, + 0.06961359083652496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7287497520446778, + -0.0726960061240343, + -0.6809105560965192, + -0.14067620038986206 + ], + [ + -0.010778908617794515, + 0.9930081376989979, + -0.11755266884427669, + 0.010417653247714043 + ], + [ + 0.6846953034400941, + 0.09300595001508156, + 0.7228708519135176, + 0.06645871698856354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7227845191955566, + -0.07465240819302038, + -0.6870294853535028, + -0.14291125535964966 + ], + [ + -0.010956338606774807, + 0.992785481142353, + -0.11940229733032798, + 0.01108822226524353 + ], + [ + 0.6909866333007812, + 0.09382946522688419, + 0.716752100756642, + 0.06574040651321411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7168084383010864, + -0.07655593723669665, + -0.6930547453787322, + -0.14500293135643005 + ], + [ + -0.010774627327919006, + 0.9926195502381314, + -0.12079026281867271, + 0.010242316871881485 + ], + [ + 0.6971868872642517, + 0.09405088957826552, + 0.7106932371934354, + 0.06528910249471664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7109012603759766, + -0.07822096707043573, + -0.6989283581050906, + -0.1478327512741089 + ], + [ + -0.01132161170244217, + 0.9923940563773651, + -0.12257990396336933, + 0.010656359605491161 + ], + [ + 0.7032006978988647, + 0.09505520870986049, + 0.7046086387408259, + 0.06332661211490631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7052141427993774, + -0.08055607836543201, + -0.7044030853192262, + -0.14965634047985077 + ], + [ + -0.010684940032660961, + 0.992203871582991, + -0.12416644022946113, + 0.010606810450553894 + ], + [ + 0.7089138627052307, + 0.09509043832830492, + 0.6988554940904039, + 0.062090061604976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6998430490493774, + -0.08252145574652461, + -0.7095139220532545, + -0.15259255468845367 + ], + [ + -0.010238460265100002, + 0.992043280932931, + -0.12548051374056393, + 0.009666206315159798 + ], + [ + 0.7142233848571777, + 0.09508099213151572, + 0.6934296742685861, + 0.0595402792096138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6945829391479493, + -0.08515202544038224, + -0.7143554282657896, + -0.1560201793909073 + ], + [ + -0.009380107745528223, + 0.9918140146152782, + -0.12734590113025188, + 0.010605424642562866 + ], + [ + 0.7193515300750734, + 0.09515301919299218, + 0.6880983414608536, + 0.058968305587768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6893153190612793, + -0.08766036193954165, + -0.7191384333059525, + -0.15774816274642944 + ], + [ + -0.008435632102191448, + 0.9916139134602113, + -0.12895993497755567, + 0.010241229087114334 + ], + [ + 0.7244123220443726, + 0.09496045761073234, + 0.6827952840152322, + 0.05684114247560501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.684349536895752, + -0.09032054977140325, + -0.723538546433716, + -0.16143806278705597 + ], + [ + -0.006998141296207905, + 0.9914390903454788, + -0.13038213260487344, + 0.009301741607487202 + ], + [ + 0.7291206121444702, + 0.09429037178661402, + 0.6778587671747651, + 0.05633888766169548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.679246187210083, + -0.09300988980088849, + -0.7279930381257256, + -0.16370275616645813 + ], + [ + -0.006026202347129583, + 0.9911967457112169, + -0.13226002125462416, + 0.009392215870320797 + ], + [ + 0.7338857650756836, + 0.09422414278066596, + 0.6727060734530058, + 0.05395578220486641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6739344596862793, + -0.09543267537304743, + -0.732601574845229, + -0.16563531756401062 + ], + [ + -0.004829217214137316, + 0.9910317189421428, + -0.13353968575692787, + 0.007629150524735451 + ], + [ + 0.7387754321098328, + 0.09353487898224615, + 0.6674294935847359, + 0.054019346833229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.669205665588379, + -0.09865894645021174, + -0.7364986269225948, + -0.16946940124034882 + ], + [ + -0.0034768898040056237, + 0.9907201792303227, + -0.13587284492143756, + 0.008652483113110065 + ], + [ + 0.7430691123008729, + 0.0934876037828698, + 0.6626525411319713, + 0.05131444334983826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6641693115234375, + -0.1015756150424216, + -0.7406494641637694, + -0.1710629165172577 + ], + [ + -0.001662318129092455, + 0.9905232760973837, + -0.13733497001562045, + 0.0072492375038564205 + ], + [ + 0.7475804090499878, + 0.09244486119301866, + 0.6577062660844828, + 0.04968869313597679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.658870279788971, + -0.10353027534748158, + -0.7450983058188974, + -0.17274364829063416 + ], + [ + -0.0014781635254621506, + 0.990304154887821, + -0.13890835503721882, + 0.006920228712260723 + ], + [ + 0.7522552013397217, + 0.09262396327756255, + 0.6523289375840798, + 0.049111366271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6536765694618225, + -0.10550552418755457, + -0.7493834429718508, + -0.1740822196006775 + ], + [ + -0.0012954537523910403, + 0.9900766130840384, + -0.1405226668927429, + 0.00683872913941741 + ], + [ + 0.7567729353904724, + 0.09282716731589549, + 0.6470532145492459, + 0.048084668815135956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6489865183830261, + -0.10764961259779825, + -0.7531455455074444, + -0.1772003322839737 + ], + [ + -0.0007480338681489229, + 0.9898481846013287, + -0.14212689481498972, + 0.006453714799135923 + ], + [ + 0.7607995867729187, + 0.09280181033533463, + 0.6423175557243106, + 0.0462251640856266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439735889434814, + -0.10982789755388427, + -0.7571234005274279, + -0.17843885719776154 + ], + [ + -0.0003252641763538122, + 0.9896026673486674, + -0.14382786464823374, + 0.006465235259383917 + ], + [ + 0.7650476694107056, + 0.0928676167704943, + 0.6372422954164656, + 0.044789839535951614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6390900611877443, + -0.1117367354977124, + -0.7609722614834393, + -0.1799880862236023 + ], + [ + -0.0005189653020352126, + 0.9893282595176587, + -0.145703044883116, + 0.007763821166008711 + ], + [ + 0.7691317200660708, + 0.093512292064775, + 0.6322119110979432, + 0.044673431664705276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6340243816375732, + -0.11348514538448404, + -0.7649406795446092, + -0.17975494265556335 + ], + [ + -0.000546193914487958, + 0.9891073894344298, + -0.14719480778800978, + 0.007251599803566933 + ], + [ + 0.7733128666877747, + 0.0937429063870881, + 0.6270562395619094, + 0.0452461913228035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6297014951705934, + -0.11626963848971812, + -0.7680868464942293, + -0.18146948516368866 + ], + [ + 0.000280240026768297, + 0.9887698613969308, + -0.14944592181561234, + 0.009034453891217709 + ], + [ + 0.7768371105194094, + 0.09389107800573467, + 0.6226624841523369, + 0.04503440111875534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.626155436038971, + -0.11834787521695771, + -0.7706641541715473, + -0.18221096694469452 + ], + [ + 0.0010803568875417113, + 0.9885440224085517, + -0.15092905618753813, + 0.008316840045154095 + ], + [ + 0.779697597026825, + 0.09367244883017571, + 0.6191100173097851, + 0.04432883858680725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6222954988479614, + -0.12062448820051654, + -0.7734326338014207, + -0.18091502785682678 + ], + [ + 0.002056846395134926, + 0.9883042479533222, + -0.1524809309349004, + 0.007730195298790932 + ], + [ + 0.7827797532081604, + 0.09329737261187847, + 0.6152654412750661, + 0.046439796686172485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6197949647903443, + -0.122985792064115, + -0.7750669414057614, + -0.18229500949382782 + ], + [ + 0.0032785104122012862, + 0.9880407257991869, + -0.1541582546250041, + 0.007857788354158401 + ], + [ + 0.7847569584846499, + 0.09300544763880929, + 0.6127858927581775, + 0.046590521931648254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6183761358261108, + -0.12526923800783857, + -0.7758341303269339, + -0.18312156200408936 + ], + [ + 0.004675140138715506, + 0.9877830864987592, + -0.15576504669705027, + 0.007864829152822495 + ], + [ + 0.7858683466911316, + 0.09269425440017003, + 0.6114071368260943, + 0.04478410631418228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6168413758277893, + -0.12790710619680923, + -0.7766250407871325, + -0.18325906991958618 + ], + [ + 0.006203397177159786, + 0.9874668339019956, + -0.1577048207164689, + 0.009059605188667774 + ], + [ + 0.7870630621910095, + 0.09246114412421344, + 0.609903853623777, + 0.04566638916730881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6164010763168335, + -0.1300517260959112, + -0.7766185786442317, + -0.1839216649532318 + ], + [ + 0.007700510323047638, + 0.9872153319072793, + -0.15920615164686996, + 0.008733679540455341 + ], + [ + 0.7873947620391846, + 0.09215448551531714, + 0.6095220607731784, + 0.04421037435531616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6158620119094849, + -0.1324643679657471, + -0.7766385122095246, + -0.1840333342552185 + ], + [ + 0.009217723272740841, + 0.9869083186671495, + -0.16101872271065126, + 0.009267712011933327 + ], + [ + 0.7878001928329468, + 0.0920064726960404, + 0.6090203388058831, + 0.043657444417476654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.615197777748108, + -0.13486690580581312, + -0.7767512955453761, + -0.184233158826828 + ], + [ + 0.010718902572989466, + 0.9865986821070746, + -0.16281307363099884, + 0.009432406164705753 + ], + [ + 0.7882999777793886, + 0.0918363327290392, + 0.6083990200296551, + 0.043629392981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6143530607223511, + -0.1373021000958645, + -0.776993222346425, + -0.18298590183258057 + ], + [ + 0.012299969792366028, + 0.986290102088588, + -0.1645615097909515, + 0.009792385622859001 + ], + [ + 0.7889354228973389, + 0.0915418862842855, + 0.6076192211905602, + 0.04450157284736633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6142488121986389, + -0.13946474761054037, + -0.7766904426177992, + -0.18353630602359772 + ], + [ + 0.013775398954749107, + 0.9860033776977479, + -0.16615524287823857, + 0.01022854819893837 + ], + [ + 0.788992166519165, + 0.09136143907479972, + 0.6075725834456761, + 0.04319961369037628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6135920882225037, + -0.1415556132900369, + -0.7768311899275206, + -0.18326738476753235 + ], + [ + 0.015464217402040958, + 0.9857654949208396, + -0.1674133570840347, + 0.009698392823338509 + ], + [ + 0.7894717454910278, + 0.0907104245390062, + 0.6070469511643468, + 0.04347214102745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.61297744512558, + -0.14399355688572088, + -0.7768684060378732, + -0.18345561623573303 + ], + [ + 0.01703770644962788, + 0.9854330856603789, + -0.16920791755158454, + 0.010511730797588825 + ], + [ + 0.7899166941642763, + 0.09048459004677743, + 0.6065016233323679, + 0.04357311129570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.612406849861145, + -0.1460066785140024, + -0.7769426669425222, + -0.18346214294433594 + ], + [ + 0.018658088520169258, + 0.9851922275963084, + -0.1704351022100717, + 0.009804286062717438 + ], + [ + 0.7903226017951965, + 0.08987936923631337, + 0.606062723143356, + 0.0434851199388504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6119932532310486, + -0.1480068228924351, + -0.7768901546703482, + -0.1835842728614807 + ], + [ + 0.020243775099515915, + 0.9849419072245502, + -0.17169617449647187, + 0.00909356214106083 + ], + [ + 0.7906039357185364, + 0.08934971235422254, + 0.6057740128495704, + 0.04344850033521652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6118927001953125, + -0.14980613685757838, + -0.7766243960677303, + -0.18358202278614044 + ], + [ + 0.021221036091446877, + 0.984655504785322, + -0.17321428522149768, + 0.009434210136532784 + ], + [ + 0.7906560301780701, + 0.08950778540351503, + 0.6056825658202555, + 0.04291180521249771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6115975379943848, + -0.15172961235014346, + -0.7764835235684665, + -0.18325278162956238 + ], + [ + 0.0222689900547266, + 0.9843506851068052, + -0.1748079438810618, + 0.009781659580767155 + ], + [ + 0.7908555865287781, + 0.08962060217941181, + 0.6054053009451207, + 0.04358113557100296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6115103363990785, + -0.15348934731207337, + -0.7762062076264336, + -0.18233522772789001 + ], + [ + 0.023335307836532596, + 0.984075968794396, + -0.17621012885614254, + 0.009340844117105007 + ], + [ + 0.7908922433853152, + 0.08964130350569266, + 0.6053543354606272, + 0.04360068589448929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6116353273391725, + -0.15537014631661233, + -0.7757334690788356, + -0.1825246959924698 + ], + [ + 0.02443108148872853, + 0.983768021853993, + -0.17777403620878188, + 0.00933495257049799 + ], + [ + 0.7907626032829287, + 0.08978087062713878, + 0.605503116858561, + 0.04282248020172119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6112089157104492, + -0.15731082011041175, + -0.7756784274757174, + -0.1827075481414795 + ], + [ + 0.02551366202533245, + 0.9834553898662507, + -0.17934493232299328, + 0.009340319782495499 + ], + [ + 0.7910580039024353, + 0.08982682161186974, + 0.6051102557740413, + 0.04350694268941879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6107163429260255, + -0.1592662566408696, + -0.7756672903753986, + -0.18273164331912994 + ], + [ + 0.026492536067962653, + 0.9831253584754555, + -0.18100450249428596, + 0.009601673111319542 + ], + [ + 0.7914061546325686, + 0.08999301709297775, + 0.6046301144109547, + 0.043263062834739685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6102200746536255, + -0.16101214057889746, + -0.7756975250580308, + -0.1829504668712616 + ], + [ + 0.027166148647665977, + 0.9828061475428376, + -0.18263096966106462, + 0.00980472844094038 + ], + [ + 0.7917661070823669, + 0.09037237269173559, + 0.6041021212111686, + 0.04305456578731537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6096857786178589, + -0.16282466809247415, + -0.7757392929442318, + -0.1829131841659546 + ], + [ + 0.027893470600247383, + 0.9824750832898881, + -0.18429506570217782, + 0.009918277151882648 + ], + [ + 0.7921522855758667, + 0.09072402538168917, + 0.6035428474267394, + 0.042943716049194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6090657711029054, + -0.1646830186851026, + -0.7758340010760516, + -0.1830441802740097 + ], + [ + 0.02869535796344281, + 0.9821405411821944, + -0.18594764761943736, + 0.010139035061001778 + ], + [ + 0.7926003932952883, + 0.09099152845338687, + 0.6029138976708112, + 0.04285157471895218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6081434488296509, + -0.1662768696274155, + -0.7762175353520241, + -0.18195965886116028 + ], + [ + 0.02890973910689354, + 0.9818071130264836, + -0.1876671678851237, + 0.010428011417388916 + ], + [ + 0.7933005690574646, + 0.09168831717330142, + 0.6018865887650591, + 0.044442564249038696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6074429750442505, + -0.16796155756603662, + -0.7764032465130073, + -0.18142898380756378 + ], + [ + 0.029664751142263412, + 0.9815052495268727, + -0.1891227345665236, + 0.009889217093586922 + ], + [ + 0.7938092350959778, + 0.09184946397129369, + 0.6011909823069472, + 0.045083142817020416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6067471504211426, + -0.16975367994632773, + -0.7765575701549347, + -0.1817968487739563 + ], + [ + 0.03016676753759384, + 0.9811447319315241, + -0.190905776979923, + 0.010214515030384064 + ], + [ + 0.7943223118782043, + 0.09240530509318677, + 0.6004276820838224, + 0.045336633920669556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6062126159667969, + -0.1713350701530258, + -0.7766277410948926, + -0.182523712515831 + ], + [ + 0.030457107350230217, + 0.9808035448162475, + -0.19260522342474046, + 0.010197188705205917 + ], + [ + 0.7947192192077637, + 0.09310588921525095, + 0.5997938801927092, + 0.045056700706481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6056517362594604, + -0.17290055666698997, + -0.7767183636215351, + -0.1828077733516693 + ], + [ + 0.03052372857928276, + 0.9804377375787959, + -0.19444818905944347, + 0.010733488947153091 + ], + [ + 0.795144259929657, + 0.09405954400847052, + 0.5990813828342937, + 0.04491589963436127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6051615476608276, + -0.17460655517275817, + -0.7767188314066001, + -0.1833973377943039 + ], + [ + 0.03098800592124462, + 0.9800784890217266, + -0.19617830081902335, + 0.010630091652274132 + ], + [ + 0.7954994440078735, + 0.09465058612855379, + 0.598516460019541, + 0.04464726895093918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.604313850402832, + -0.1762547466863564, + -0.7770064968413164, + -0.18334618210792542 + ], + [ + 0.03127732127904892, + 0.9797206332165502, + -0.19791223717972067, + 0.010518616065382957 + ], + [ + 0.7961322665214539, + 0.09529841306944303, + 0.5975714587416779, + 0.04473259299993515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6035047769546509, + -0.1778698958226979, + -0.7772672897287252, + -0.18383920192718506 + ], + [ + 0.031572796404361725, + 0.9793678548680461, + -0.199604084934374, + 0.010117738507688046 + ], + [ + 0.796734094619751, + 0.09592151772652775, + 0.5966690096623863, + 0.04487138241529465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6027337312698364, + -0.17966736131573108, + -0.7774520132993903, + -0.18390122056007385 + ], + [ + 0.03189093992114067, + 0.9789665527845545, + -0.20151287658403916, + 0.010442620143294334 + ], + [ + 0.7973048686981201, + 0.09666494071840805, + 0.5957859584828827, + 0.04445108771324158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6018546223640443, + -0.18120086806670235, + -0.7777771532116626, + -0.18341845273971558 + ], + [ + 0.03211335465312005, + 0.9786224229058478, + -0.20314258349647105, + 0.009692993946373463 + ], + [ + 0.7979597449302676, + 0.09728527574758523, + 0.594807410523175, + 0.04435787349939346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6010243892669678, + -0.18269272933633568, + -0.7780701330778084, + -0.18303605914115906 + ], + [ + 0.03223805874586105, + 0.9782731017535125, + -0.204798404930811, + 0.009104965254664421 + ], + [ + 0.7985802888870239, + 0.09800536252000484, + 0.5938556340594914, + 0.044507548213005066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6003853678703308, + -0.18430092940901646, + -0.7781842368664743, + -0.18386030197143555 + ], + [ + 0.03212953731417656, + 0.9778552551661329, + -0.206801322036688, + 0.009699241258203983 + ], + [ + 0.7990651726722717, + 0.09915779044625159, + 0.5930114844249569, + 0.04411977529525757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5999202728271484, + -0.1857212402185654, + -0.7782051994209312, + -0.18425126373767853 + ], + [ + 0.032067928463220596, + 0.9774840163798575, + -0.20855854337852708, + 0.009484951384365559 + ], + [ + 0.7994168400764465, + 0.10016307152205861, + 0.592368175081348, + 0.04354975372552872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5994226932525635, + -0.18708219981194374, + -0.778262668523743, + -0.18428097665309906 + ], + [ + 0.0321090966463089, + 0.9771398853152995, + -0.21015855722083016, + 0.009069533087313175 + ], + [ + 0.7997884154319763, + 0.10098449019839294, + 0.5917268103342862, + 0.04351887106895447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5987682342529297, + -0.1885055299532782, + -0.7784229715196621, + -0.18440327048301697 + ], + [ + 0.0320732407271862, + 0.9767719488451189, + -0.21186743160447083, + 0.009159175679087639 + ], + [ + 0.8002799153327942, + 0.10189294292919793, + 0.5909060033221414, + 0.04345128685235977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5977932214736938, + -0.18970286214206478, + -0.7788813841581693, + -0.18308289349079132 + ], + [ + 0.031849831342697144, + 0.976450496599393, + -0.21337759810022458, + 0.008814986795186996 + ], + [ + 0.8010174632072449, + 0.10274844882432177, + 0.5897575138126473, + 0.04509121924638748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.5979949831962585, + -0.19045457027755996, + -0.7785430002390011, + -0.18449509143829346 + ], + [ + 0.03126666694879532, + 0.9761613820384658, + -0.2147820814209569, + 0.008439013734459877 + ], + [ + 0.8008898496627808, + 0.10409617345927678, + 0.5896945187686998, + 0.043635763227939606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.598138153553009, + -0.19138734269381083, + -0.7782041963517267, + -0.1847934126853943 + ], + [ + 0.03063547983765602, + 0.9758151769910984, + -0.21643987978449733, + 0.00901282299309969 + ], + [ + 0.8008072972297668, + 0.10562028845208825, + 0.5895355111855229, + 0.04298854619264603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.5980647206306458, + -0.19238928371829667, + -0.7780134914363391, + -0.18406781554222107 + ], + [ + 0.030087482184171677, + 0.9754653748635663, + -0.21808724898240203, + 0.009295561350882053 + ], + [ + 0.800882875919342, + 0.1070218244590298, + 0.5891799375436857, + 0.04345668852329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.5980599522590637, + -0.19371299384557605, + -0.7776886583240648, + -0.18388554453849792 + ], + [ + 0.030033722519874573, + 0.9750857526510195, + -0.21978565588298865, + 0.009427551180124283 + ], + [ + 0.8008884787559509, + 0.10808811869336793, + 0.5889776751347553, + 0.0440148264169693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.5980921983718872, + -0.19459120493432525, + -0.7774445673465045, + -0.1842155158519745 + ], + [ + 0.02964845672249794, + 0.9747832229144661, + -0.22117554943161982, + 0.008851208724081516 + ], + [ + 0.8008787035942078, + 0.10923334545894668, + 0.5887795911008632, + 0.04380025714635849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5979204177856445, + -0.19578403823907706, + -0.7772772683412978, + -0.18388304114341736 + ], + [ + 0.029341712594032288, + 0.9744072128643761, + -0.2228668912748163, + 0.00913329515606165 + ], + [ + 0.8010182976722717, + 0.11045002723218497, + 0.5883626301963147, + 0.04416583478450775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5980039834976196, + -0.19682542303151912, + -0.776949795763067, + -0.1843823790550232 + ], + [ + 0.028740903362631798, + 0.9740205753069106, + -0.22462820339370296, + 0.009601639583706856 + ], + [ + 0.8009777069091797, + 0.11199831666930894, + 0.5881250975790424, + 0.044174470007419586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5980406999588013, + -0.19793555062459212, + -0.7766394255067919, + -0.18410195410251617 + ], + [ + 0.028356844559311867, + 0.9736428396034458, + -0.22630834662540764, + 0.009555444121360779 + ], + [ + 0.8009639382362366, + 0.11331857397910737, + 0.5878909448944388, + 0.043963924050331116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5979986786842346, + -0.19898238053718167, + -0.7764043089785208, + -0.1838894933462143 + ], + [ + 0.027768244966864586, + 0.973254541926796, + -0.22804501401887683, + 0.009479174390435219 + ], + [ + 0.8010159134864807, + 0.11481123105073972, + 0.5875303139455773, + 0.04507645219564438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5983568429946899, + -0.20015198884427543, + -0.7758274609407256, + -0.1839272677898407 + ], + [ + 0.027362212538719177, + 0.9728356775579485, + -0.22987408530729736, + 0.009774544276297092 + ], + [ + 0.800762414932251, + 0.11631837857707847, + 0.5875794997611757, + 0.04483555257320404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5985506772994996, + -0.20104105391446722, + -0.7754479860330784, + -0.18380886316299438 + ], + [ + 0.026675201952457435, + 0.9724623081875539, + -0.23152860108949125, + 0.009651213884353638 + ], + [ + 0.8006407022476199, + 0.11789637732293873, + 0.5874308169324771, + 0.04526875168085098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5985946655273438, + -0.20225714527634567, + -0.7750978262097321, + -0.18338754773139954 + ], + [ + 0.026452653110027313, + 0.9720629034733262, + -0.23322507798086434, + 0.009554052725434303 + ], + [ + 0.8006152510643005, + 0.11910388784800878, + 0.5872218741566556, + 0.04551858454942703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.598848283290863, + -0.20342244364969145, + -0.7745967636949482, + -0.1838604360818863 + ], + [ + 0.026189325377345085, + 0.9716600540301418, + -0.23492743007939718, + 0.009545212611556053 + ], + [ + 0.8004342317581177, + 0.12039971443609529, + 0.58720441803245, + 0.04503733664751053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5988304018974304, + -0.20445546120829125, + -0.7743385690010517, + -0.18345291912555695 + ], + [ + 0.025747332721948624, + 0.9712795844565819, + -0.23654398321364686, + 0.00910304393619299 + ], + [ + 0.8004618883132935, + 0.1217125877184467, + 0.5868959631677539, + 0.045450955629348755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5986744165420532, + -0.20550460472536355, + -0.7741813949868873, + -0.18297110497951508 + ], + [ + 0.025338858366012573, + 0.9709028494020167, + -0.23812930909882848, + 0.008246086537837982 + ], + [ + 0.8005915880203247, + 0.12294504510392355, + 0.5864619130916343, + 0.046494804322719574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5987132191658021, + -0.20651097217748132, + -0.7738835690914225, + -0.1830803006887436 + ], + [ + 0.024732830002903945, + 0.970496650285589, + -0.23984271084418576, + 0.007427646778523922 + ], + [ + 0.8005815744400027, + 0.12445666522448735, + 0.586156741826128, + 0.04633980244398117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5985277891159058, + -0.20772043450205147, + -0.7737033036036783, + -0.1823849231004715 + ], + [ + 0.02405443787574768, + 0.9700230858075777, + -0.24181926700215658, + 0.007172599900513887 + ], + [ + 0.8007408976554871, + 0.12612455944016396, + 0.5855823792615463, + 0.04602493345737457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5981330871582031, + -0.2090027463934366, + -0.7736632058014377, + -0.18295057117938995 + ], + [ + 0.023411398753523827, + 0.9695383569361237, + -0.24381803951804049, + 0.007229907438158989 + ], + [ + 0.8010547757148743, + 0.12772310425661745, + 0.5848060369261249, + 0.04604747146368027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5978750586509705, + -0.21026729555664803, + -0.7735199749188071, + -0.18302860856056213 + ], + [ + 0.022625073790550232, + 0.9690249518613497, + -0.24592421035664733, + 0.007545005530118942 + ], + [ + 0.8012699484825134, + 0.12953101373095544, + 0.584113190971246, + 0.04505065828561783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5976712703704834, + -0.21136041776154377, + -0.7733794917173886, + -0.1832474172115326 + ], + [ + 0.021986916661262512, + 0.9685829551682589, + -0.2477168717349337, + 0.0072950329631567 + ], + [ + 0.8014397621154785, + 0.131049034517397, + 0.58354139869562, + 0.044700175523757935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5973010063171387, + -0.21230369601042098, + -0.7734071426600694, + -0.18296746909618378 + ], + [ + 0.021200206130743027, + 0.9681699954167062, + -0.24939408063085894, + 0.00694203469902277 + ], + [ + 0.8017368912696838, + 0.13256694179875428, + 0.5827897788269423, + 0.04501628130674362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5967284440994263, + -0.21355397801960385, + -0.7735049042815006, + -0.1828717738389969 + ], + [ + 0.020687051117420197, + 0.9677109434886954, + -0.2512123290715709, + 0.007064792327582836 + ], + [ + 0.8021765351295471, + 0.13390401782890646, + 0.5818784865035069, + 0.04654480516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5965921282768251, + -0.21462680670641537, + -0.7733131762100793, + -0.18291254341602325 + ], + [ + 0.020184449851512912, + 0.96728443206596, + -0.2528901496061519, + 0.006636613979935646 + ], + [ + 0.802290737628937, + 0.13526336791692034, + 0.581406380190275, + 0.04626719653606415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5963060855865479, + -0.21574882187477895, + -0.7732215120397906, + -0.18274147808551788 + ], + [ + 0.019627327099442482, + 0.9668377151111461, + -0.2546362204586157, + 0.006539481692016125 + ], + [ + 0.8025172352790833, + 0.1366648619439107, + 0.5807658109100481, + 0.04664554446935654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5959861278533936, + -0.21691513296802242, + -0.7731419396636756, + -0.1823538988828659 + ], + [ + 0.019357766956090927, + 0.9664244316288174, + -0.2562208989956826, + 0.006175641901791096 + ], + [ + 0.8027613759040833, + 0.13773778893276126, + 0.5801745009336549, + 0.04758725315332413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5957928299903871, + -0.2181264153009223, + -0.7729500316401496, + -0.18219545483589172 + ], + [ + 0.01907429285347462, + 0.9659838506423145, + -0.2578979999597683, + 0.00577645655721426 + ], + [ + 0.8029116392135622, + 0.13891029629536944, + 0.5796868310519822, + 0.04816693067550659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5956937074661255, + -0.219604309749763, + -0.7726079176759734, + -0.18244881927967072 + ], + [ + 0.018635351210832596, + 0.9654179852361169, + -0.2600400309409777, + 0.005836910102516413 + ], + [ + 0.802995502948761, + 0.1405064018047233, + 0.5791858611171605, + 0.048644840717315674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 645.6509602864583, + "fy": 645.6376139322916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/boom_down/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2e22ff21a64dafb4118971c8756db8231d615850 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/boom_down/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010043199872598052, + 0.005771652329713106, + 0.0026145318091715664 + ], + [ + 0.0011594925308600068, + 0.9996362328529358, + -0.026945147663354874, + 0.001606098942172069 + ], + [ + -0.005742491688579321, + 0.026951376348733902, + 0.999620258808136, + 0.00482099272040093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295654, + -0.005417153239250183, + 0.013236249797046185, + 0.005647179229646667 + ], + [ + 0.005993630737066269, + 0.999017596244812, + -0.04390867426991463, + -0.0009429909054062559 + ], + [ + -0.01298538688570261, + 0.04398351535201073, + 0.9989478588104248, + 0.003921822557209903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917786, + -0.023633664473891258, + 0.018150687217712402, + 0.009317653332478726 + ], + [ + 0.024496281519532204, + 0.9985045790672302, + -0.048873111605644226, + -0.0039439355047085345 + ], + [ + -0.016968492418527603, + 0.04929602891206741, + 0.9986400604248047, + -0.00045507439824107746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04377982020378113, + 0.02065206505358219, + 0.012109026370140222 + ], + [ + 0.044819705188274384, + 0.9975928664207458, + -0.0529114305973053, + -0.008764041660942582 + ], + [ + -0.018285902217030525, + 0.05377501994371414, + 0.9983856081962585, + -0.0005359447664684719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056863486766815186, + 0.023121442645788193, + 0.014672416222528515 + ], + [ + 0.0581679567694664, + 0.9964825510978699, + -0.06032449007034302, + -0.012667967022484183 + ], + [ + -0.019609853625297546, + 0.0615556538105011, + 0.9979109764099121, + -0.002499935798283316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.0669407993555069, + 0.027335239574313164, + 0.014995598840789917 + ], + [ + 0.06877684593200684, + 0.9949638843536377, + -0.07291490584611893, + -0.012286925865098452 + ], + [ + -0.022316595539450645, + 0.07460407167673111, + 0.9969635009765625, + -0.0029443898250181705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07772161066532135, + 0.03150692582130432, + 0.014878399149538615 + ], + [ + 0.08019189536571503, + 0.9930015206336975, + -0.08670175075531006, + -0.011970447619947103 + ], + [ + -0.02454782836139202, + 0.08892291784286499, + 0.9957359433174133, + -0.0070108522684910355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08712751418352127, + 0.0332910530269146, + 0.014727265148972853 + ], + [ + 0.0900096669793129, + 0.9910994172096252, + -0.09808236360549927, + -0.014450090973932518 + ], + [ + -0.024449072778224945, + 0.10065130889415741, + 0.9946213364601135, + -0.010428580344041698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08894763141870499, + 0.03417264297604561, + 0.013587121092356168 + ], + [ + 0.0921560600399971, + 0.9898726940155029, + -0.1079784631729126, + -0.01713651163646808 + ], + [ + -0.02422213740646839, + 0.11063636839389801, + 0.9935657382011414, + -0.017063448721399675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08436749130487442, + 0.03339671716094017, + 0.014739779691792961 + ], + [ + 0.08777566999197006, + 0.9890100955963135, + -0.11897231638431549, + -0.018145218905475404 + ], + [ + -0.022992298007011414, + 0.1214129626750946, + 0.9923357367515564, + -0.02046591564057729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.079302579164505, + 0.03451511636376381, + 0.014787353473341362 + ], + [ + 0.08318085968494415, + 0.9878548979759216, + -0.13123910129070282, + -0.01970017343186415 + ], + [ + -0.02368832752108574, + 0.1336183398962021, + 0.990749716758728, + -0.022846643677634053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07875555753707886, + 0.035701934248209, + 0.018386996250886183 + ], + [ + 0.0831107646226883, + 0.9860875010490417, + -0.14395850896835327, + -0.024749075076900995 + ], + [ + -0.023867696523666382, + 0.1463865339756012, + 0.9889394640922546, + -0.02795884928260094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177673, + -0.09256604313850403, + 0.03465414047241211, + 0.03972597238090303 + ], + [ + 0.09669160842895508, + 0.9843844771385193, + -0.14709854125976562, + -0.042122786740461986 + ], + [ + -0.020496666431427002, + 0.14972901344299316, + 0.9885146021842957, + -0.09388932552602557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09307864308357239, + 0.03840361535549164, + 0.04209863937053925 + ], + [ + 0.0980973094701767, + 0.9820225238800049, + -0.16127224266529083, + -0.04362453208901943 + ], + [ + -0.022702213376760483, + 0.164219930768013, + 0.9861624836921692, + -0.09572937650303555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08639077842235565, + 0.04321001097559929, + 0.04211945058061527 + ], + [ + 0.09261272847652435, + 0.9806010127067566, + -0.17275570333003998, + -0.04195572626896393 + ], + [ + -0.027447279542684555, + 0.17594967782497406, + 0.9840164184570312, + -0.1031020072599252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07420744001865387, + 0.04774467647075653, + 0.04105721228143089 + ], + [ + 0.08167071640491486, + 0.9801908135414124, + -0.1804323047399521, + -0.04224988364765787 + ], + [ + -0.0334094762802124, + 0.18362782895565033, + 0.9824279546737671, + -0.10660506479251079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06434112787246704, + 0.05213944986462593, + 0.03971754285132783 + ], + [ + 0.07303920388221741, + 0.9796071648597717, + -0.1871766448020935, + -0.041537983053260376 + ], + [ + -0.03903302177786827, + 0.19034191966056824, + 0.9809415936470032, + -0.10466443931954539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05821879208087921, + 0.054883211851119995, + 0.042185361339495735 + ], + [ + 0.06763423979282379, + 0.9795976877212524, + -0.18924580514431, + -0.045792614553983396 + ], + [ + -0.04274580627679825, + 0.1923510879278183, + 0.980394721031189, + -0.09875340954615519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.051942091435194016, + 0.05863000079989433, + 0.04344611541551148 + ], + [ + 0.062262121587991714, + 0.9796562790870667, + -0.190779909491539, + -0.0491764624722493 + ], + [ + -0.0475277416408062, + 0.19384418427944183, + 0.9798803925514221, + -0.09530986255178085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.05063077434897423, + 0.06381705403327942, + 0.0408622652101211 + ], + [ + 0.06216574087738991, + 0.9789945483207703, + -0.19417811930179596, + -0.048460398219589494 + ], + [ + -0.052645161747932434, + 0.19749997556209564, + 0.9788882732391357, + -0.0972659059951448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04961514472961426, + 0.06491951644420624, + 0.04120129467203067 + ], + [ + 0.06151943653821945, + 0.9785534739494324, + -0.1965920627117157, + -0.05036208150096429 + ], + [ + -0.05377327278256416, + 0.19992852210998535, + 0.9783337712287903, + -0.09298093976118625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04558997601270676, + 0.06412158906459808, + 0.04216492250561714 + ], + [ + 0.057594262063503265, + 0.9781025052070618, + -0.19999592006206512, + -0.05160026140192635 + ], + [ + -0.053599677979946136, + 0.20306901633739471, + 0.9776962995529175, + -0.09010348518689473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607544, + -0.03938813880085945, + 0.06819803267717361, + 0.036543110944330694 + ], + [ + 0.052565593272447586, + 0.977608323097229, + -0.2037617564201355, + -0.05296882826548356 + ], + [ + -0.05864516645669937, + 0.2067137360572815, + 0.9766423106193542, + -0.09896048303598012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.04150507599115372, + 0.06588971614837646, + 0.03990662799049646 + ], + [ + 0.05446356534957886, + 0.9763911962509155, + -0.2090309113264084, + -0.04899570055496998 + ], + [ + -0.05565829947590828, + 0.21198473870754242, + 0.9756867289543152, + -0.08019300913199401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03953487426042557, + 0.06778249144554138, + 0.036976813999378785 + ], + [ + 0.05318856239318848, + 0.9755423069000244, + -0.21327950060367584, + -0.04753231648833323 + ], + [ + -0.05769271031022072, + 0.21622709929943085, + 0.9746370315551758, + -0.06999602267502719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.034961801022291183, + 0.07318919152021408, + 0.028743473316232362 + ], + [ + 0.05014246329665184, + 0.9748436808586121, + -0.21717625856399536, + -0.04731568495432536 + ], + [ + -0.06375514715909958, + 0.2201305627822876, + 0.9733847379684448, + -0.06646947198443942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03524046018719673, + 0.07438088953495026, + 0.02628712389045037 + ], + [ + 0.05080832168459892, + 0.974373459815979, + -0.2191229611635208, + -0.04716675252868579 + ], + [ + -0.06475277245044708, + 0.22215865552425385, + 0.9728579521179199, + -0.057076569073475324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.03681790083646774, + 0.07488847523927689, + 0.0252182264931691 + ], + [ + 0.05266831815242767, + 0.9735798835754395, + -0.22218969464302063, + -0.045136565326625466 + ], + [ + -0.06472935527563095, + 0.22535893321037292, + 0.9721231460571289, + -0.04958528744486662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017395, + -0.03757404536008835, + 0.07595515251159668, + 0.022143771913316516 + ], + [ + 0.053659066557884216, + 0.9734908938407898, + -0.2223425805568695, + -0.04864877591657842 + ], + [ + -0.06558734178543091, + 0.22561851143836975, + 0.9720054268836975, + -0.044412338784617235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.039605412632226944, + 0.0693020299077034, + 0.0352780474588657 + ], + [ + 0.05432456359267235, + 0.972733736038208, + -0.2254725694656372, + -0.046348885083809875 + ], + [ + -0.058482490479946136, + 0.22851794958114624, + 0.9717815518379211, + -0.034259893000125885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.996643602848053, + -0.03472062572836876, + 0.07413497567176819, + 0.02318845928574984 + ], + [ + 0.050829771906137466, + 0.9723463654518127, + -0.2279449999332428, + -0.0478865524324087 + ], + [ + -0.0641704797744751, + 0.23094817996025085, + 0.9708476066589355, + -0.03386093287641167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04096035286784172, + 0.07396215945482254, + 0.0235186243063619 + ], + [ + 0.057165201753377914, + 0.9709324836730957, + -0.23242676258087158, + -0.0435532893316868 + ], + [ + -0.062291987240314484, + 0.2358226180076599, + 0.9697976112365723, + -0.03043758448245179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.030447332188487053, + 0.07498908042907715, + 0.015765019580244254 + ], + [ + 0.04709552973508835, + 0.9717099070549011, + -0.23143444955348969, + -0.05367684941261242 + ], + [ + -0.06582106649875641, + 0.23420687019824982, + 0.9699560403823853, + -0.03319300659573995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887695, + -0.03605753555893898, + 0.07364329695701599, + 0.018377381187473608 + ], + [ + 0.05283621326088905, + 0.9692109823226929, + -0.2404961884021759, + -0.04155082827449864 + ], + [ + -0.0627041906118393, + 0.24357736110687256, + 0.9678524136543274, + -0.031636388765441045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.027423828840255737, + 0.07060058414936066, + 0.021153422725251596 + ], + [ + 0.04404309391975403, + 0.9682877659797668, + -0.245924711227417, + -0.04098312664999921 + ], + [ + -0.06161748245358467, + 0.24832779169082642, + 0.9667143225669861, + -0.020258597870413054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.02494669333100319, + 0.07098055630922318, + 0.015949358189335235 + ], + [ + 0.04198500141501427, + 0.9673789739608765, + -0.249830424785614, + -0.0429222706418771 + ], + [ + -0.062432654201984406, + 0.25210243463516235, + 0.9656844735145569, + -0.01879533325823454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.022420700639486313, + 0.0718754455447197, + 0.012884300238747372 + ], + [ + 0.040134165436029434, + 0.9659827947616577, + -0.2554730474948883, + -0.037890566554334426 + ], + [ + -0.06370256096124649, + 0.2576325833797455, + 0.964140772819519, + -0.02785657903450167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188293, + -0.018108654767274857, + 0.07375975698232651, + 0.005990749141440177 + ], + [ + 0.03651212900876999, + 0.9658660292625427, + -0.25645601749420166, + -0.04199843416866074 + ], + [ + -0.06659797579050064, + 0.25840842723846436, + 0.963737428188324, + -0.035586147940056954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.019618939608335495, + 0.06999560445547104, + 0.012027622573077679 + ], + [ + 0.037083908915519714, + 0.9654900431632996, + -0.25778627395629883, + -0.04617593313256899 + ], + [ + -0.06252256780862808, + 0.2597000002861023, + 0.9636632204055786, + -0.03046292761961619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.02203492261469364, + 0.06698434054851532, + 0.013880680004755655 + ], + [ + 0.038790106773376465, + 0.9647510647773743, + -0.26028966903686523, + -0.042035298087658025 + ], + [ + -0.058887749910354614, + 0.26224005222320557, + 0.9632042050361633, + -0.035442191120396316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.025051329284906387, + 0.06388658285140991, + 0.015769692782599192 + ], + [ + 0.0407622866332531, + 0.9652762413024902, + -0.25803136825561523, + -0.045527673990298535 + ], + [ + -0.05520417541265488, + 0.26002728939056396, + 0.9640219211578369, + -0.04925705870756736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.028435396030545235, + 0.06179877370595932, + 0.013136965060272277 + ], + [ + 0.04351149871945381, + 0.9650570750236511, + -0.2584019601345062, + -0.042794809681482804 + ], + [ + -0.05229157954454422, + 0.26049235463142395, + 0.9640587568283081, + -0.05834079908254819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.026608727872371674, + 0.05980280041694641, + 0.009618710833163853 + ], + [ + 0.041225872933864594, + 0.9651437401771545, + -0.25845301151275635, + -0.03945583945665604 + ], + [ + -0.05084118992090225, + 0.2603641748428345, + 0.9641709923744202, + -0.061861726068533386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03089982084929943, + 0.053920429199934006, + 0.007908021179465657 + ], + [ + 0.04373984783887863, + 0.9656163454055786, + -0.25626519322395325, + -0.039113843230864934 + ], + [ + -0.044147904962301254, + 0.2581283152103424, + 0.965101420879364, + -0.06094991497249685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03488101065158844, + 0.04706127941608429, + 0.004654193905970225 + ], + [ + 0.045669130980968475, + 0.9665557742118835, + -0.25235751271247864, + -0.037999179787360705 + ], + [ + -0.03668486326932907, + 0.2540734112262726, + 0.9664889574050903, + -0.05773213906930043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03776445984840393, + 0.038437116891145706, + 0.001408201550794208 + ], + [ + 0.0461643785238266, + 0.9674650430679321, + -0.24875743687152863, + -0.03419808142332949 + ], + [ + -0.027792375534772873, + 0.2501704692840576, + 0.9678028225898743, + -0.055092395714715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04203120619058609, + 0.029186103492975235, + -0.004084844702584112 + ], + [ + 0.04788491129875183, + 0.9687319993972778, + -0.24344474077224731, + -0.031180686752001443 + ], + [ + -0.01804123818874359, + 0.24452337622642517, + 0.9694755673408508, + -0.0515347420086718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271545, + -0.04421382397413254, + 0.019324898719787598, + -0.010051628947257996 + ], + [ + 0.04755266755819321, + 0.9699230194091797, + -0.23872177302837372, + -0.02683057116392331 + ], + [ + -0.008188864216208458, + 0.23936264216899872, + 0.9708957076072693, + -0.04815904471354607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04726714268326759, + 0.008033093996345997, + -0.013898626324903761 + ], + [ + 0.047837208956480026, + 0.9712949395179749, + -0.23301881551742554, + -0.024677378053848554 + ], + [ + 0.003211629344150424, + 0.2331351339817047, + 0.9724390506744385, + -0.04409301188002285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.048086944967508316, + -0.002156302332878113, + -0.01685659257838359 + ], + [ + 0.046333786100149155, + 0.9726343154907227, + -0.22767460346221924, + -0.022003653499051035 + ], + [ + 0.013045470230281353, + 0.22731077671051025, + 0.9737348556518555, + -0.04376063782435197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061279, + -0.046852003782987595, + -0.013223135843873024, + -0.013215955026829854 + ], + [ + 0.04276834800839424, + 0.9742439985275269, + -0.22140346467494965, + -0.022234609570258697 + ], + [ + 0.023255756124854088, + 0.22057540714740753, + 0.9750926494598389, + -0.05034144213184332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04715019091963768, + -0.020617427304387093, + -0.0165464592890607 + ], + [ + 0.04158389940857887, + 0.9754133224487305, + -0.21642473340034485, + -0.021142959180805415 + ], + [ + 0.030314980074763298, + 0.21528062224388123, + 0.9760816097259521, + -0.04907629663745562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.046040020883083344, + -0.02804003469645977, + -0.014635795539515651 + ], + [ + 0.03913160413503647, + 0.9768373966217041, + -0.21037447452545166, + -0.021714546047469488 + ], + [ + 0.0370761975646019, + 0.2089713215827942, + 0.9772186875343323, + -0.055086501522196664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04606097564101219, + -0.03358866646885872, + -0.014681955928412767 + ], + [ + 0.03823528811335564, + 0.978065550327301, + -0.204757958650589, + -0.02072959462037453 + ], + [ + 0.04228327050805092, + 0.20314070582389832, + 0.9782361388206482, + -0.05868123288338001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622803, + -0.04786644130945206, + -0.03947734832763672, + -0.014423063343279382 + ], + [ + 0.03909345716238022, + 0.9792292714118958, + -0.1989516168832779, + -0.01741798986227084 + ], + [ + 0.0481804758310318, + 0.19702498614788055, + 0.9792138934135437, + -0.059394390951109745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.997665524482727, + -0.05180840939283371, + -0.04449084773659706, + -0.014631027226837783 + ], + [ + 0.0423891544342041, + 0.9806056618690491, + -0.19135227799415588, + -0.013107835183031533 + ], + [ + 0.0535416342318058, + 0.18901965022087097, + 0.9805125594139099, + -0.060969768273524745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.056758083403110504, + -0.04876594990491867, + -0.014506396684700098 + ], + [ + 0.0469999760389328, + 0.982166051864624, + -0.18204638361930847, + -0.007360266340084562 + ], + [ + 0.05822886526584625, + 0.17924398183822632, + 0.9820799231529236, + -0.06452540766734344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144043, + -0.061164163053035736, + -0.05301344022154808, + -0.014477463423186898 + ], + [ + 0.05142729729413986, + 0.9843155145645142, + -0.16875486075878143, + -0.005731227892076862 + ], + [ + 0.06250370293855667, + 0.1654748171567917, + 0.9842313528060913, + -0.06630065517547803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06664244085550308, + -0.0575336217880249, + -0.013303218697571857 + ], + [ + 0.056910090148448944, + 0.9859931468963623, + -0.1567760407924652, + 0.0016586933221317823 + ], + [ + 0.06717569380998611, + 0.15289300680160522, + 0.9859569668769836, + -0.06514272377786473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06931956112384796, + -0.061401091516017914, + -0.012265556659071874 + ], + [ + 0.05990174412727356, + 0.9877932071685791, + -0.14379283785820007, + 0.008330432841411009 + ], + [ + 0.07061923295259476, + 0.13949695229530334, + 0.9877011179924011, + -0.0655946210026741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.0695200189948082, + -0.06400157511234283, + -0.013143698116525626 + ], + [ + 0.06083834916353226, + 0.9897998571395874, + -0.12882152199745178, + 0.010609196007060704 + ], + [ + 0.07230442762374878, + 0.12435134500265121, + 0.9896003007888794, + -0.06555210622266316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06904090940952301, + -0.0674002468585968, + -0.012179105695432577 + ], + [ + 0.06089574098587036, + 0.9913562536239624, + -0.11620894074440002, + 0.01600479132567461 + ], + [ + 0.07484082877635956, + 0.11156237125396729, + 0.9909352660179138, + -0.06315351514480053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740051, + -0.0688813105225563, + -0.06971269845962524, + -0.011443264596164227 + ], + [ + 0.061374958604574203, + 0.9926167726516724, + -0.10461846739053726, + 0.021984383635796037 + ], + [ + 0.07640424370765686, + 0.09983623772859573, + 0.9920660853385925, + -0.06202712910106549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06817160546779633, + -0.07074913382530212, + -0.012063222784453478 + ], + [ + 0.061275944113731384, + 0.9935474991798401, + -0.09543921798467636, + 0.028969834547123725 + ], + [ + 0.07679887115955353, + 0.09064225107431412, + 0.9929178953170776, + -0.05866769144677708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.0672144666314125, + -0.07272934168577194, + -0.01108301855209801 + ], + [ + 0.060706935822963715, + 0.9942457675933838, + -0.08826125413179398, + 0.035927197999424405 + ], + [ + 0.07824327796697617, + 0.08341220766305923, + 0.9934386610984802, + -0.052066558972001076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06683296710252762, + -0.07361272722482681, + -0.010414144148429234 + ], + [ + 0.06083381921052933, + 0.994861900806427, + -0.0809260830283165, + 0.04042930373778711 + ], + [ + 0.07864303141832352, + 0.07604695111513138, + 0.9939980506896973, + -0.048365522290651615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.0678880587220192, + -0.07447841018438339, + -0.009509119203584826 + ], + [ + 0.062438614666461945, + 0.9953603148460388, + -0.07320692390203476, + 0.042954108550444126 + ], + [ + 0.07910273224115372, + 0.06818390637636185, + 0.9945319294929504, + -0.045746603509427136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.069198839366436, + -0.07591947913169861, + -0.008641724802681015 + ], + [ + 0.06413831561803818, + 0.9956768751144409, + -0.06718528270721436, + 0.047617128545529824 + ], + [ + 0.0802404135465622, + 0.06196051836013794, + 0.9948478937149048, + -0.04189733154753335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.0705689936876297, + -0.07807497680187225, + -0.006826761190612347 + ], + [ + 0.06591843068599701, + 0.9959818124771118, + -0.06062209978699684, + 0.05097235326583569 + ], + [ + 0.08203929662704468, + 0.05513886734843254, + 0.9951026439666748, + -0.03892822028257144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07169889658689499, + -0.07908991724252701, + -0.006626631702399917 + ], + [ + 0.06750068813562393, + 0.996227502822876, + -0.054538484662771225, + 0.05321851511223194 + ], + [ + 0.0827018991112709, + 0.04888821020722389, + 0.9953745007514954, + -0.03478421562184126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.07499485462903976, + -0.07985445111989975, + -0.0058890525836688586 + ], + [ + 0.07123138755559921, + 0.996256411075592, + -0.048981986939907074, + 0.05560829328675555 + ], + [ + 0.08322890847921371, + 0.04299904406070709, + 0.9956023693084717, + -0.031538415018819335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554321, + -0.07863131165504456, + -0.07973217219114304, + -0.006125578921861373 + ], + [ + 0.07529625296592712, + 0.996189534664154, + -0.04401031881570816, + 0.05729564560147432 + ], + [ + 0.08288893848657608, + 0.03772997111082077, + 0.995844304561615, + -0.028250086393493874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933647513389587, + -0.08295077830553055, + -0.07965943962335587, + -0.005796489640115164 + ], + [ + 0.07997908443212509, + 0.9960015416145325, + -0.03980320692062378, + 0.059304000195275014 + ], + [ + 0.08264263719320297, + 0.033168017864227295, + 0.9960271716117859, + -0.025536464947538497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.08643079549074173, + -0.079750657081604, + -0.006647858987602159 + ], + [ + 0.08376192301511765, + 0.9958269000053406, + -0.03623088449239731, + 0.061447304207035626 + ], + [ + 0.0825493186712265, + 0.029299400746822357, + 0.9961562156677246, + -0.02194003701592103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770325, + -0.08973576873540878, + -0.08051719516515732, + -0.006697557371061964 + ], + [ + 0.08739734441041946, + 0.9956555962562561, + -0.032118503004312515, + 0.06297245459296766 + ], + [ + 0.08304957300424576, + 0.024847231805324554, + 0.9962356090545654, + -0.020429836060756292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.09170776605606079, + -0.08202848583459854, + -0.006889967723057056 + ], + [ + 0.08968321979045868, + 0.995575487613678, + -0.028041932731866837, + 0.0640750519103474 + ], + [ + 0.08423721045255661, + 0.02047228068113327, + 0.9962354302406311, + -0.018927924818972236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022949, + -0.09405223280191422, + -0.08429194986820221, + -0.006882816876292739 + ], + [ + 0.09240105003118515, + 0.9954494833946228, + -0.02328922040760517, + 0.0651256524408475 + ], + [ + 0.08609877526760101, + 0.015314066782593727, + 0.9961689114570618, + -0.016326752746812043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024902, + -0.09507060796022415, + -0.08720631897449493, + -0.006789859477430583 + ], + [ + 0.09367165714502335, + 0.9954021573066711, + -0.020005470141768456, + 0.06938820232947668 + ], + [ + 0.08870728313922882, + 0.01166953332722187, + 0.9959893822669983, + -0.013224431437750657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.09544503688812256, + -0.08839315921068192, + -0.008703942156723168 + ], + [ + 0.0944184809923172, + 0.995408296585083, + -0.01573241874575615, + 0.07198410828271484 + ], + [ + 0.08948885649442673, + 0.007252783980220556, + 0.9959614276885986, + -0.01156865405694892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.09536831825971603, + -0.0915817841887474, + -0.0072523711694993526 + ], + [ + 0.09469663351774216, + 0.9954378604888916, + -0.011661822907626629, + 0.0741656553477813 + ], + [ + 0.09227614849805832, + 0.0028869500383734703, + 0.9957292675971985, + -0.009946656039255297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.09652624279260635, + -0.09105435758829117, + -0.010692793467583565 + ], + [ + 0.0962834283709526, + 0.9953289031982422, + -0.007065927609801292, + 0.07547490573846377 + ], + [ + 0.09131107479333878, + -0.0017635824624449015, + 0.9958208799362183, + -0.0076419066718349665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.09647815674543381, + -0.09241335839033127, + -0.011097130044880842 + ], + [ + 0.09662140160799026, + 0.9953168630599976, + -0.0029333564452826977, + 0.07682590424122973 + ], + [ + 0.0922635868191719, + -0.0060220458544790745, + 0.995716392993927, + -0.0057136561884743794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.09635921567678452, + -0.09481746703386307, + -0.010951674595061276 + ], + [ + 0.09692727774381638, + 0.9952905178070068, + 0.0013931263238191605, + 0.07757291037302752 + ], + [ + 0.09423667937517166, + -0.010570736601948738, + 0.9954937100410461, + -0.0017974135036078784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.0948014110326767, + -0.09748154133558273, + -0.010435694279387975 + ], + [ + 0.0958503782749176, + 0.9953769445419312, + 0.0061239511705935, + 0.07641859033550971 + ], + [ + 0.0964503213763237, + -0.015410713851451874, + 0.9952185153961182, + 0.0016593954370667536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.09554288536310196, + -0.09889417141675949, + -0.01242840515338203 + ], + [ + 0.0968770906329155, + 0.9952577352523804, + 0.008767124265432358, + 0.0792563610479363 + ], + [ + 0.09758754819631577, + -0.018264420330524445, + 0.9950593113899231, + 0.004609034615608617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.09555571526288986, + -0.1013667955994606, + -0.012571923350358111 + ], + [ + 0.09731114655733109, + 0.9951754212379456, + 0.012505126185715199, + 0.07960469028633885 + ], + [ + 0.09968281537294388, + -0.022247314453125, + 0.9947705268859863, + 0.007372610887082723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.09563429653644562, + -0.10289280861616135, + -0.014582830524215332 + ], + [ + 0.09764714539051056, + 0.9951125979423523, + 0.01469507347792387, + 0.08183298592384045 + ], + [ + 0.10098458081483841, + -0.024596549570560455, + 0.9945839047431946, + 0.009681818032493957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.09531968086957932, + -0.10433410853147507, + -0.01690483465153947 + ], + [ + 0.09759130328893661, + 0.9950834512710571, + 0.016876792535185814, + 0.08329164236783981 + ], + [ + 0.10221245139837265, + -0.026889516040682793, + 0.9943990707397461, + 0.012271144815808177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.09422576427459717, + -0.10631398856639862, + -0.018265644476836564 + ], + [ + 0.09672302007675171, + 0.9951380491256714, + 0.018571535125374794, + 0.08486810486413475 + ], + [ + 0.10404717922210693, + -0.028666192665696144, + 0.9941591620445251, + 0.01383359941582267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622742, + -0.0927882194519043, + -0.10825425386428833, + -0.019769240027436845 + ], + [ + 0.09555050730705261, + 0.9952113032341003, + 0.020603543147444725, + 0.08608101308345795 + ], + [ + 0.10582409799098969, + -0.03073679469525814, + 0.9939097166061401, + 0.01464107926361836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9896503686904907, + -0.0917322188615799, + -0.11035078763961792, + -0.021657152101397514 + ], + [ + 0.09473170340061188, + 0.9952543377876282, + 0.022241652011871338, + 0.0886145491566923 + ], + [ + 0.10778681933879852, + -0.03246517479419708, + 0.9936438202857971, + 0.015033645389808548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754456, + -0.09037180989980698, + -0.11118438839912415, + -0.025138464089260144 + ], + [ + 0.09365765005350113, + 0.995298445224762, + 0.024683302268385887, + 0.09048777080626569 + ], + [ + 0.10843096673488617, + -0.03484189510345459, + 0.9934931993484497, + 0.014914999071222085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.09128565341234207, + -0.10880491137504578, + -0.02837907740702996 + ], + [ + 0.0950760468840599, + 0.9950129389762878, + 0.030162647366523743, + 0.0867180330057939 + ], + [ + 0.10550887882709503, + -0.04020162671804428, + 0.9936054348945618, + -0.0044944302381899875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724731, + -0.0911080613732338, + -0.11110899597406387, + -0.029681324888753077 + ], + [ + 0.09525392204523087, + 0.9949195981025696, + 0.032583244144916534, + 0.09019174844536007 + ], + [ + 0.1075759157538414, + -0.04282870143651962, + 0.993273913860321, + -0.00040218675525015247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.09012183547019958, + -0.11706908047199249, + -0.028819986149413973 + ], + [ + 0.09481452405452728, + 0.9948744773864746, + 0.03514283895492554, + 0.09493814631659761 + ], + [ + 0.11330190300941467, + -0.045857034623622894, + 0.9925017952919006, + 0.01893895152860727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.09003256261348724, + -0.11436064541339874, + -0.03204516843916514 + ], + [ + 0.09521777927875519, + 0.9946237802505493, + 0.040707141160964966, + 0.09134415449240268 + ], + [ + 0.11008085310459137, + -0.05116282403469086, + 0.9926049709320068, + 0.0012328568093765238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.09317120909690857, + -0.11693821847438812, + -0.034197387169314246 + ], + [ + 0.09878641366958618, + 0.9941719770431519, + 0.04316605255007744, + 0.09668835108606225 + ], + [ + 0.11223486065864563, + -0.05423273518681526, + 0.9922006726264954, + 0.009329494299032749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9884978532791138, + -0.09257038682699203, + -0.11959405243396759, + -0.03397656382085421 + ], + [ + 0.09880081564188004, + 0.9939848184585571, + 0.04725014045834541, + 0.09567990520825753 + ], + [ + 0.11450071632862091, + -0.058522652834653854, + 0.9916979074478149, + 0.015522790945365897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444946, + -0.09110705554485321, + -0.11785479635000229, + -0.03807958335830615 + ], + [ + 0.09744705259799957, + 0.994024395942688, + 0.049189068377017975, + 0.0975241453601764 + ], + [ + 0.11266907304525375, + -0.060124851763248444, + 0.9918118119239807, + 0.006735428207768844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.09047552943229675, + -0.11960691213607788, + -0.03654428625590781 + ], + [ + 0.09737388789653778, + 0.9938284158706665, + 0.05313626676797867, + 0.09504566987992352 + ], + [ + 0.11406120657920837, + -0.06418189406394958, + 0.9913983941078186, + 0.0007505577622761578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.09348472207784653, + -0.12423595041036606, + -0.03623384831743872 + ], + [ + 0.10086613148450851, + 0.9934059977531433, + 0.054502878338098526, + 0.09947187636907284 + ], + [ + 0.11832154542207718, + -0.06637126952409744, + 0.9907547235488892, + 0.016962360412391842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.09305234998464584, + -0.12582187354564667, + -0.03677756186479177 + ], + [ + 0.10070245712995529, + 0.9933472275733948, + 0.05586007609963417, + 0.10078933235162345 + ], + [ + 0.11978689581155777, + -0.06784240901470184, + 0.9904789328575134, + 0.022196465186201608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.09121833741664886, + -0.12577815353870392, + -0.037109706372532074 + ], + [ + 0.09902217984199524, + 0.9934374094009399, + 0.057243041694164276, + 0.10070248984882976 + ], + [ + 0.119731105864048, + -0.06900269538164139, + 0.9904054999351501, + 0.020508378712285277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685181, + -0.09039635956287384, + -0.12600620090961456, + -0.038014805234140824 + ], + [ + 0.09821051359176636, + 0.9935184121131897, + 0.057234786450862885, + 0.10332626236809625 + ], + [ + 0.12001567333936691, + -0.06891750544309616, + 0.9903770089149475, + 0.0239418172587951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133423, + -0.09025000780820847, + -0.12632746994495392, + -0.036771232835375346 + ], + [ + 0.09827960282564163, + 0.9934183955192566, + 0.05883049964904785, + 0.10255719759525397 + ], + [ + 0.12018658220767975, + -0.07053257524967194, + 0.9902425408363342, + 0.020913965570238918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.0910235345363617, + -0.12735259532928467, + -0.03347606502282314 + ], + [ + 0.09938836097717285, + 0.9931811690330505, + 0.06093505769968033, + 0.10029728131161797 + ], + [ + 0.12093768268823624, + -0.07284121960401535, + 0.9899839758872986, + 0.014110299916221545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.1056254431605339, + -0.1236414983868599, + -0.04499636370465796 + ], + [ + 0.11176148802042007, + 0.9927705526351929, + 0.04377209022641182, + 0.13737092191337522 + ], + [ + 0.11812419444322586, + -0.057007815688848495, + 0.9913610816001892, + 0.018740170224545858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.11250335723161697, + -0.13109606504440308, + -0.03451747848437382 + ], + [ + 0.11918199807405472, + 0.9918863773345947, + 0.044239342212677, + 0.13986123502254486 + ], + [ + 0.12505531311035156, + -0.05919851362705231, + 0.9903820753097534, + 0.018652579388939418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636597, + -0.11088694632053375, + -0.13320301473140717, + -0.030741705888739 + ], + [ + 0.11870886385440826, + 0.9915525317192078, + 0.05226680636405945, + 0.12570567885015765 + ], + [ + 0.12628208100795746, + -0.06728817522525787, + 0.9897096157073975, + 0.0032518460272023307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.10610239207744598, + -0.13848407566547394, + -0.023250187564099956 + ], + [ + 0.1153840571641922, + 0.9914590716362, + 0.06078978255391121, + 0.1089382127691538 + ], + [ + 0.13085134327411652, + -0.07583639770746231, + 0.988497257232666, + -0.00909698562314495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.10311172902584076, + -0.14245112240314484, + -0.01858422273817735 + ], + [ + 0.11378641426563263, + 0.9911117553710938, + 0.06892167031764984, + 0.09422739037336447 + ], + [ + 0.13407833874225616, + -0.08405661582946777, + 0.9873993396759033, + -0.018332743883515017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.10613180696964264, + -0.14284540712833405, + -0.02481699703086136 + ], + [ + 0.11666357517242432, + 0.9908770322799683, + 0.06747051328420639, + 0.10107859640549391 + ], + [ + 0.1343814581632614, + -0.0830584242939949, + 0.9874426126480103, + -0.027920786835826363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.10455378890037537, + -0.14430680871009827, + -0.030021029440128907 + ], + [ + 0.11519041657447815, + 0.9910532236099243, + 0.06741401553153992, + 0.10467926608955759 + ], + [ + 0.13596734404563904, + -0.08295774459838867, + 0.9872339367866516, + -0.0317542820245537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.10444070398807526, + -0.14927938580513, + -0.020092412227621446 + ], + [ + 0.11634883284568787, + 0.9904941916465759, + 0.0733771026134491, + 0.09566423440208802 + ], + [ + 0.1401968002319336, + -0.08951753377914429, + 0.9860687255859375, + -0.046838450126158886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809753, + -0.10444523394107819, + -0.15275369584560394, + -0.017994656673290282 + ], + [ + 0.11693863570690155, + 0.9902874231338501, + 0.07520769536495209, + 0.09551374302205877 + ], + [ + 0.14341498911380768, + -0.09177164733409882, + 0.9853984713554382, + -0.05119087117222639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.10379937291145325, + -0.15568995475769043, + -0.018043596857888068 + ], + [ + 0.11653591692447662, + 0.9903490543365479, + 0.07502059638500214, + 0.0988649618294504 + ], + [ + 0.1464003026485443, + -0.09183898568153381, + 0.9849530458450317, + -0.052882159494946145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065002, + -0.10240726172924042, + -0.15848848223686218, + -0.016058429144322872 + ], + [ + 0.11551395058631897, + 0.9904093146324158, + 0.07580187171697617, + 0.09992416501045227 + ], + [ + 0.14920580387115479, + -0.0927477702498436, + 0.9844467639923096, + -0.053885286673903465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.10228833556175232, + -0.16093888878822327, + -0.012650319037592821 + ], + [ + 0.11631129682064056, + 0.9899656176567078, + 0.08024775236845016, + 0.09506109544099907 + ], + [ + 0.1511155664920807, + -0.09749417752027512, + 0.9836965799331665, + -0.05941757873719574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.10206608474254608, + -0.16337890923023224, + -0.013449970734679802 + ], + [ + 0.11675001680850983, + 0.9896928071975708, + 0.08293089270591736, + 0.09431917672483331 + ], + [ + 0.15323050320148468, + -0.10045203566551208, + 0.9830716252326965, + -0.057974309894518974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.10184565931558609, + -0.16516520082950592, + -0.014931265384149859 + ], + [ + 0.11711373180150986, + 0.9894329309463501, + 0.08548008650541306, + 0.09457979122033487 + ], + [ + 0.15471412241458893, + -0.10319850593805313, + 0.9825546145439148, + -0.05778282680190527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.10170579701662064, + -0.16763797402381897, + -0.016137341900259002 + ], + [ + 0.1176675483584404, + 0.9891297817230225, + 0.08818519860506058, + 0.09544252334242194 + ], + [ + 0.1568467617034912, + -0.10619892925024033, + 0.9818965792655945, + -0.05545200693747427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.10047782957553864, + -0.1694483458995819, + -0.01770327399269893 + ], + [ + 0.1170346736907959, + 0.9889762997627258, + 0.09071221947669983, + 0.09635039515729645 + ], + [ + 0.15846583247184753, + -0.10876592993736267, + 0.9813554883003235, + -0.05603704067249583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.098045215010643, + -0.16996802389621735, + -0.024208142360051473 + ], + [ + 0.11479306221008301, + 0.9891512989997864, + 0.09166397899389267, + 0.09924824507190633 + ], + [ + 0.15913687646389008, + -0.10939318686723709, + 0.9811771512031555, + -0.05134932472346685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.09745955467224121, + -0.1728684902191162, + -0.020510146195371438 + ], + [ + 0.11492407321929932, + 0.9889113903045654, + 0.09405716508626938, + 0.09883266598240942 + ], + [ + 0.16178485751152039, + -0.11205323785543442, + 0.9804436564445496, + -0.05468468070030212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.09616538882255554, + -0.1743066906929016, + -0.021846980509212896 + ], + [ + 0.11393052339553833, + 0.9889422655105591, + 0.09493681788444519, + 0.10024331682003462 + ], + [ + 0.16324961185455322, + -0.11289544403553009, + 0.9801041483879089, + -0.053168528960046604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035645, + -0.09488837420940399, + -0.17515265941619873, + -0.023515830332270036 + ], + [ + 0.11276309192180634, + 0.9890628457069397, + 0.0950743705034256, + 0.10164906405485594 + ], + [ + 0.16421553492546082, + -0.1129196435213089, + 0.9799399971961975, + -0.05275024106869331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.09463026374578476, + -0.17648129165172577, + -0.024745376630980746 + ], + [ + 0.1126355305314064, + 0.9890897274017334, + 0.09494620561599731, + 0.10348150074227244 + ], + [ + 0.16557104885578156, + -0.11290109157562256, + 0.979714035987854, + -0.052035076260311994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.09488288313150406, + -0.17737092077732086, + -0.026689635366838202 + ], + [ + 0.11293945461511612, + 0.9890859127044678, + 0.09462426602840424, + 0.10590542573322598 + ], + [ + 0.16645686328411102, + -0.11272227764129639, + 0.9795845150947571, + -0.05227797607071379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.0948750451207161, + -0.17863698303699493, + -0.027930587663864477 + ], + [ + 0.11332901567220688, + 0.988900363445282, + 0.09608621895313263, + 0.10564821366316234 + ], + [ + 0.16753800213336945, + -0.11434487998485565, + 0.9792120456695557, + -0.05237787684951073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860474, + -0.09527027606964111, + -0.1800309717655182, + -0.02899970797200998 + ], + [ + 0.114105224609375, + 0.9886906147003174, + 0.09731853753328323, + 0.1063437018957403 + ], + [ + 0.16872337460517883, + -0.11582087725400925, + 0.9788349866867065, + -0.05217468779948023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.09509126842021942, + -0.1814223676919937, + -0.029999815927356736 + ], + [ + 0.11435167491436005, + 0.9885132312774658, + 0.09881967306137085, + 0.10636048044404414 + ], + [ + 0.16994152963161469, + -0.11747035384178162, + 0.9784275889396667, + -0.05273766301126562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.0954979658126831, + -0.18299457430839539, + -0.031409746704575345 + ], + [ + 0.11483760178089142, + 0.9885226488113403, + 0.09815937280654907, + 0.10999188186266484 + ], + [ + 0.17152026295661926, + -0.11706013977527618, + 0.9782012701034546, + -0.05062422408507421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.09442396461963654, + -0.18489977717399597, + -0.03132172503596188 + ], + [ + 0.1141623705625534, + 0.9884998798370361, + 0.099171482026577, + 0.10986985990252252 + ], + [ + 0.17340925335884094, + -0.11811920255422592, + 0.9777408242225647, + -0.05188381192075391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.09225362539291382, + -0.18598614633083344, + -0.032747639893976034 + ], + [ + 0.11208336055278778, + 0.9887478947639465, + 0.0990702360868454, + 0.11085401540383316 + ], + [ + 0.1747538298368454, + -0.1177576333284378, + 0.9775450229644775, + -0.05316403825950419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.09108749777078629, + -0.18740954995155334, + -0.03382907879467194 + ], + [ + 0.11109723895788193, + 0.9888483881950378, + 0.09917785227298737, + 0.11152774353439993 + ], + [ + 0.1762857735157013, + -0.11782152950763702, + 0.9772621989250183, + -0.05325916810677602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.09031878411769867, + -0.1887170821428299, + -0.03405080882784648 + ], + [ + 0.11049221456050873, + 0.988909125328064, + 0.09924842417240143, + 0.1113331020387829 + ], + [ + 0.1776600331068039, + -0.11790375411510468, + 0.9770033955574036, + -0.05513654242978137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.09068617969751358, + -0.18996351957321167, + -0.03447189155297402 + ], + [ + 0.11101716011762619, + 0.9888496994972229, + 0.0992543026804924, + 0.11112334868974157 + ], + [ + 0.1788443922996521, + -0.11811961978673935, + 0.9767612218856812, + -0.05686653748982483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621643, + -0.09112417697906494, + -0.19134095311164856, + -0.034407684340690955 + ], + [ + 0.11153890192508698, + 0.988839864730835, + 0.09876619279384613, + 0.11133662229165053 + ], + [ + 0.1802055835723877, + -0.11786462366580963, + 0.9765418171882629, + -0.05895888931476153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.09132130444049835, + -0.19269326329231262, + -0.03462763927303828 + ], + [ + 0.11170653998851776, + 0.9889262914657593, + 0.09770605713129044, + 0.11234960278384706 + ], + [ + 0.181636780500412, + -0.11698395758867264, + 0.9763825535774231, + -0.059915787035710794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.09194756299257278, + -0.19426679611206055, + -0.034577030752204425 + ], + [ + 0.11235930770635605, + 0.9889426827430725, + 0.09678748995065689, + 0.11328118956751294 + ], + [ + 0.18321934342384338, + -0.11635323613882065, + 0.9761621952056885, + -0.060609512062918425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.09236060827970505, + -0.1952887624502182, + -0.03534021177926125 + ], + [ + 0.11276378482580185, + 0.9889675378799438, + 0.0960601419210434, + 0.11382520706989827 + ], + [ + 0.18426208198070526, + -0.11581338942050934, + 0.9760301113128662, + -0.061353674492774866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.09304553270339966, + -0.19625785946846008, + -0.03559117689410336 + ], + [ + 0.11348238587379456, + 0.988932192325592, + 0.09557624906301498, + 0.11386910082183332 + ], + [ + 0.1851927936077118, + -0.1155664399266243, + 0.9758831858634949, + -0.0631338041753341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.09423211216926575, + -0.19758786261081696, + -0.03509854980640941 + ], + [ + 0.11480601131916046, + 0.9887989163398743, + 0.09537453949451447, + 0.11404742689596283 + ], + [ + 0.1863873153924942, + -0.11574555933475494, + 0.9756345152854919, + -0.06425805828637547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9753864407539368, + -0.09552070498466492, + -0.19873878359794617, + -0.03469578569325117 + ], + [ + 0.11616867780685425, + 0.9886807799339294, + 0.09494808316230774, + 0.1147046335041523 + ], + [ + 0.18741971254348755, + -0.11569829285144806, + 0.9754423499107361, + -0.0653326520553002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335815, + -0.09635034203529358, + -0.1995343267917633, + -0.034278405241222464 + ], + [ + 0.1170622855424881, + 0.9885968565940857, + 0.09472435712814331, + 0.1149604363191841 + ], + [ + 0.18813228607177734, + -0.11572767794132233, + 0.9753016829490662, + -0.06719401657071888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.0967891588807106, + -0.2004728466272354, + -0.03407612185383964 + ], + [ + 0.11754768341779709, + 0.9885750412940979, + 0.09435015916824341, + 0.11547298228256725 + ], + [ + 0.18905039131641388, + -0.11554768681526184, + 0.9751454591751099, + -0.0684121351975661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.09714441001415253, + -0.2013595551252365, + -0.033760990068698545 + ], + [ + 0.11791388690471649, + 0.9885806441307068, + 0.09383318573236465, + 0.1157523263914463 + ], + [ + 0.189944788813591, + -0.1152011975646019, + 0.9750126600265503, + -0.07029338531578198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.09762518852949142, + -0.20222583413124084, + -0.033562943062339076 + ], + [ + 0.11839186400175095, + 0.9885784387588501, + 0.09325264394283295, + 0.11595017872432359 + ], + [ + 0.19081228971481323, + -0.1148129403591156, + 0.9748890399932861, + -0.07209044897403473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9741423726081848, + -0.09781992435455322, + -0.20366127789020538, + -0.03283807879520787 + ], + [ + 0.11860299110412598, + 0.9886284470558167, + 0.09245079755783081, + 0.11677836122421119 + ], + [ + 0.19230179488658905, + -0.11421507596969604, + 0.9746665954589844, + -0.07227998345326155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.09773191809654236, + -0.20458616316318512, + -0.03286173495535667 + ], + [ + 0.11847157776355743, + 0.988715648651123, + 0.09168357402086258, + 0.11733375365535419 + ], + [ + 0.19331713020801544, + -0.11353353410959244, + 0.9745453596115112, + -0.07315791044861843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.973677396774292, + -0.0979643389582634, + -0.20580418407917023, + -0.03237144553826915 + ], + [ + 0.11873745173215866, + 0.9887366890907288, + 0.09111108630895615, + 0.11741730810230615 + ], + [ + 0.19456051290035248, + -0.11314947158098221, + 0.9743425250053406, + -0.0735614016238186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.09835473448038101, + -0.2063547670841217, + -0.03303902254909532 + ], + [ + 0.11907441169023514, + 0.9887531995773315, + 0.090489462018013, + 0.11760688371255867 + ], + [ + 0.19513386487960815, + -0.11266501247882843, + 0.9742840528488159, + -0.07460707803057809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.09844247996807098, + -0.20692245662212372, + -0.033230682892295034 + ], + [ + 0.11909666657447815, + 0.9888111352920532, + 0.0898246318101883, + 0.11805936373197116 + ], + [ + 0.1957646757364273, + -0.11207835376262665, + 0.9742251634597778, + -0.07555642993404316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.09812191873788834, + -0.20800474286079407, + -0.03272253209327022 + ], + [ + 0.11871661990880966, + 0.9889377355575562, + 0.08892975747585297, + 0.11906059144908548 + ], + [ + 0.19697779417037964, + -0.11123950779438019, + 0.9740767478942871, + -0.07528178628183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.09829660505056381, + -0.20870326459407806, + -0.032180860909259215 + ], + [ + 0.11887537688016891, + 0.9889628291130066, + 0.08843759447336197, + 0.11940259983142218 + ], + [ + 0.1977066546678543, + -0.11086181551218033, + 0.9739721417427063, + -0.07477264047369489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.09785573184490204, + -0.20849496126174927, + -0.03185341333349546 + ], + [ + 0.11828659474849701, + 0.9890846610069275, + 0.08786271512508392, + 0.11955570975939434 + ], + [ + 0.19762128591537476, + -0.11016274988651276, + 0.9740687608718872, + -0.07581026554107666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.09647294133901596, + -0.20772293210029602, + -0.03202519574735919 + ], + [ + 0.11665081232786179, + 0.9893409013748169, + 0.0871616005897522, + 0.12020065748793449 + ], + [ + 0.19710007309913635, + -0.10907578468322754, + 0.9742966890335083, + -0.07669370598517931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.09505336731672287, + -0.20731209218502045, + -0.03125108797899169 + ], + [ + 0.1150783821940422, + 0.989561140537262, + 0.08675079047679901, + 0.12109568866017538 + ], + [ + 0.1969020515680313, + -0.10832169651985168, + 0.9744208455085754, + -0.07704359565535163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.973919689655304, + -0.09286005795001984, + -0.20702049136161804, + -0.030155549093316764 + ], + [ + 0.11279778182506561, + 0.9898317456245422, + 0.08665876090526581, + 0.12183061503829101 + ], + [ + 0.19686833024024963, + -0.10775011777877808, + 0.9744910597801208, + -0.0772520805016542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.09080660343170166, + -0.20616234838962555, + -0.029626614788276516 + ], + [ + 0.11068245768547058, + 0.9900410175323486, + 0.0869951918721199, + 0.12210784234807023 + ], + [ + 0.19620944559574127, + -0.10757755488157272, + 0.9746429920196533, + -0.07874575556598158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.08831210434436798, + -0.20570972561836243, + -0.02912359210288423 + ], + [ + 0.10809850692749023, + 0.9903258681297302, + 0.08700229972600937, + 0.12310472458091558 + ], + [ + 0.19603630900382996, + -0.10703111439943314, + 0.9747379422187805, + -0.07948490720337782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129883, + -0.08584735542535782, + -0.20573335886001587, + -0.029189048936733835 + ], + [ + 0.10556920617818832, + 0.9906105995178223, + 0.08686628937721252, + 0.12448711527081638 + ], + [ + 0.19634440541267395, + -0.10639943182468414, + 0.9747450947761536, + -0.07970341409628208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777283, + -0.08371412754058838, + -0.2064916342496872, + -0.02878171808890298 + ], + [ + 0.1036105751991272, + 0.9907628893852234, + 0.08748546987771988, + 0.12472390782119883 + ], + [ + 0.19726048409938812, + -0.10668084770441055, + 0.9745293855667114, + -0.08118008129043966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.08187540620565414, + -0.20737075805664062, + -0.029500761344774157 + ], + [ + 0.10188858956098557, + 0.9909200668334961, + 0.08772731572389603, + 0.12556146263566792 + ], + [ + 0.1983051300048828, + -0.10664794594049454, + 0.9743209481239319, + -0.08287762532122114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530396, + -0.07997071743011475, + -0.20942778885364532, + -0.029671564793739565 + ], + [ + 0.10039535164833069, + 0.9909796714782715, + 0.08876939862966537, + 0.1251065882925804 + ], + [ + 0.20043973624706268, + -0.10753565281629562, + 0.9737864136695862, + -0.0853424668789674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.07701306790113449, + -0.21328267455101013, + -0.029678167214887776 + ], + [ + 0.09784286469221115, + 0.9912249445915222, + 0.08888120949268341, + 0.12579435485805202 + ], + [ + 0.204566091299057, + -0.10743407905101776, + 0.9729391932487488, + -0.0856653519675263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.07502195239067078, + -0.2183000147342682, + -0.030207168460529076 + ], + [ + 0.09627111256122589, + 0.9914239645004272, + 0.08837667852640152, + 0.12758082566607715 + ], + [ + 0.2097976803779602, + -0.10700594633817673, + 0.9718717336654663, + -0.08555045814659351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.07415057718753815, + -0.22328127920627594, + -0.032018070534253734 + ], + [ + 0.0962403267621994, + 0.9913062453269958, + 0.0897204726934433, + 0.12609343079802318 + ], + [ + 0.2146873027086258, + -0.10869064927101135, + 0.9706161618232727, + -0.08741992570650883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.07436057180166245, + -0.22939182817935944, + -0.03439535867008898 + ], + [ + 0.09724108129739761, + 0.991174578666687, + 0.0900953859090805, + 0.12589788685242337 + ], + [ + 0.2206677943468094, + -0.10974293947219849, + 0.9691554307937622, + -0.08872121175130208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.075393907725811, + -0.23730406165122986, + -0.03658180857379722 + ], + [ + 0.09924861043691635, + 0.9909639954566956, + 0.09022247046232224, + 0.12593981072816074 + ], + [ + 0.22835755348205566, + -0.11093304306268692, + 0.9672366380691528, + -0.08993784067595106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.07403167337179184, + -0.24615532159805298, + -0.04024272661369581 + ], + [ + 0.09895602613687515, + 0.9909713864326477, + 0.09046213328838348, + 0.12627265579425373 + ], + [ + 0.23723581433296204, + -0.1117810606956482, + 0.9649995565414429, + -0.0916001653442016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447266, + -0.07028083503246307, + -0.2563932538032532, + -0.04413460165771664 + ], + [ + 0.09669665992259979, + 0.9910615086555481, + 0.09190692752599716, + 0.1260312364778967 + ], + [ + 0.2476421743631363, + -0.1133919432759285, + 0.9621931314468384, + -0.09395202175419555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.06318016350269318, + -0.26793599128723145, + -0.0487883361422608 + ], + [ + 0.09126824140548706, + 0.99140864610672, + 0.09369607269763947, + 0.12677526957331559 + ], + [ + 0.2597143054008484, + -0.11452996730804443, + 0.9588698148727417, + -0.09580540190904568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.053399331867694855, + -0.28061285614967346, + -0.05439755660601151 + ], + [ + 0.08347515016794205, + 0.9918422698974609, + 0.09633699059486389, + 0.12732356832577632 + ], + [ + 0.27317938208580017, + -0.11574725806713104, + 0.9549741148948669, + -0.09840610252741055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.040249817073345184, + -0.2958751320838928, + -0.05987228527983539 + ], + [ + 0.07252354174852371, + 0.9924487471580505, + 0.09892350435256958, + 0.12948798582467258 + ], + [ + 0.2896592617034912, + -0.11586835980415344, + 0.9500905275344849, + -0.09983882390790516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.02490105852484703, + -0.3097083270549774, + -0.06955480873584748 + ], + [ + 0.05914822593331337, + 0.9930567741394043, + 0.10168454796075821, + 0.13166979832144884 + ], + [ + 0.3050259053707123, + -0.11497042328119278, + 0.9453787803649902, + -0.10742553630445757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.012554572895169258, + -0.32818034291267395, + -0.07656001766474965 + ], + [ + 0.04996383190155029, + 0.9931305646896362, + 0.10580794513225555, + 0.13334346621846543 + ], + [ + 0.32459756731987, + -0.11633610725402832, + 0.9386705160140991, + -0.10714154549134083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0002573709934949875, + -0.3476983904838562, + -0.08230938250596961 + ], + [ + 0.0404190793633461, + 0.9931393265724182, + 0.1097295805811882, + 0.13468235375152693 + ], + [ + 0.34534120559692383, + -0.1169368103146553, + 0.9311633706092834, + -0.10789464138384558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192627, + 0.012436185963451862, + -0.3662859797477722, + -0.08851533868413769 + ], + [ + 0.03115358203649521, + 0.9931231737136841, + 0.11285322904586792, + 0.13649788624328427 + ], + [ + 0.36517053842544556, + -0.11641193926334381, + 0.9236334562301636, + -0.10859703270670695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.022697875276207924, + -0.38441959023475647, + -0.09334244679373044 + ], + [ + 0.023564675822854042, + 0.9930619597434998, + 0.11520680785179138, + 0.1377048770395609 + ], + [ + 0.384367436170578, + -0.11538071930408478, + 0.915941596031189, + -0.11041170645218629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.029455576092004776, + -0.3999384641647339, + -0.09963417903193805 + ], + [ + 0.018857046961784363, + 0.9930316209793091, + 0.11632957309484482, + 0.13902488955193096 + ], + [ + 0.4005780816078186, + -0.11410752683877945, + 0.9091296195983887, + -0.1123698902467632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.03700459748506546, + -0.4142109751701355, + -0.10396579810314709 + ], + [ + 0.012702034786343575, + 0.993096649646759, + 0.11660902947187424, + 0.1411036585768064 + ], + [ + 0.4156665802001953, + -0.11130888015031815, + 0.9026802778244019, + -0.11540412033597629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.04418061673641205, + -0.42662155628204346, + -0.10633070402038403 + ], + [ + 0.00687362439930439, + 0.9930614829063416, + 0.1173952966928482, + 0.14221233412241324 + ], + [ + 0.4288480281829834, + -0.10898153483867645, + 0.8967788815498352, + -0.11712972279160451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.04922556132078171, + -0.4364371597766876, + -0.10739706229959797 + ], + [ + 0.0022470448166131973, + 0.9931711554527283, + 0.11664480715990067, + 0.14507441128421034 + ], + [ + 0.43919870257377625, + -0.10577289015054703, + 0.892141580581665, + -0.11596072174799749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.051780350506305695, + -0.4422224760055542, + -0.10745573608984804 + ], + [ + -0.00010766647756099701, + 0.99323970079422, + 0.116081602871418, + 0.1452661271278675 + ], + [ + 0.4452436566352844, + -0.10389294475317001, + 0.8893617391586304, + -0.11839584259586966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.05171838775277138, + -0.44711071252822876, + -0.10147063282246772 + ], + [ + 2.9165297746658325e-05, + 0.9933696985244751, + 0.11496375501155853, + 0.14540905264707712 + ], + [ + 0.4500919580459595, + -0.10267363488674164, + 0.8870599269866943, + -0.11867665331333112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.051662374287843704, + -0.44594472646713257, + -0.09945194520151768 + ], + [ + -0.0009096004068851471, + 0.9935625791549683, + 0.11328089237213135, + 0.14654264753190882 + ], + [ + 0.44892632961273193, + -0.10081858932971954, + 0.887863039970398, + -0.11940062649102293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.04776440188288689, + -0.4419002830982208, + -0.09595201837583485 + ], + [ + 0.0016431137919425964, + 0.9938464760780334, + 0.1107543483376503, + 0.1474551805828372 + ], + [ + 0.444471150636673, + -0.09993892163038254, + 0.8902009129524231, + -0.11908424524669974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.041424691677093506, + -0.4345242381095886, + -0.09125073918929466 + ], + [ + 0.006396599113941193, + 0.9941283464431763, + 0.10801819711923599, + 0.14720618747747863 + ], + [ + 0.43644750118255615, + -0.0999642089009285, + 0.8941592574119568, + -0.1208582763775037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791626, + 0.0338175967335701, + -0.4252876937389374, + -0.0846575061416524 + ], + [ + 0.011889135465025902, + 0.9944684505462646, + 0.10436084866523743, + 0.1481905036375054 + ], + [ + 0.42646440863609314, + -0.0994429886341095, + 0.8990212678909302, + -0.11916192429952133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.02482655830681324, + -0.41355443000793457, + -0.07585276404841461 + ], + [ + 0.018159927800297737, + 0.9948529005050659, + 0.09968909621238708, + 0.1492930295248317 + ], + [ + 0.41390079259872437, + -0.09824123978614807, + 0.9050053954124451, + -0.11615610108671026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.009677340276539326, + -0.3984796106815338, + -0.0676577240228653 + ], + [ + 0.030192993581295013, + 0.9951463937759399, + 0.09365888684988022, + 0.1504167703481821 + ], + [ + 0.39745190739631653, + -0.09792830795049667, + 0.9123826026916504, + -0.11062955607970555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.005942344665527344, + -0.3809187710285187, + -0.0575223626043552 + ], + [ + 0.04245951399207115, + 0.9952561855316162, + 0.08753432333469391, + 0.14911602575045368 + ], + [ + 0.3785916268825531, + -0.09710693359375, + 0.9204556941986084, + -0.11018399854755809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.02467264048755169, + -0.3598748743534088, + -0.04797822713183287 + ], + [ + 0.057661354541778564, + 0.9950268268585205, + 0.08122081309556961, + 0.1460495063254976 + ], + [ + 0.3560812175273895, + -0.09650342911481857, + 0.9294586181640625, + -0.11177272602406323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.04396728426218033, + -0.33740484714508057, + -0.03920080326497555 + ], + [ + 0.07322211563587189, + 0.9945314526557922, + 0.07446920871734619, + 0.143434077501297 + ], + [ + 0.3322855234146118, + -0.09473130106925964, + 0.9384094476699829, + -0.11021949102481206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.06606294214725494, + -0.31522223353385925, + -0.030619835395079394 + ], + [ + 0.09117239713668823, + 0.9936740398406982, + 0.06557057797908783, + 0.1449362498445389 + ], + [ + 0.30889639258384705, + -0.09081625938415527, + 0.9467499256134033, + -0.1043043710737147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.0867420881986618, + -0.2908088266849518, + -0.021709992843242286 + ], + [ + 0.10839028656482697, + 0.9923473000526428, + 0.05914688482880592, + 0.1422427727753281 + ], + [ + 0.2834528386592865, + -0.08787843585014343, + 0.9549512267112732, + -0.10710488058562972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.957180917263031, + -0.10843473672866821, + -0.26841503381729126, + -0.009927046508528294 + ], + [ + 0.12702696025371552, + 0.9904906153678894, + 0.05284423381090164, + 0.14030468234649074 + ], + [ + 0.26013243198394775, + -0.08467743545770645, + 0.9618528485298157, + -0.10985266319834269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.128010556101799, + -0.24506095051765442, + -0.002483521051641206 + ], + [ + 0.14353950321674347, + 0.9885507822036743, + 0.04651626572012901, + 0.1398580300056527 + ], + [ + 0.23630061745643616, + -0.07987895607948303, + 0.9683911204338074, + -0.10956776730525188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.1475183516740799, + -0.2223912924528122, + 0.004561604008588014 + ], + [ + 0.1605565994977951, + 0.9861482381820679, + 0.041632238775491714, + 0.13847504037185615 + ], + [ + 0.21316926181316376, + -0.07582873106002808, + 0.9740682244300842, + -0.1101735899081597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.1638677418231964, + -0.20116622745990753, + 0.011602530809931264 + ], + [ + 0.1746748685836792, + 0.9839277863502502, + 0.037077896296978, + 0.13797042742371562 + ], + [ + 0.19185717403888702, + -0.07094679027795792, + 0.9788551330566406, + -0.11095436374919537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.17610272765159607, + -0.1806613802909851, + 0.018015895242619717 + ], + [ + 0.18486613035202026, + 0.9822182655334473, + 0.03273899108171463, + 0.13819725724876436 + ], + [ + 0.17168349027633667, + -0.06507810205221176, + 0.9830003380775452, + -0.1130138523876667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.18913325667381287, + -0.16122466325759888, + 0.02555476043723587 + ], + [ + 0.19656822085380554, + 0.979989230632782, + 0.031337715685367584, + 0.1349853150928632 + ], + [ + 0.15207141637802124, + -0.062046147882938385, + 0.9864200949668884, + -0.12141154082093993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.19852980971336365, + -0.1449819803237915, + 0.031233479865850542 + ], + [ + 0.2046114206314087, + 0.9784380197525024, + 0.02816375158727169, + 0.13596798301889348 + ], + [ + 0.13626453280448914, + -0.056964434683322906, + 0.9890334010124207, + -0.12056831056490923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.20980796217918396, + -0.12796364724636078, + 0.038302216742537976 + ], + [ + 0.21499767899513245, + 0.9762121438980103, + 0.02803308144211769, + 0.1318383648609504 + ], + [ + 0.11903809756040573, + -0.05468526855111122, + 0.9913825988769531, + -0.13826992178861147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.970149576663971, + -0.21279112994670868, + -0.11631737649440765, + 0.040418643370652804 + ], + [ + 0.21684689819812775, + 0.9759286046028137, + 0.02325509488582611, + 0.13704787302985152 + ], + [ + 0.10856898128986359, + -0.047783978283405304, + 0.992939829826355, + -0.12123054623221739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897217, + -0.21740037202835083, + -0.10408660769462585, + 0.043286719803626715 + ], + [ + 0.22077131271362305, + 0.9750796556472778, + 0.021900998428463936, + 0.13663262724876407 + ], + [ + 0.09673145413398743, + -0.04423462599515915, + 0.9943270683288574, + -0.12348652209800023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.22146070003509521, + -0.09397425502538681, + 0.04976963947216669 + ], + [ + 0.22446614503860474, + 0.9742201566696167, + 0.02258334681391716, + 0.1335070073604584 + ], + [ + 0.0865502879023552, + -0.043014127761125565, + 0.9953184723854065, + -0.13718784252802532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9713939428329468, + -0.2210748940706253, + -0.08671591430902481, + 0.052943366492151187 + ], + [ + 0.2237585335969925, + 0.9743863940238953, + 0.022433090955018997, + 0.13303436224914006 + ], + [ + 0.07953541725873947, + -0.041194792836904526, + 0.9959805011749268, + -0.13900604749687462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.21781934797763824, + -0.08145803958177567, + 0.05444787137019329 + ], + [ + 0.22027860581874847, + 0.9751792550086975, + 0.02242249622941017, + 0.1326369334680912 + ], + [ + 0.07455214112997055, + -0.03975122049450874, + 0.9964244961738586, + -0.13938381250661153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.2119612991809845, + -0.0784216895699501, + 0.05485390252791918 + ], + [ + 0.21434932947158813, + 0.9764789938926697, + 0.023304712027311325, + 0.13166164855799106 + ], + [ + 0.07163744419813156, + -0.03951137140393257, + 0.996647834777832, + -0.1406120948668601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.20344486832618713, + -0.07777990400791168, + 0.054248239189131645 + ], + [ + 0.2058640420436859, + 0.9782768487930298, + 0.024379855021834373, + 0.13075894452313075 + ], + [ + 0.07113032042980194, + -0.03980662673711777, + 0.9966723918914795, + -0.1411844675994327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751465, + -0.19288700819015503, + -0.07931981980800629, + 0.053385461026277295 + ], + [ + 0.1953589916229248, + 0.9804229736328125, + 0.024610796943306923, + 0.13056245230329344 + ], + [ + 0.07301986217498779, + -0.03956543654203415, + 0.9965453743934631, + -0.14105240268011887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.18199658393859863, + -0.08247476816177368, + 0.051530364257657627 + ], + [ + 0.18456736207008362, + 0.982511043548584, + 0.024634940549731255, + 0.12997698086576587 + ], + [ + 0.07654890418052673, + -0.03936030715703964, + 0.9962886571884155, + -0.14172029888145943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1702432483434677, + -0.08704868704080582, + 0.04897289159588325 + ], + [ + 0.17297138273715973, + 0.9846154451370239, + 0.024766409769654274, + 0.1292189423345093 + ], + [ + 0.08149316161870956, + -0.03936639428138733, + 0.9958961606025696, + -0.1422235460744964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.15885408222675323, + -0.09249308705329895, + 0.04600717167441661 + ], + [ + 0.1617366224527359, + 0.9865297079086304, + 0.024503173306584358, + 0.12818818436219143 + ], + [ + 0.08735474944114685, + -0.03904515877366066, + 0.9954118132591248, + -0.14324737569460502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916687, + -0.14746220409870148, + -0.09873469173908234, + 0.04320728137579738 + ], + [ + 0.15045319497585297, + 0.9883372187614441, + 0.023524729534983635, + 0.12802482960570571 + ], + [ + 0.09411415457725525, + -0.03800627589225769, + 0.9948356747627258, + -0.1430989221502573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.13747529685497284, + -0.10522107034921646, + 0.04092515436375243 + ], + [ + 0.14056672155857086, + 0.9898151755332947, + 0.022515583783388138, + 0.12711940887901518 + ], + [ + 0.10105407983064651, + -0.036966193467378616, + 0.9941939115524292, + -0.1434180806367061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.12813040614128113, + -0.11093787103891373, + 0.038588321686555176 + ], + [ + 0.13122212886810303, + 0.991130530834198, + 0.021000951528549194, + 0.12637479062645865 + ], + [ + 0.10726305097341537, + -0.03525463491678238, + 0.9936054348945618, + -0.14387996247372567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.11832474917173386, + -0.11610306054353714, + 0.03621283768970742 + ], + [ + 0.12137790769338608, + 0.9924135804176331, + 0.01956387795507908, + 0.12550480319903448 + ], + [ + 0.11290735751390457, + -0.033385537564754486, + 0.9930444955825806, + -0.14396190726094776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.10830871760845184, + -0.12030729651451111, + 0.03379863748947779 + ], + [ + 0.11122792959213257, + 0.9936354756355286, + 0.0178004652261734, + 0.12472882150775857 + ], + [ + 0.11761365830898285, + -0.03094721958041191, + 0.992577075958252, + -0.14560987525102165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.09908399730920792, + -0.12443291395902634, + 0.031119765513218364 + ], + [ + 0.10182847827672958, + 0.9946752786636353, + 0.015877142548561096, + 0.1244141276448201 + ], + [ + 0.12219717353582382, + -0.02834581583738327, + 0.9921010136604309, + -0.14571822276100135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.09001149982213974, + -0.1283700168132782, + 0.02884433998957149 + ], + [ + 0.09270647913217545, + 0.9955779910087585, + 0.015163253992795944, + 0.12325165477446003 + ], + [ + 0.1264374852180481, + -0.026876460760831833, + 0.9916104078292847, + -0.14781582630120027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614136, + -0.08049169927835464, + -0.13254374265670776, + 0.02718008780199238 + ], + [ + 0.08308481425046921, + 0.9964421391487122, + 0.01414218358695507, + 0.12357052738786255 + ], + [ + 0.13093385100364685, + -0.02498348243534565, + 0.9910762310028076, + -0.14903238861479312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773499, + -0.0703352764248848, + -0.13583122193813324, + 0.025249075287809737 + ], + [ + 0.07289371639490128, + 0.9972421526908875, + 0.013948282226920128, + 0.12329563856698002 + ], + [ + 0.13447557389736176, + -0.023685382679104805, + 0.9906337857246399, + -0.14818385920415705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.060889843851327896, + -0.13881294429302216, + 0.023491876266705684 + ], + [ + 0.06331786513328552, + 0.9979069232940674, + 0.013138719834387302, + 0.1239004221577675 + ], + [ + 0.13772238790988922, + -0.021776240319013596, + 0.990231454372406, + -0.148998420064648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.05374547094106674, + -0.1416022777557373, + 0.022019111591144502 + ], + [ + 0.05623587220907211, + 0.9983243346214294, + 0.013641752302646637, + 0.12306161720910644 + ], + [ + 0.14063182473182678, + -0.021447502076625824, + 0.9898296594619751, + -0.1488966956639137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.045408640056848526, + -0.14387789368629456, + 0.020206977379245636 + ], + [ + 0.0478987880051136, + 0.9987556338310242, + 0.013889262452721596, + 0.12322262619168332 + ], + [ + 0.14306816458702087, + -0.020621849223971367, + 0.9894979596138, + -0.14848168795116437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.038164395838975906, + -0.1461172252893448, + 0.018658634779863376 + ], + [ + 0.04070153459906578, + 0.9990674257278442, + 0.014412548393011093, + 0.12294783767981408 + ], + [ + 0.14543090760707855, + -0.020194444805383682, + 0.989162266254425, + -0.14929932121060088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.03220750764012337, + -0.14786958694458008, + 0.016091822336117424 + ], + [ + 0.0347265787422657, + 0.9992918968200684, + 0.014485127292573452, + 0.12267627565460838 + ], + [ + 0.14729833602905273, + -0.019453296437859535, + 0.9889007806777954, + -0.14928943303246528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.988215982913971, + -0.029091212898492813, + -0.1502760350704193, + 0.01433843889584144 + ], + [ + 0.031473349779844284, + 0.9994134306907654, + 0.01349729299545288, + 0.12354820164350364 + ], + [ + 0.14979523420333862, + -0.01806792989373207, + 0.988551914691925, + -0.14841807357107217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.987951397895813, + -0.02778010256588459, + -0.1522507518529892, + 0.012149547952681014 + ], + [ + 0.03019012324512005, + 0.9994524717330933, + 0.013540053740143776, + 0.12278722266419832 + ], + [ + 0.15179122984409332, + -0.017973383888602257, + 0.9882491230964661, + -0.14859256774314447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.027334081009030342, + -0.1539868861436844, + 0.008880037839054805 + ], + [ + 0.02979983203113079, + 0.9994616508483887, + 0.01372696366161108, + 0.12228029091070353 + ], + [ + 0.15352876484394073, + -0.018146833404898643, + 0.9879775643348694, + -0.1494098440473342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.02814178727567196, + -0.15723510086536407, + 0.006884784996509552 + ], + [ + 0.030611323192715645, + 0.9994428157806396, + 0.013306012377142906, + 0.12331441529095173 + ], + [ + 0.15677304565906525, + -0.017948338761925697, + 0.9874715805053711, + -0.14840078745037316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/boom_up/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2ad20998a9946fe26ddcd412cb3f4b3a35e07d42 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/boom_up/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010043199872598052, + 0.005771652329713106, + 0.00261539020232307 + ], + [ + 0.0011594925308600068, + 0.9996362328529358, + -0.026945147663354874, + 0.0007517089995627219 + ], + [ + -0.005742491688579321, + 0.026951376348733902, + 0.999620258808136, + 0.004797957356000303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295654, + -0.005417153239250183, + 0.013236249797046185, + 0.0056564393206539314 + ], + [ + 0.005993630737066269, + 0.999017596244812, + -0.04390867426991463, + -0.0026507132921495245 + ], + [ + -0.01298538688570261, + 0.04398351535201073, + 0.9989478588104248, + 0.00384663706088168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917786, + -0.023633664473891258, + 0.018150687217712402, + 0.009378252472155369 + ], + [ + 0.024496281519532204, + 0.9985045790672302, + -0.048873111605644226, + -0.006504203656162971 + ], + [ + -0.016968492418527603, + 0.04929602891206741, + 0.9986400604248047, + -0.0005814744723745837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04377982020378113, + 0.02065206505358219, + 0.012258700969127508 + ], + [ + 0.044819705188274384, + 0.9975928664207458, + -0.0529114305973053, + -0.012174615563235732 + ], + [ + -0.018285902217030525, + 0.05377501994371414, + 0.9983856081962585, + -0.0007197909884982639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056863486766815186, + 0.023121442645788193, + 0.014915422576232852 + ], + [ + 0.0581679567694664, + 0.9964825510978699, + -0.06032449007034302, + -0.016926439463073373 + ], + [ + -0.019609853625297546, + 0.0615556538105011, + 0.9979109764099121, + -0.002762994147900842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.0669407993555069, + 0.027335239574313164, + 0.015338884991330978 + ], + [ + 0.06877684593200684, + 0.9949638843536377, + -0.07291490584611893, + -0.01738930475921967 + ], + [ + -0.022316595539450645, + 0.07460407167673111, + 0.9969635009765625, + -0.003326974807975766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07772161066532135, + 0.03150692582130432, + 0.015343400238989256 + ], + [ + 0.08019189536571503, + 0.9930015206336975, + -0.08670175075531006, + -0.01791148235878119 + ], + [ + -0.02454782836139202, + 0.08892291784286499, + 0.9957359433174133, + -0.00754286972567057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08712751418352127, + 0.0332910530269146, + 0.015323008835697786 + ], + [ + 0.0900096669793129, + 0.9910994172096252, + -0.09808236360549927, + -0.021226839125793207 + ], + [ + -0.024449072778224945, + 0.10065130889415741, + 0.9946213364601135, + -0.011116794421950467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08894763141870499, + 0.03417264297604561, + 0.014271333641730822 + ], + [ + 0.0921560600399971, + 0.9898726940155029, + -0.1079784631729126, + -0.024750916975048873 + ], + [ + -0.02422213740646839, + 0.11063636839389801, + 0.9935657382011414, + -0.017914497709045043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08436749130487442, + 0.03339671716094017, + 0.015460869361065391 + ], + [ + 0.08777566999197006, + 0.9890100955963135, + -0.11897231638431549, + -0.026598296645614836 + ], + [ + -0.022992298007011414, + 0.1214129626750946, + 0.9923357367515564, + -0.021503633270278957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.079302579164505, + 0.03451511636376381, + 0.015532933277452095 + ], + [ + 0.08318085968494415, + 0.9878548979759216, + -0.13123910129070282, + -0.028987698113689057 + ], + [ + -0.02368832752108574, + 0.1336183398962021, + 0.990749716758728, + -0.024102884480076976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07875555753707886, + 0.035701934248209, + 0.019194745558958788 + ], + [ + 0.0831107646226883, + 0.9860875010490417, + -0.14395850896835327, + -0.03486279303637835 + ], + [ + -0.023867696523666382, + 0.1463865339756012, + 0.9889394640922546, + -0.029460249631068646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177673, + -0.09256604313850403, + 0.03465414047241211, + 0.04075448397133086 + ], + [ + 0.09669160842895508, + 0.9843844771385193, + -0.14709854125976562, + -0.05306039204200109 + ], + [ + -0.020496666431427002, + 0.14972901344299316, + 0.9885146021842957, + -0.0955529812309477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09307864308357239, + 0.03840361535549164, + 0.0432124009117102 + ], + [ + 0.0980973094701767, + 0.9820225238800049, + -0.16127224266529083, + -0.055375228955959664 + ], + [ + -0.022702213376760483, + 0.164219930768013, + 0.9861624836921692, + -0.09769440131564426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08639077842235565, + 0.04321001097559929, + 0.043227024662953153 + ], + [ + 0.09261272847652435, + 0.9806010127067566, + -0.17275570333003998, + -0.05452753412417877 + ], + [ + -0.027447279542684555, + 0.17594967782497406, + 0.9840164184570312, + -0.10535777236024539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07420744001865387, + 0.04774467647075653, + 0.04207201487997658 + ], + [ + 0.08167071640491486, + 0.9801908135414124, + -0.1804323047399521, + -0.05565420246531821 + ], + [ + -0.0334094762802124, + 0.18362782895565033, + 0.9824279546737671, + -0.1091162145901949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06434112787246704, + 0.05213944986462593, + 0.04065241394007308 + ], + [ + 0.07303920388221741, + 0.9796071648597717, + -0.1871766448020935, + -0.05577159143156476 + ], + [ + -0.03903302177786827, + 0.19034191966056824, + 0.9809415936470032, + -0.1074300911436733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05821879208087921, + 0.054883211851119995, + 0.04308103506381695 + ], + [ + 0.06763423979282379, + 0.9795976877212524, + -0.18924580514431, + -0.06086334821123343 + ], + [ + -0.04274580627679825, + 0.1923510879278183, + 0.980394721031189, + -0.10171265705273702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.051942091435194016, + 0.05863000079989433, + 0.04428961946445907 + ], + [ + 0.062262121587991714, + 0.9796562790870667, + -0.190779909491539, + -0.06508541059417602 + ], + [ + -0.0475277416408062, + 0.19384418427944183, + 0.9798803925514221, + -0.09845775956144699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.05063077434897423, + 0.06381705403327942, + 0.0417277485323258 + ], + [ + 0.06216574087738991, + 0.9789945483207703, + -0.19417811930179596, + -0.06519534776353428 + ], + [ + -0.052645161747932434, + 0.19749997556209564, + 0.9788882732391357, + -0.10064197395347123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04961514472961426, + 0.06491951644420624, + 0.04209182291076734 + ], + [ + 0.06151943653821945, + 0.9785534739494324, + -0.1965920627117157, + -0.06792586180262077 + ], + [ + -0.05377327278256416, + 0.19992852210998535, + 0.9783337712287903, + -0.09656940041444241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04558997601270676, + 0.06412158906459808, + 0.04302216991782189 + ], + [ + 0.057594262063503265, + 0.9781025052070618, + -0.19999592006206512, + -0.06999193244000786 + ], + [ + -0.053599677979946136, + 0.20306901633739471, + 0.9776962995529175, + -0.09392187694708506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607544, + -0.03938813880085945, + 0.06819803267717361, + 0.03731740768998861 + ], + [ + 0.052565593272447586, + 0.977608323097229, + -0.2037617564201355, + -0.0721867696597026 + ], + [ + -0.05864516645669937, + 0.2067137360572815, + 0.9766423106193542, + -0.10302408639437113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.04150507599115372, + 0.06588971614837646, + 0.04075801416467398 + ], + [ + 0.05446356534957886, + 0.9763911962509155, + -0.2090309113264084, + -0.06902423791396313 + ], + [ + -0.05565829947590828, + 0.21198473870754242, + 0.9756867289543152, + -0.08454141402855897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03953487426042557, + 0.06778249144554138, + 0.037821576269900695 + ], + [ + 0.05318856239318848, + 0.9755423069000244, + -0.21327950060367584, + -0.0683772375759406 + ], + [ + -0.05769271031022072, + 0.21622709929943085, + 0.9746370315551758, + -0.07461625983954495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.034961801022291183, + 0.07318919152021408, + 0.029520402227838836 + ], + [ + 0.05014246329665184, + 0.9748436808586121, + -0.21717625856399536, + -0.06897887786229452 + ], + [ + -0.06375514715909958, + 0.2201305627822876, + 0.9733847379684448, + -0.07136126226849027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03524046018719673, + 0.07438088953495026, + 0.027100365279385676 + ], + [ + 0.05080832168459892, + 0.974373459815979, + -0.2191229611635208, + -0.06965229390905453 + ], + [ + -0.06475277245044708, + 0.22215865552425385, + 0.9728579521179199, + -0.06220330727788118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.03681790083646774, + 0.07488847523927689, + 0.02609933864993927 + ], + [ + 0.05266831815242767, + 0.9735798835754395, + -0.22218969464302063, + -0.06843591296774709 + ], + [ + -0.06472935527563095, + 0.22535893321037292, + 0.9721231460571289, + -0.05497849268408922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017395, + -0.03757404536008835, + 0.07595515251159668, + 0.023075094405147763 + ], + [ + 0.053659066557884216, + 0.9734908938407898, + -0.2223425805568695, + -0.07277803738784587 + ], + [ + -0.06558734178543091, + 0.22561851143836975, + 0.9720054268836975, + -0.050004592486935805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.039605412632226944, + 0.0693020299077034, + 0.03629357085969204 + ], + [ + 0.05432456359267235, + 0.972733736038208, + -0.2254725694656372, + -0.07129077575145625 + ], + [ + -0.058482490479946136, + 0.22851794958114624, + 0.9717815518379211, + -0.04011932760477066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.996643602848053, + -0.03472062572836876, + 0.07413497567176819, + 0.024108407488809182 + ], + [ + 0.050829771906137466, + 0.9723463654518127, + -0.2279449999332428, + -0.07364957579053366 + ], + [ + -0.0641704797744751, + 0.23094817996025085, + 0.9708476066589355, + -0.03998007268732429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04096035286784172, + 0.07396215945482254, + 0.024638907461721673 + ], + [ + 0.057165201753377914, + 0.9709324836730957, + -0.23242676258087158, + -0.0701087076885578 + ], + [ + -0.062291987240314484, + 0.2358226180076599, + 0.9697976112365723, + -0.03688743386385787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.030447332188487053, + 0.07498908042907715, + 0.016623790488124658 + ], + [ + 0.04709552973508835, + 0.9717099070549011, + -0.23143444955348969, + -0.08108405191928914 + ], + [ + -0.06582106649875641, + 0.23420687019824982, + 0.9699560403823853, + -0.03979884139620341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887695, + -0.03605753555893898, + 0.07364329695701599, + 0.01942520700713508 + ], + [ + 0.05283621326088905, + 0.9692109823226929, + -0.2404961884021759, + -0.0697159337437051 + ], + [ + -0.0627041906118393, + 0.24357736110687256, + 0.9678524136543274, + -0.03871470524205102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.027423828840255737, + 0.07060058414936066, + 0.021973793673464376 + ], + [ + 0.04404309391975403, + 0.9682877659797668, + -0.245924711227417, + -0.0699489999912743 + ], + [ + -0.06161748245358467, + 0.24832779169082642, + 0.9667143225669861, + -0.027687207023557436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.02494669333100319, + 0.07098055630922318, + 0.016716948753366104 + ], + [ + 0.04198500141501427, + 0.9673789739608765, + -0.249830424785614, + -0.07268777753298099 + ], + [ + -0.062432654201984406, + 0.25210243463516235, + 0.9656844735145569, + -0.026552331247008763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.022420700639486313, + 0.0718754455447197, + 0.013593330942731128 + ], + [ + 0.040134165436029434, + 0.9659827947616577, + -0.2554730474948883, + -0.06843874040577147 + ], + [ + -0.06370256096124649, + 0.2576325833797455, + 0.964140772819519, + -0.036003934235399604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188293, + -0.018108654767274857, + 0.07375975698232651, + 0.006578893484308934 + ], + [ + 0.03651212900876999, + 0.9658660292625427, + -0.25645601749420166, + -0.07336844195667495 + ], + [ + -0.06659797579050064, + 0.25840842723846436, + 0.963737428188324, + -0.04397890027771648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.019618939608335495, + 0.06999560445547104, + 0.012681587226688861 + ], + [ + 0.037083908915519714, + 0.9654900431632996, + -0.25778627395629883, + -0.07835893457134566 + ], + [ + -0.06252256780862808, + 0.2597000002861023, + 0.9636632204055786, + -0.0391195942958196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.02203492261469364, + 0.06698434054851532, + 0.01463401069243749 + ], + [ + 0.038790106773376465, + 0.9647510647773743, + -0.26028966903686523, + -0.07501824047320929 + ], + [ + -0.058887749910354614, + 0.26224005222320557, + 0.9632042050361633, + -0.04440766299127513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.025051329284906387, + 0.06388658285140991, + 0.016647559877198476 + ], + [ + 0.0407622866332531, + 0.9652762413024902, + -0.25803136825561523, + -0.0793535935573089 + ], + [ + -0.05520417541265488, + 0.26002728939056396, + 0.9640219211578369, + -0.05836912611356149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.028435396030545235, + 0.06179877370595932, + 0.01415772286649698 + ], + [ + 0.04351149871945381, + 0.9650570750236511, + -0.2584019601345062, + -0.0774378841695113 + ], + [ + -0.05229157954454422, + 0.26049235463142395, + 0.9640587568283081, + -0.06769180668470187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.026608727872371674, + 0.05980280041694641, + 0.010596638438729648 + ], + [ + 0.041225872933864594, + 0.9651437401771545, + -0.25845301151275635, + -0.07492693418111557 + ], + [ + -0.05084118992090225, + 0.2603641748428345, + 0.9641709923744202, + -0.07143066582771448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03089982084929943, + 0.053920429199934006, + 0.009070065724225635 + ], + [ + 0.04373984783887863, + 0.9656163454055786, + -0.25626519322395325, + -0.07542762032304055 + ], + [ + -0.044147904962301254, + 0.2581283152103424, + 0.965101420879364, + -0.07065730460433879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03488101065158844, + 0.04706127941608429, + 0.005995771238723626 + ], + [ + 0.045669130980968475, + 0.9665557742118835, + -0.25235751271247864, + -0.07517440187243316 + ], + [ + -0.03668486326932907, + 0.2540734112262726, + 0.9664889574050903, + -0.067504193347234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03776445984840393, + 0.038437116891145706, + 0.002892958091842568 + ], + [ + 0.0461643785238266, + 0.9674650430679321, + -0.24875743687152863, + -0.07223516858668409 + ], + [ + -0.027792375534772873, + 0.2501704692840576, + 0.9678028225898743, + -0.0649281577549429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04203120619058609, + 0.029186103492975235, + -0.002396411633389628 + ], + [ + 0.04788491129875183, + 0.9687319993972778, + -0.24344474077224731, + -0.07009556194146474 + ], + [ + -0.01804123818874359, + 0.24452337622642517, + 0.9694755673408508, + -0.06135747592545982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271545, + -0.04421382397413254, + 0.019324898719787598, + -0.008237728476524353 + ], + [ + 0.04755266755819321, + 0.9699230194091797, + -0.23872177302837372, + -0.06662228478071017 + ], + [ + -0.008188864216208458, + 0.23936264216899872, + 0.9708957076072693, + -0.057979050546120375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04726714268326759, + 0.008033093996345997, + -0.011919062229621614 + ], + [ + 0.047837208956480026, + 0.9712949395179749, + -0.23301881551742554, + -0.06535554218750735 + ], + [ + 0.003211629344150424, + 0.2331351339817047, + 0.9724390506744385, + -0.05385679099549595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.048086944967508316, + -0.002156302332878113, + -0.014801594930199476 + ], + [ + 0.046333786100149155, + 0.9726343154907227, + -0.22767460346221924, + -0.06356922253711611 + ], + [ + 0.013045470230281353, + 0.22731077671051025, + 0.9737348556518555, + -0.05347477358121139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061279, + -0.046852003782987595, + -0.013223135843873024, + -0.011173688195263728 + ], + [ + 0.04276834800839424, + 0.9742439985275269, + -0.22140346467494965, + -0.06470165565992014 + ], + [ + 0.023255756124854088, + 0.22057540714740753, + 0.9750926494598389, + -0.05995626757160211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04715019091963768, + -0.020617427304387093, + -0.014450895248187913 + ], + [ + 0.04158389940857887, + 0.9754133224487305, + -0.21642473340034485, + -0.064494662400749 + ], + [ + 0.030314980074763298, + 0.21528062224388123, + 0.9760816097259521, + -0.05864432429273923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.046040020883083344, + -0.02804003469645977, + -0.012550221943957173 + ], + [ + 0.03913160413503647, + 0.9768373966217041, + -0.21037447452545166, + -0.06596444521067489 + ], + [ + 0.0370761975646019, + 0.2089713215827942, + 0.9772186875343323, + -0.06455272378193008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04606097564101219, + -0.03358866646885872, + -0.012556064744981436 + ], + [ + 0.03823528811335564, + 0.978065550327301, + -0.204757958650589, + -0.06587108155855766 + ], + [ + 0.04228327050805092, + 0.20314070582389832, + 0.9782361388206482, + -0.06805695776755993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622803, + -0.04786644130945206, + -0.03947734832763672, + -0.012172931486852149 + ], + [ + 0.03909345716238022, + 0.9792292714118958, + -0.1989516168832779, + -0.0634501350995822 + ], + [ + 0.0481804758310318, + 0.19702498614788055, + 0.9792138934135437, + -0.06865624927430071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.997665524482727, + -0.05180840939283371, + -0.04449084773659706, + -0.012151308486667962 + ], + [ + 0.0423891544342041, + 0.9806056618690491, + -0.19135227799415588, + -0.060042807033174064 + ], + [ + 0.0535416342318058, + 0.18901965022087097, + 0.9805125594139099, + -0.07001686264307071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.056758083403110504, + -0.04876594990491867, + -0.011741259288138304 + ], + [ + 0.0469999760389328, + 0.982166051864624, + -0.18204638361930847, + -0.05520938168733548 + ], + [ + 0.05822886526584625, + 0.17924398183822632, + 0.9820799231529236, + -0.07325780678253907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144043, + -0.061164163053035736, + -0.05301344022154808, + -0.011445393801754356 + ], + [ + 0.05142729729413986, + 0.9843155145645142, + -0.16875486075878143, + -0.05452635596450578 + ], + [ + 0.06250370293855667, + 0.1654748171567917, + 0.9842313528060913, + -0.07450368029948992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06664244085550308, + -0.0575336217880249, + -0.009942616979217427 + ], + [ + 0.056910090148448944, + 0.9859931468963623, + -0.1567760407924652, + -0.0480623286153771 + ], + [ + 0.06717569380998611, + 0.15289300680160522, + 0.9859569668769836, + -0.07285271300974056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06931956112384796, + -0.061401091516017914, + -0.008710707370669413 + ], + [ + 0.05990174412727356, + 0.9877932071685791, + -0.14379283785820007, + -0.04232562906466998 + ], + [ + 0.07061923295259476, + 0.13949695229530334, + 0.9877011179924011, + -0.07274831086397171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.0695200189948082, + -0.06400157511234283, + -0.00951915011765101 + ], + [ + 0.06083834916353226, + 0.9897998571395874, + -0.12882152199745178, + -0.040995753809618646 + ], + [ + 0.07230442762374878, + 0.12435134500265121, + 0.9896003007888794, + -0.07203538147493815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06904090940952301, + -0.0674002468585968, + -0.008520527589970675 + ], + [ + 0.06089574098587036, + 0.9913562536239624, + -0.11620894074440002, + -0.03652861698602255 + ], + [ + 0.07484082877635956, + 0.11156237125396729, + 0.9909352660179138, + -0.06906536729672016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740051, + -0.0688813105225563, + -0.06971269845962524, + -0.007734270952641963 + ], + [ + 0.061374958604574203, + 0.9926167726516724, + -0.10461846739053726, + -0.031464211814678636 + ], + [ + 0.07640424370765686, + 0.09983623772859573, + 0.9920660853385925, + -0.06740292651722064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06817160546779633, + -0.07074913382530212, + -0.008334177699035559 + ], + [ + 0.061275944113731384, + 0.9935474991798401, + -0.09543921798467636, + -0.02537806284391027 + ], + [ + 0.07679887115955353, + 0.09064225107431412, + 0.9929178953170776, + -0.06362590005255153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.0672144666314125, + -0.07272934168577194, + -0.007348881517019536 + ], + [ + 0.060706935822963715, + 0.9942457675933838, + -0.08826125413179398, + -0.019308677977985807 + ], + [ + 0.07824327796697617, + 0.08341220766305923, + 0.9934386610984802, + -0.0567005705088377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06683296710252762, + -0.07361272722482681, + -0.00664407933751742 + ], + [ + 0.06083381921052933, + 0.994861900806427, + -0.0809260830283165, + -0.015691111179498535 + ], + [ + 0.07864303141832352, + 0.07604695111513138, + 0.9939980506896973, + -0.05265535030227441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.0678880587220192, + -0.07447841018438339, + -0.005621512422067487 + ], + [ + 0.062438614666461945, + 0.9953603148460388, + -0.07320692390203476, + -0.014045157342448707 + ], + [ + 0.07910273224115372, + 0.06818390637636185, + 0.9945319294929504, + -0.049651151994227344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.069198839366436, + -0.07591947913169861, + -0.004619911916426613 + ], + [ + 0.06413831561803818, + 0.9956768751144409, + -0.06718528270721436, + -0.010251271033771023 + ], + [ + 0.0802404135465622, + 0.06196051836013794, + 0.9948478937149048, + -0.04549845569154136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.0705689936876297, + -0.07807497680187225, + -0.0026650000244188 + ], + [ + 0.06591843068599701, + 0.9959818124771118, + -0.06062209978699684, + -0.007765035675122191 + ], + [ + 0.08203929662704468, + 0.05513886734843254, + 0.9951026439666748, + -0.04217999963901746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07169889658689499, + -0.07908991724252701, + -0.002336954128825002 + ], + [ + 0.06750068813562393, + 0.996227502822876, + -0.054538484662771225, + -0.0063848397575127815 + ], + [ + 0.0827018991112709, + 0.04888821020722389, + 0.9953745007514954, + -0.03770915127526491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.07499485462903976, + -0.07985445111989975, + -0.001338082772846787 + ], + [ + 0.07123138755559921, + 0.996256411075592, + -0.048981986939907074, + -0.004848292342617983 + ], + [ + 0.08322890847921371, + 0.04299904406070709, + 0.9956023693084717, + -0.03414775871822977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554321, + -0.07863131165504456, + -0.07973217219114304, + -0.0012867289738586313 + ], + [ + 0.07529625296592712, + 0.996189534664154, + -0.04401031881570816, + -0.0040083257624736225 + ], + [ + 0.08288893848657608, + 0.03772997111082077, + 0.995844304561615, + -0.03057193076954438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933647513389587, + -0.08295077830553055, + -0.07965943962335587, + -0.0006209282586589833 + ], + [ + 0.07997908443212509, + 0.9960015416145325, + -0.03980320692062378, + -0.002839685734520616 + ], + [ + 0.08264263719320297, + 0.033168017864227295, + 0.9960271716117859, + -0.027605922472400544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.08643079549074173, + -0.079750657081604, + -0.0011812958539996897 + ], + [ + 0.08376192301511765, + 0.9958269000053406, + -0.03623088449239731, + -0.0015366193830457578 + ], + [ + 0.0825493186712265, + 0.029299400746822357, + 0.9961562156677246, + -0.023793161507600392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770325, + -0.08973576873540878, + -0.08051719516515732, + -0.0009452645034075543 + ], + [ + 0.08739734441041946, + 0.9956555962562561, + -0.032118503004312515, + -0.0008516220901257018 + ], + [ + 0.08304957300424576, + 0.024847231805324554, + 0.9962356090545654, + -0.02202260733032838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.09170776605606079, + -0.08202848583459854, + -0.0009328820647146454 + ], + [ + 0.08968321979045868, + 0.995575487613678, + -0.028041932731866837, + -0.0005948088235325291 + ], + [ + 0.08423721045255661, + 0.02047228068113327, + 0.9962354302406311, + -0.02025774817945611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022949, + -0.09405223280191422, + -0.08429194986820221, + -0.0006930545465941096 + ], + [ + 0.09240105003118515, + 0.9954494833946228, + -0.02328922040760517, + -0.0003868349278584593 + ], + [ + 0.08609877526760101, + 0.015314066782593727, + 0.9961689114570618, + -0.017334601586350265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024902, + -0.09507060796022415, + -0.08720631897449493, + -0.0004518189467489714 + ], + [ + 0.09367165714502335, + 0.9954021573066711, + -0.020005470141768456, + 0.003028058509031928 + ], + [ + 0.08870728313922882, + 0.01166953332722187, + 0.9959893822669983, + -0.014002400326232116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.09544503688812256, + -0.08839315921068192, + -0.0022593627429097632 + ], + [ + 0.0944184809923172, + 0.995408296585083, + -0.01573241874575615, + 0.004772778855175026 + ], + [ + 0.08948885649442673, + 0.007252783980220556, + 0.9959614276885986, + -0.012058371949630478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.09536831825971603, + -0.0915817841887474, + -0.0007314605192623586 + ], + [ + 0.09469663351774216, + 0.9954378604888916, + -0.011661822907626629, + 0.0061015281348656344 + ], + [ + 0.09227614849805832, + 0.0028869500383734703, + 0.9957292675971985, + -0.010144054332477415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.09652624279260635, + -0.09105435758829117, + -0.0040102074280954315 + ], + [ + 0.0962834283709526, + 0.9953289031982422, + -0.007065927609801292, + 0.006567520132431608 + ], + [ + 0.09131107479333878, + -0.0017635824624449015, + 0.9958208799362183, + -0.007519812501358011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.09647815674543381, + -0.09241335839033127, + -0.0043354130763974446 + ], + [ + 0.09662140160799026, + 0.9953168630599976, + -0.0029333564452826977, + 0.007068654009674345 + ], + [ + 0.0922635868191719, + -0.0060220458544790745, + 0.995716392993927, + -0.005291598273886956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.09635921567678452, + -0.09481746703386307, + -0.004115935363289382 + ], + [ + 0.09692727774381638, + 0.9952905178070068, + 0.0013931263238191605, + 0.006966830904667189 + ], + [ + 0.09423667937517166, + -0.010570736601948738, + 0.9954937100410461, + -0.001047523642102113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.0948014110326767, + -0.09748154133558273, + -0.003629439128324007 + ], + [ + 0.0958503782749176, + 0.9953769445419312, + 0.0061239511705935, + 0.0049556302145505535 + ], + [ + 0.0964503213763237, + -0.015410713851451874, + 0.9952185153961182, + 0.002765805662299196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.09554288536310196, + -0.09889417141675949, + -0.005487255362045561 + ], + [ + 0.0968770906329155, + 0.9952577352523804, + 0.008767124265432358, + 0.006951311905669347 + ], + [ + 0.09758754819631577, + -0.018264420330524445, + 0.9950593113899231, + 0.005935936947313384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.09555571526288986, + -0.1013667955994606, + -0.005548169920778173 + ], + [ + 0.09731114655733109, + 0.9951754212379456, + 0.012505126185715199, + 0.006455043938934292 + ], + [ + 0.09968281537294388, + -0.022247314453125, + 0.9947705268859863, + 0.0090078835733808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.09563429653644562, + -0.10289280861616135, + -0.007471562320223221 + ], + [ + 0.09764714539051056, + 0.9951125979423523, + 0.01469507347792387, + 0.007837433769152712 + ], + [ + 0.10098458081483841, + -0.024596549570560455, + 0.9945839047431946, + 0.011510792231330506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.09531968086957932, + -0.10433410853147507, + -0.009735491133143759 + ], + [ + 0.09759130328893661, + 0.9950834512710571, + 0.016876792535185814, + 0.00844775885343551 + ], + [ + 0.10221245139837265, + -0.026889516040682793, + 0.9943990707397461, + 0.014293604141945004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.09422576427459717, + -0.10631398856639862, + -0.01109804360466635 + ], + [ + 0.09672302007675171, + 0.9951380491256714, + 0.018571535125374794, + 0.009169569503293076 + ], + [ + 0.10404717922210693, + -0.028666192665696144, + 0.9941591620445251, + 0.01601419013996537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622742, + -0.0927882194519043, + -0.10825425386428833, + -0.012631684684982667 + ], + [ + 0.09555050730705261, + 0.9952113032341003, + 0.020603543147444725, + 0.009526297450065613 + ], + [ + 0.10582409799098969, + -0.03073679469525814, + 0.9939097166061401, + 0.017005448086330525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9896503686904907, + -0.0917322188615799, + -0.11035078763961792, + -0.014522423967719078 + ], + [ + 0.09473170340061188, + 0.9952543377876282, + 0.022241652011871338, + 0.011205878439876762 + ], + [ + 0.10778681933879852, + -0.03246517479419708, + 0.9936438202857971, + 0.017558714540468322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754456, + -0.09037180989980698, + -0.11118438839912415, + -0.018032304678335147 + ], + [ + 0.09365765005350113, + 0.995298445224762, + 0.024683302268385887, + 0.01222498707919039 + ], + [ + 0.10843096673488617, + -0.03484189510345459, + 0.9934931993484497, + 0.01765470364345954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.09128565341234207, + -0.10880491137504578, + -0.021123038289638664 + ], + [ + 0.0950760468840599, + 0.9950129389762878, + 0.030162647366523743, + 0.007627260933319724 + ], + [ + 0.10550887882709503, + -0.04020162671804428, + 0.9936054348945618, + -0.0012989163195762112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724731, + -0.0911080613732338, + -0.11110899597406387, + -0.022361531923724035 + ], + [ + 0.09525392204523087, + 0.9949195981025696, + 0.032583244144916534, + 0.010258037144811744 + ], + [ + 0.1075759157538414, + -0.04282870143651962, + 0.993273913860321, + 0.003038751650760826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.09012183547019958, + -0.11706908047199249, + -0.02150240121807298 + ], + [ + 0.09481452405452728, + 0.9948744773864746, + 0.03514283895492554, + 0.01415774003308043 + ], + [ + 0.11330190300941467, + -0.045857034623622894, + 0.9925017952919006, + 0.0226623859638587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.09003256261348724, + -0.11436064541339874, + -0.024657881250366186 + ], + [ + 0.09521777927875519, + 0.9946237802505493, + 0.040707141160964966, + 0.009733998164152484 + ], + [ + 0.11008085310459137, + -0.05116282403469086, + 0.9926049709320068, + 0.005430832114787057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.09317120909690857, + -0.11693821847438812, + -0.026472936500596185 + ], + [ + 0.09878641366958618, + 0.9941719770431519, + 0.04316605255007744, + 0.014265546151715464 + ], + [ + 0.11223486065864563, + -0.05423273518681526, + 0.9922006726264954, + 0.013825712515375553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9884978532791138, + -0.09257038682699203, + -0.11959405243396759, + -0.026222804924234365 + ], + [ + 0.09880081564188004, + 0.9939848184585571, + 0.04725014045834541, + 0.012423057166429656 + ], + [ + 0.11450071632862091, + -0.058522652834653854, + 0.9916979074478149, + 0.02042468836228562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444946, + -0.09110705554485321, + -0.11785479635000229, + -0.030370524812203186 + ], + [ + 0.09744705259799957, + 0.994024395942688, + 0.049189068377017975, + 0.013414388780410465 + ], + [ + 0.11266907304525375, + -0.060124851763248444, + 0.9918118119239807, + 0.011822915664659097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.09047552943229675, + -0.11960691213607788, + -0.02881133502237817 + ], + [ + 0.09737388789653778, + 0.9938284158706665, + 0.05313626676797867, + 0.010103070232857995 + ], + [ + 0.11406120657920837, + -0.06418189406394958, + 0.9913983941078186, + 0.006236189733553901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.09348472207784653, + -0.12423595041036606, + -0.028163799659436585 + ], + [ + 0.10086613148450851, + 0.9934059977531433, + 0.054502878338098526, + 0.013716315879271572 + ], + [ + 0.11832154542207718, + -0.06637126952409744, + 0.9907547235488892, + 0.022691846072164356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.09305234998464584, + -0.12582187354564667, + -0.028665305712284185 + ], + [ + 0.10070245712995529, + 0.9933472275733948, + 0.05586007609963417, + 0.014189830460609523 + ], + [ + 0.11978689581155777, + -0.06784240901470184, + 0.9904789328575134, + 0.028110931613124335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.09121833741664886, + -0.12577815353870392, + -0.029079374104228794 + ], + [ + 0.09902217984199524, + 0.9934374094009399, + 0.057243041694164276, + 0.013246034149430742 + ], + [ + 0.119731105864048, + -0.06900269538164139, + 0.9904054999351501, + 0.026582974972378496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685181, + -0.09039635956287384, + -0.12600620090961456, + -0.02997957327299648 + ], + [ + 0.09821051359176636, + 0.9935184121131897, + 0.057234786450862885, + 0.015013514624701595 + ], + [ + 0.12001567333936691, + -0.06891750544309616, + 0.9903770089149475, + 0.030067817742625874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133423, + -0.09025000780820847, + -0.12632746994495392, + -0.028671873160279714 + ], + [ + 0.09827960282564163, + 0.9934183955192566, + 0.05883049964904785, + 0.013404264664038629 + ], + [ + 0.12018658220767975, + -0.07053257524967194, + 0.9902425408363342, + 0.027243812067004353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.0910235345363617, + -0.12735259532928467, + -0.0252294883896143 + ], + [ + 0.09938836097717285, + 0.9931811690330505, + 0.06093505769968033, + 0.010316765142811664 + ], + [ + 0.12093768268823624, + -0.07284121960401535, + 0.9899839758872986, + 0.02070958989744003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.1056254431605339, + -0.1236414983868599, + -0.03533660095407922 + ], + [ + 0.11176148802042007, + 0.9927705526351929, + 0.04377209022641182, + 0.0465790850484473 + ], + [ + 0.11812419444322586, + -0.057007815688848495, + 0.9913610816001892, + 0.02395370550549183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.11250335723161697, + -0.13109606504440308, + -0.024132553201455336 + ], + [ + 0.11918199807405472, + 0.9918863773345947, + 0.044239342212677, + 0.0483024924993515 + ], + [ + 0.12505531311035156, + -0.05919851362705231, + 0.9903820753097534, + 0.02411705756989809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636597, + -0.11088694632053375, + -0.13320301473140717, + -0.020411212599048247 + ], + [ + 0.11870886385440826, + 0.9915525317192078, + 0.05226680636405945, + 0.03333027204896649 + ], + [ + 0.12628208100795746, + -0.06728817522525787, + 0.9897096157073975, + 0.00952057346271781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.10610239207744598, + -0.13848407566547394, + -0.013274748992716145 + ], + [ + 0.1153840571641922, + 0.9914590716362, + 0.06078978255391121, + 0.015724112017032423 + ], + [ + 0.13085134327411652, + -0.07583639770746231, + 0.988497257232666, + -0.001967067889964733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.10311172902584076, + -0.14245112240314484, + -0.008801827933161685 + ], + [ + 0.11378641426563263, + 0.9911117553710938, + 0.06892167031764984, + 0.00019883922277352112 + ], + [ + 0.13407833874225616, + -0.08405661582946777, + 0.9873993396759033, + -0.010358141868924482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.10613180696964264, + -0.14284540712833405, + -0.01465737106453659 + ], + [ + 0.11666357517242432, + 0.9908770322799683, + 0.06747051328420639, + 0.006225410409462749 + ], + [ + 0.1343814581632614, + -0.0830584242939949, + 0.9874426126480103, + -0.019969894937597786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.10455378890037537, + -0.14430680871009827, + -0.01992309940103282 + ], + [ + 0.11519041657447815, + 0.9910532236099243, + 0.06741401553153992, + 0.008962159877658901 + ], + [ + 0.13596734404563904, + -0.08295774459838867, + 0.9872339367866516, + -0.02374212378556402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.10444070398807526, + -0.14927938580513, + -0.00991613850570642 + ], + [ + 0.11634883284568787, + 0.9904941916465759, + 0.0733771026134491, + -0.0008454560660398971 + ], + [ + 0.1401968002319336, + -0.08951753377914429, + 0.9860687255859375, + -0.0381162288861397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809753, + -0.10444523394107819, + -0.15275369584560394, + -0.007728672140620203 + ], + [ + 0.11693863570690155, + 0.9902874231338501, + 0.07520769536495209, + -0.001822200277422234 + ], + [ + 0.14341498911380768, + -0.09177164733409882, + 0.9853984713554382, + -0.04217058104964403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.10379937291145325, + -0.15568995475769043, + -0.007752376979487573 + ], + [ + 0.11653591692447662, + 0.9903490543365479, + 0.07502059638500214, + 0.0006765085789892308 + ], + [ + 0.1464003026485443, + -0.09183898568153381, + 0.9849530458450317, + -0.04377675578634963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065002, + -0.10240726172924042, + -0.15848848223686218, + -0.00581770297139883 + ], + [ + 0.11551395058631897, + 0.9904093146324158, + 0.07580187171697617, + 0.0008832335472106906 + ], + [ + 0.14920580387115479, + -0.0927477702498436, + 0.9844467639923096, + -0.044610509648919106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.10228833556175232, + -0.16093888878822327, + -0.0023340595535870272 + ], + [ + 0.11631129682064056, + 0.9899656176567078, + 0.08024775236845016, + -0.004781590784207382 + ], + [ + 0.1511155664920807, + -0.09749417752027512, + 0.9836965799331665, + -0.04958483262831329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.10206608474254608, + -0.16337890923023224, + -0.003068890320694343 + ], + [ + 0.11675001680850983, + 0.9896928071975708, + 0.08293089270591736, + -0.006341886571329898 + ], + [ + 0.15323050320148468, + -0.10045203566551208, + 0.9830716252326965, + -0.04775739344648826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.10184565931558609, + -0.16516520082950592, + -0.004485556736397436 + ], + [ + 0.11711373180150986, + 0.9894329309463501, + 0.08548008650541306, + -0.006900509389547213 + ], + [ + 0.15471412241458893, + -0.10319850593805313, + 0.9825546145439148, + -0.047198364654412635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.10170579701662064, + -0.16763797402381897, + -0.005619050072044387 + ], + [ + 0.1176675483584404, + 0.9891297817230225, + 0.08818519860506058, + -0.006852095109275272 + ], + [ + 0.1568467617034912, + -0.10619892925024033, + 0.9818965792655945, + -0.04446904075005625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.10047782957553864, + -0.1694483458995819, + -0.007226098601061564 + ], + [ + 0.1170346736907959, + 0.9889762997627258, + 0.09071221947669983, + -0.0067736292624066136 + ], + [ + 0.15846583247184753, + -0.10876592993736267, + 0.9813554883003235, + -0.04469563601236058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.098045215010643, + -0.16996802389621735, + -0.013900824884573618 + ], + [ + 0.11479306221008301, + 0.9891512989997864, + 0.09166397899389267, + -0.004739455592173807 + ], + [ + 0.15913687646389008, + -0.10939318686723709, + 0.9811771512031555, + -0.03984901533485987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.09745955467224121, + -0.1728684902191162, + -0.010181099375407409 + ], + [ + 0.11492407321929932, + 0.9889113903045654, + 0.09405716508626938, + -0.0059750369216641855 + ], + [ + 0.16178485751152039, + -0.11205323785543442, + 0.9804436564445496, + -0.04280895292758942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.09616538882255554, + -0.1743066906929016, + -0.011572900506803112 + ], + [ + 0.11393052339553833, + 0.9889422655105591, + 0.09493681788444519, + -0.005412908127674698 + ], + [ + 0.16324961185455322, + -0.11289544403553009, + 0.9801041483879089, + -0.041107049896421596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035645, + -0.09488837420940399, + -0.17515265941619873, + -0.013297082340488067 + ], + [ + 0.11276309192180634, + 0.9890628457069397, + 0.0950743705034256, + -0.0048653962520452745 + ], + [ + 0.16421553492546082, + -0.1129196435213089, + 0.9799399971961975, + -0.04058966407409081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.09463026374578476, + -0.17648129165172577, + -0.014473544583361371 + ], + [ + 0.1126355305314064, + 0.9890897274017334, + 0.09494620561599731, + -0.003881230351761883 + ], + [ + 0.16557104885578156, + -0.11290109157562256, + 0.979714035987854, + -0.03978000050808629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.09488288313150406, + -0.17737092077732086, + -0.01630928575928904 + ], + [ + 0.11293945461511612, + 0.9890859127044678, + 0.09462426602840424, + -0.0023022638617927263 + ], + [ + 0.16645686328411102, + -0.11272227764129639, + 0.9795845150947571, + -0.03994596620910188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.0948750451207161, + -0.17863698303699493, + -0.01747000576593937 + ], + [ + 0.11332901567220688, + 0.988900363445282, + 0.09608621895313263, + -0.0033843905115738954 + ], + [ + 0.16753800213336945, + -0.11434487998485565, + 0.9792120456695557, + -0.039770620851180494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860474, + -0.09527027606964111, + -0.1800309717655182, + -0.01841412174204985 + ], + [ + 0.114105224609375, + 0.9886906147003174, + 0.09731853753328323, + -0.003510810848739415 + ], + [ + 0.16872337460517883, + -0.11582087725400925, + 0.9788349866867065, + -0.03930570143792364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.09509126842021942, + -0.1814223676919937, + -0.019352844847827896 + ], + [ + 0.11435167491436005, + 0.9885132312774658, + 0.09881967306137085, + -0.00431920613488581 + ], + [ + 0.16994152963161469, + -0.11747035384178162, + 0.9784275889396667, + -0.0395849994614593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.0954979658126831, + -0.18299457430839539, + -0.020635617228272632 + ], + [ + 0.11483760178089142, + 0.9885226488113403, + 0.09815937280654907, + -0.0015337503109222952 + ], + [ + 0.17152026295661926, + -0.11706013977527618, + 0.9782012701034546, + -0.03741743908478663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.09442396461963654, + -0.18489977717399597, + -0.020588060681763876 + ], + [ + 0.1141623705625534, + 0.9884998798370361, + 0.099171482026577, + -0.0024980751558756342 + ], + [ + 0.17340925335884094, + -0.11811920255422592, + 0.9777408242225647, + -0.03845658633125643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.09225362539291382, + -0.18598614633083344, + -0.022181840062650858 + ], + [ + 0.11208336055278778, + 0.9887478947639465, + 0.0990702360868454, + -0.0023871964751145877 + ], + [ + 0.1747538298368454, + -0.1177576333284378, + 0.9775450229644775, + -0.039677266579153186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.09108749777078629, + -0.18740954995155334, + -0.023318982898042753 + ], + [ + 0.11109723895788193, + 0.9888483881950378, + 0.09917785227298737, + -0.0025701474111813893 + ], + [ + 0.1762857735157013, + -0.11782152950763702, + 0.9772621989250183, + -0.0396643762405102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.09031878411769867, + -0.1887170821428299, + -0.023552215118438767 + ], + [ + 0.11049221456050873, + 0.988909125328064, + 0.09924842417240143, + -0.0036170185121715687 + ], + [ + 0.1776600331068039, + -0.11790375411510468, + 0.9770033955574036, + -0.04143149066939313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.09068617969751358, + -0.18996351957321167, + -0.023853082477282253 + ], + [ + 0.11101716011762619, + 0.9888496994972229, + 0.0992543026804924, + -0.004665034926599934 + ], + [ + 0.1788443922996521, + -0.11811961978673935, + 0.9767612218856812, + -0.043035436711377564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621643, + -0.09112417697906494, + -0.19134095311164856, + -0.023659704491878167 + ], + [ + 0.11153890192508698, + 0.988839864730835, + 0.09876619279384613, + -0.00529577200993514 + ], + [ + 0.1802055835723877, + -0.11786462366580963, + 0.9765418171882629, + -0.04505690806187116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.09132130444049835, + -0.19269326329231262, + -0.023778356095919242 + ], + [ + 0.11170653998851776, + 0.9889262914657593, + 0.09770605713129044, + -0.005138221586871362 + ], + [ + 0.181636780500412, + -0.11698395758867264, + 0.9763825535774231, + -0.04601769292902233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.09194756299257278, + -0.19426679611206055, + -0.023574758257366654 + ], + [ + 0.11235930770635605, + 0.9889426827430725, + 0.09678748995065689, + -0.005053832299179509 + ], + [ + 0.18321934342384338, + -0.11635323613882065, + 0.9761621952056885, + -0.046686902610409975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.09236060827970505, + -0.1952887624502182, + -0.024209574371194226 + ], + [ + 0.11276378482580185, + 0.9889675378799438, + 0.0960601419210434, + -0.005358060315633441 + ], + [ + 0.18426208198070526, + -0.11581338942050934, + 0.9760301113128662, + -0.04739667628055964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.09304553270339966, + -0.19625785946846008, + -0.024298471215571094 + ], + [ + 0.11348238587379456, + 0.988932192325592, + 0.09557624906301498, + -0.0061551481612727235 + ], + [ + 0.1851927936077118, + -0.1155664399266243, + 0.9758831858634949, + -0.04910779180817115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.09423211216926575, + -0.19758786261081696, + -0.023581291652388044 + ], + [ + 0.11480601131916046, + 0.9887989163398743, + 0.09537453949451447, + -0.006805773990021816 + ], + [ + 0.1863873153924942, + -0.11574555933475494, + 0.9756345152854919, + -0.05011137881212764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9753864407539368, + -0.09552070498466492, + -0.19873878359794617, + -0.0229393912336001 + ], + [ + 0.11616867780685425, + 0.9886807799339294, + 0.09494808316230774, + -0.0069791547954082545 + ], + [ + 0.18741971254348755, + -0.11569829285144806, + 0.9754423499107361, + -0.051092862165891206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335815, + -0.09635034203529358, + -0.1995343267917633, + -0.02233755088642112 + ], + [ + 0.1170622855424881, + 0.9885968565940857, + 0.09472435712814331, + -0.0075579775322196854 + ], + [ + 0.18813228607177734, + -0.11572767794132233, + 0.9753016829490662, + -0.05285169750961483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.0967891588807106, + -0.2004728466272354, + -0.021998158437956092 + ], + [ + 0.11754768341779709, + 0.9885750412940979, + 0.09435015916824341, + -0.007887663896012524 + ], + [ + 0.18905039131641388, + -0.11554768681526184, + 0.9751454591751099, + -0.0539933640223283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.09714441001415253, + -0.2013595551252365, + -0.021555666759228095 + ], + [ + 0.11791388690471649, + 0.9885806441307068, + 0.09383318573236465, + -0.008453959666001501 + ], + [ + 0.189944788813591, + -0.1152011975646019, + 0.9750126600265503, + -0.05581938869869098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.09762518852949142, + -0.20222583413124084, + -0.021213773915018788 + ], + [ + 0.11839186400175095, + 0.9885784387588501, + 0.09325264394283295, + -0.00910076908448823 + ], + [ + 0.19081228971481323, + -0.1148129403591156, + 0.9748890399932861, + -0.057567102672197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9741423726081848, + -0.09781992435455322, + -0.20366127789020538, + -0.020380669625269042 + ], + [ + 0.11860299110412598, + 0.9886284470558167, + 0.09245079755783081, + -0.00912389399913642 + ], + [ + 0.19230179488658905, + -0.11421507596969604, + 0.9746665954589844, + -0.05773464471865923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.09773191809654236, + -0.20458616316318512, + -0.020332001866056368 + ], + [ + 0.11847157776355743, + 0.988715648651123, + 0.09168357402086258, + -0.009424662838379547 + ], + [ + 0.19331713020801544, + -0.11353353410959244, + 0.9745453596115112, + -0.05860232915251683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.973677396774292, + -0.0979643389582634, + -0.20580418407917023, + -0.01972818469835652 + ], + [ + 0.11873745173215866, + 0.9887366890907288, + 0.09111108630895615, + -0.010188879976924678 + ], + [ + 0.19456051290035248, + -0.11314947158098221, + 0.9743425250053406, + -0.05895835016336706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.09835473448038101, + -0.2063547670841217, + -0.02026131345420821 + ], + [ + 0.11907441169023514, + 0.9887531995773315, + 0.090489462018013, + -0.01084652341201775 + ], + [ + 0.19513386487960815, + -0.11266501247882843, + 0.9742840528488159, + -0.05997025589657645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.09844247996807098, + -0.20692245662212372, + -0.020357435511854975 + ], + [ + 0.11909666657447815, + 0.9888111352920532, + 0.0898246318101883, + -0.011246707806220432 + ], + [ + 0.1957646757364273, + -0.11207835376262665, + 0.9742251634597778, + -0.060900029826622744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.09812191873788834, + -0.20800474286079407, + -0.01980733937050542 + ], + [ + 0.11871661990880966, + 0.9889377355575562, + 0.08892975747585297, + -0.011107281436268102 + ], + [ + 0.19697779417037964, + -0.11123950779438019, + 0.9740767478942871, + -0.06064000491403107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.09829660505056381, + -0.20870326459407806, + -0.019158661094868284 + ], + [ + 0.11887537688016891, + 0.9889628291130066, + 0.08843759447336197, + -0.011613843341668456 + ], + [ + 0.1977066546678543, + -0.11086181551218033, + 0.9739721417427063, + -0.06008581876054279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.09785573184490204, + -0.20849496126174927, + -0.018805982420841853 + ], + [ + 0.11828659474849701, + 0.9890846610069275, + 0.08786271512508392, + -0.012322245041529345 + ], + [ + 0.19762128591537476, + -0.11016274988651276, + 0.9740687608718872, + -0.06112189888954162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.09647294133901596, + -0.20772293210029602, + -0.019079681396739094 + ], + [ + 0.11665081232786179, + 0.9893409013748169, + 0.0871616005897522, + -0.012557053209370034 + ], + [ + 0.19710007309913635, + -0.10907578468322754, + 0.9742966890335083, + -0.06205704086101972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.09505336731672287, + -0.20731209218502045, + -0.018414821281519708 + ], + [ + 0.1150783821940422, + 0.989561140537262, + 0.08675079047679901, + -0.012537354249984797 + ], + [ + 0.1969020515680313, + -0.10832169651985168, + 0.9744208455085754, + -0.06241553749284173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.973919689655304, + -0.09286005795001984, + -0.20702049136161804, + -0.017536105320621758 + ], + [ + 0.11279778182506561, + 0.9898317456245422, + 0.08665876090526581, + -0.012684981161967313 + ], + [ + 0.19686833024024963, + -0.10775011777877808, + 0.9744910597801208, + -0.06260911577787155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.09080660343170166, + -0.20616234838962555, + -0.017208617737787403 + ], + [ + 0.11068245768547058, + 0.9900410175323486, + 0.0869951918721199, + -0.013282382271738141 + ], + [ + 0.19620944559574127, + -0.10757755488157272, + 0.9746429920196533, + -0.06403429506935625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.08831210434436798, + -0.20570972561836243, + -0.016971242701650683 + ], + [ + 0.10809850692749023, + 0.9903258681297302, + 0.08700229972600937, + -0.01317088633266271 + ], + [ + 0.19603630900382996, + -0.10703111439943314, + 0.9747379422187805, + -0.06475669402533617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129883, + -0.08584735542535782, + -0.20573335886001587, + -0.017302492031684286 + ], + [ + 0.10556920617818832, + 0.9906105995178223, + 0.08686628937721252, + -0.012674352354728274 + ], + [ + 0.19634440541267395, + -0.10639943182468414, + 0.9747450947761536, + -0.06497118507440273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777283, + -0.08371412754058838, + -0.2064916342496872, + -0.017118980662308186 + ], + [ + 0.1036105751991272, + 0.9907628893852234, + 0.08748546987771988, + -0.013305451982041722 + ], + [ + 0.19726048409938812, + -0.10668084770441055, + 0.9745293855667114, + -0.06631770678119273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.08187540620565414, + -0.20737075805664062, + -0.018024208680049985 + ], + [ + 0.10188858956098557, + 0.9909200668334961, + 0.08772731572389603, + -0.01333673476663412 + ], + [ + 0.1983051300048828, + -0.10664794594049454, + 0.9743209481239319, + -0.06792868247144243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530396, + -0.07997071743011475, + -0.20942778885364532, + -0.018393643104877226 + ], + [ + 0.10039535164833069, + 0.9909796714782715, + 0.08876939862966537, + -0.014646955121022015 + ], + [ + 0.20043973624706268, + -0.10753565281629562, + 0.9737864136695862, + -0.07017718250743854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.07701306790113449, + -0.21328267455101013, + -0.018751526811820827 + ], + [ + 0.09784286469221115, + 0.9912249445915222, + 0.08888120949268341, + -0.014840979160916104 + ], + [ + 0.204566091299057, + -0.10743407905101776, + 0.9729391932487488, + -0.07042256810216822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.07502195239067078, + -0.2183000147342682, + -0.01949890687998034 + ], + [ + 0.09627111256122589, + 0.9914239645004272, + 0.08837667852640152, + -0.013930116275436874 + ], + [ + 0.2097976803779602, + -0.10700594633817673, + 0.9718717336654663, + -0.07027695982311016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.07415057718753815, + -0.22328127920627594, + -0.021370808168863636 + ], + [ + 0.0962403267621994, + 0.9913062453269958, + 0.0897204726934433, + -0.01624797878739162 + ], + [ + 0.2146873027086258, + -0.10869064927101135, + 0.9706161618232727, + -0.07181306324708156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.07436057180166245, + -0.22939182817935944, + -0.023654387187626625 + ], + [ + 0.09724108129739761, + 0.991174578666687, + 0.0900953859090805, + -0.017271774510542556 + ], + [ + 0.2206677943468094, + -0.10974293947219849, + 0.9691554307937622, + -0.07286945382754008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.075393907725811, + -0.23730406165122986, + -0.02562713822047425 + ], + [ + 0.09924861043691635, + 0.9909639954566956, + 0.09022247046232224, + -0.018046410833923235 + ], + [ + 0.22835755348205566, + -0.11093304306268692, + 0.9672366380691528, + -0.07381936433350939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.07403167337179184, + -0.24615532159805298, + -0.02942271281320315 + ], + [ + 0.09895602613687515, + 0.9909713864326477, + 0.09046213328838348, + -0.018561623761287102 + ], + [ + 0.23723581433296204, + -0.1117810606956482, + 0.9649995565414429, + -0.0752629333963761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447266, + -0.07028083503246307, + -0.2563932538032532, + -0.03380271821704685 + ], + [ + 0.09669665992259979, + 0.9910615086555481, + 0.09190692752599716, + -0.019663275905653962 + ], + [ + 0.2476421743631363, + -0.1133919432759285, + 0.9621931314468384, + -0.07728243693072571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.06318016350269318, + -0.26793599128723145, + -0.03944631196622156 + ], + [ + 0.09126824140548706, + 0.99140864610672, + 0.09369607269763947, + -0.019817632799729326 + ], + [ + 0.2597143054008484, + -0.11452996730804443, + 0.9588698148727417, + -0.07887062896520664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.053399331867694855, + -0.28061285614967346, + -0.046456117507738946 + ], + [ + 0.08347515016794205, + 0.9918422698974609, + 0.09633699059486389, + -0.020181179505128127 + ], + [ + 0.27317938208580017, + -0.11574725806713104, + 0.9549741148948669, + -0.08119240773793979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.040249817073345184, + -0.2958751320838928, + -0.05385201349536069 + ], + [ + 0.07252354174852371, + 0.9924487471580505, + 0.09892350435256958, + -0.018955202852813616 + ], + [ + 0.2896592617034912, + -0.11586835980415344, + 0.9500905275344849, + -0.08250808633036083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.02490105852484703, + -0.3097083270549774, + -0.06580900847911834 + ], + [ + 0.05914822593331337, + 0.9930567741394043, + 0.10168454796075821, + -0.01771310103627352 + ], + [ + 0.3050259053707123, + -0.11497042328119278, + 0.9453787803649902, + -0.09013084015275678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.012554572895169258, + -0.32818034291267395, + -0.0746607361241984 + ], + [ + 0.04996383190155029, + 0.9931305646896362, + 0.10580794513225555, + -0.01689936279868469 + ], + [ + 0.32459756731987, + -0.11633610725402832, + 0.9386705160140991, + -0.0895419805477827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0002573709934949875, + -0.3476983904838562, + -0.08234853809301415 + ], + [ + 0.0404190793633461, + 0.9931393265724182, + 0.1097295805811882, + -0.01641063781248199 + ], + [ + 0.34534120559692383, + -0.1169368103146553, + 0.9311633706092834, + -0.09010425485734247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192627, + 0.012436185963451862, + -0.3662859797477722, + -0.0904179688443581 + ], + [ + 0.03115358203649521, + 0.9931231737136841, + 0.11285322904586792, + -0.015441471102655452 + ], + [ + 0.36517053842544556, + -0.11641193926334381, + 0.9236334562301636, + -0.0907870009732552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.022697875276207924, + -0.38441959023475647, + -0.09683442760545474 + ], + [ + 0.023564675822854042, + 0.9930619597434998, + 0.11520680785179138, + -0.015073885997900605 + ], + [ + 0.384367436170578, + -0.11538071930408478, + 0.915941596031189, + -0.09266082655925018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.029455576092004776, + -0.3999384641647339, + -0.10419098182907727 + ], + [ + 0.018857046961784363, + 0.9930316209793091, + 0.11632957309484482, + -0.014597950958543354 + ], + [ + 0.4005780816078186, + -0.11410752683877945, + 0.9091296195983887, + -0.09471735831700329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.03700459748506546, + -0.4142109751701355, + -0.10972206882304615 + ], + [ + 0.012702034786343575, + 0.993096649646759, + 0.11660902947187424, + -0.013378042479356145 + ], + [ + 0.4156665802001953, + -0.11130888015031815, + 0.9026802778244019, + -0.09808940564592679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.04418061673641205, + -0.42662155628204346, + -0.11324100561248951 + ], + [ + 0.00687362439930439, + 0.9930614829063416, + 0.1173952966928482, + -0.013112667050117113 + ], + [ + 0.4288480281829834, + -0.10898153483867645, + 0.8967788815498352, + -0.10008389298350383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.04922556132078171, + -0.4364371597766876, + -0.11513851809705425 + ], + [ + 0.0022470448166131973, + 0.9931711554527283, + 0.11664480715990067, + -0.01111660803485122 + ], + [ + 0.43919870257377625, + -0.10577289015054703, + 0.892141580581665, + -0.09932635269868068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.051780350506305695, + -0.4422224760055542, + -0.11564322740922117 + ], + [ + -0.00010766647756099701, + 0.99323970079422, + 0.116081602871418, + -0.011784594792586117 + ], + [ + 0.4452436566352844, + -0.10389294475317001, + 0.8893617391586304, + -0.10196832569045389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.05171838775277138, + -0.44711071252822876, + -0.1096925303626519 + ], + [ + 2.9165297746658325e-05, + 0.9933696985244751, + 0.11496375501155853, + -0.012511258400403541 + ], + [ + 0.4500919580459595, + -0.10267363488674164, + 0.8870599269866943, + -0.10235417802364398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.051662374287843704, + -0.44594472646713257, + -0.10770909391248074 + ], + [ + -0.0009096004068851471, + 0.9935625791549683, + 0.11328089237213135, + -0.012257525375765618 + ], + [ + 0.44892632961273193, + -0.10081858932971954, + 0.887863039970398, + -0.10328688614516177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.04776440188288689, + -0.4419002830982208, + -0.10362698209718761 + ], + [ + 0.0016431137919425964, + 0.9938464760780334, + 0.1107543483376503, + -0.012239808735684463 + ], + [ + 0.444471150636673, + -0.09993892163038254, + 0.8902009129524231, + -0.10302568348045023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.041424691677093506, + -0.4345242381095886, + -0.09794242015251747 + ], + [ + 0.006396599113941193, + 0.9941283464431763, + 0.10801819711923599, + -0.013383776178726797 + ], + [ + 0.43644750118255615, + -0.0999642089009285, + 0.8941592574119568, + -0.10471021186273831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791626, + 0.0338175967335701, + -0.4252876937389374, + -0.09014925261975354 + ], + [ + 0.011889135465025902, + 0.9944684505462646, + 0.10436084866523743, + -0.013304372946930765 + ], + [ + 0.42646440863609314, + -0.0994429886341095, + 0.8990212678909302, + -0.10301306289740098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.02482655830681324, + -0.41355443000793457, + -0.07990564664380036 + ], + [ + 0.018159927800297737, + 0.9948529005050659, + 0.09968909621238708, + -0.013114580728559422 + ], + [ + 0.41390079259872437, + -0.09824123978614807, + 0.9050053954124451, + -0.1001184286088006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.009677340276539326, + -0.3984796106815338, + -0.06924580037593842 + ], + [ + 0.030192993581295013, + 0.9951463937759399, + 0.09365888684988022, + -0.0128893045278696 + ], + [ + 0.39745190739631653, + -0.09792830795049667, + 0.9123826026916504, + -0.09455926964680354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.005942344665527344, + -0.3809187710285187, + -0.05654212968089642 + ], + [ + 0.04245951399207115, + 0.9952561855316162, + 0.08753432333469391, + -0.015058712546642025 + ], + [ + 0.3785916268825531, + -0.09710693359375, + 0.9204556941986084, + -0.09416550437354634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.02467264048755169, + -0.3598748743534088, + -0.043887208110820024 + ], + [ + 0.057661354541778564, + 0.9950268268585205, + 0.08122081309556961, + -0.01893784787155625 + ], + [ + 0.3560812175273895, + -0.09650342911481857, + 0.9294586181640625, + -0.09577130273493946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.04396728426218033, + -0.33740484714508057, + -0.03187292255461216 + ], + [ + 0.07322211563587189, + 0.9945314526557922, + 0.07446920871734619, + -0.022321164608001723 + ], + [ + 0.3322855234146118, + -0.09473130106925964, + 0.9384094476699829, + -0.09443094084660213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.06606294214725494, + -0.31522223353385925, + -0.019552880984086255 + ], + [ + 0.09117239713668823, + 0.9936740398406982, + 0.06557057797908783, + -0.02152538418005677 + ], + [ + 0.30889639258384705, + -0.09081625938415527, + 0.9467499256134033, + -0.08909070710850577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.0867420881986618, + -0.2908088266849518, + -0.007104701069621447 + ], + [ + 0.10839028656482697, + 0.9923473000526428, + 0.05914688482880592, + -0.024844764071142597 + ], + [ + 0.2834528386592865, + -0.08787843585014343, + 0.9549512267112732, + -0.09230825506214402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.957180917263031, + -0.10843473672866821, + -0.26841503381729126, + 0.008423447399400177 + ], + [ + 0.12702696025371552, + 0.9904906153678894, + 0.05284423381090164, + -0.027316806408075198 + ], + [ + 0.26013243198394775, + -0.08467743545770645, + 0.9618528485298157, + -0.09552263565934621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.128010556101799, + -0.24506095051765442, + 0.019289214558835727 + ], + [ + 0.14353950321674347, + 0.9885507822036743, + 0.04651626572012901, + -0.028280094488818436 + ], + [ + 0.23630061745643616, + -0.07987895607948303, + 0.9683911204338074, + -0.0959815175105364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.1475183516740799, + -0.2223912924528122, + 0.029778416260567486 + ], + [ + 0.1605565994977951, + 0.9861482381820679, + 0.041632238775491714, + -0.030097308035334988 + ], + [ + 0.21316926181316376, + -0.07582873106002808, + 0.9740682244300842, + -0.09721141365858224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.1638677418231964, + -0.20116622745990753, + 0.03975416850776245 + ], + [ + 0.1746748685836792, + 0.9839277863502502, + 0.037077896296978, + -0.031063320487737675 + ], + [ + 0.19185717403888702, + -0.07094679027795792, + 0.9788551330566406, + -0.09876606900913593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.17610272765159607, + -0.1806613802909851, + 0.04841995591409186 + ], + [ + 0.18486613035202026, + 0.9822182655334473, + 0.03273899108171463, + -0.03138230654418979 + ], + [ + 0.17168349027633667, + -0.06507810205221176, + 0.9830003380775452, + -0.10177814587950706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.18913325667381287, + -0.16122466325759888, + 0.05837018873192307 + ], + [ + 0.19656822085380554, + 0.979989230632782, + 0.031337715685367584, + -0.03504700441008962 + ], + [ + 0.15207141637802124, + -0.062046147882938385, + 0.9864200949668884, + -0.11064626900877199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.19852980971336365, + -0.1449819803237915, + 0.06584893386715499 + ], + [ + 0.2046114206314087, + 0.9784380197525024, + 0.02816375158727169, + -0.03463146657897878 + ], + [ + 0.13626453280448914, + -0.056964434683322906, + 0.9890334010124207, + -0.11063605015858625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.20980796217918396, + -0.12796364724636078, + 0.07506344088504457 + ], + [ + 0.21499767899513245, + 0.9762121438980103, + 0.02803308144211769, + -0.03920735265964119 + ], + [ + 0.11903809756040573, + -0.05468526855111122, + 0.9913825988769531, + -0.12868831490572447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.970149576663971, + -0.21279112994670868, + -0.11631737649440765, + 0.0778844320621246 + ], + [ + 0.21684689819812775, + 0.9759286046028137, + 0.02325509488582611, + -0.03478229154124221 + ], + [ + 0.10856898128986359, + -0.047783978283405304, + 0.992939829826355, + -0.11281729877377168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897217, + -0.21740037202835083, + -0.10408660769462585, + 0.08174986254710417 + ], + [ + 0.22077131271362305, + 0.9750796556472778, + 0.021900998428463936, + -0.035881465673446675 + ], + [ + 0.09673145413398743, + -0.04423462599515915, + 0.9943270683288574, + -0.11566039596039515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.22146070003509521, + -0.09397425502538681, + 0.08914043058951696 + ], + [ + 0.22446614503860474, + 0.9742201566696167, + 0.02258334681391716, + -0.03968768715858462 + ], + [ + 0.0865502879023552, + -0.043014127761125565, + 0.9953184723854065, + -0.12954088648160297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9713939428329468, + -0.2210748940706253, + -0.08671591430902481, + 0.09243452278339966 + ], + [ + 0.2237585335969925, + 0.9743863940238953, + 0.022433090955018997, + -0.04102269446111134 + ], + [ + 0.07953541725873947, + -0.041194792836904526, + 0.9959805011749268, + -0.13164731954566689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.21781934797763824, + -0.08145803958177567, + 0.09354365177643605 + ], + [ + 0.22027860581874847, + 0.9751792550086975, + 0.02242249622941017, + -0.04239524050782889 + ], + [ + 0.07455214112997055, + -0.03975122049450874, + 0.9964244961738586, + -0.1322489780588792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.2119612991809845, + -0.0784216895699501, + 0.0930794017819258 + ], + [ + 0.21434932947158813, + 0.9764789938926697, + 0.023304712027311325, + -0.044438409314960514 + ], + [ + 0.07163744419813156, + -0.03951137140393257, + 0.996647834777832, + -0.13348653985298853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.20344486832618713, + -0.07777990400791168, + 0.09111175379182539 + ], + [ + 0.2058640420436859, + 0.9782768487930298, + 0.024379855021834373, + -0.04650147594193109 + ], + [ + 0.07113032042980194, + -0.03980662673711777, + 0.9966723918914795, + -0.13397164292569852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751465, + -0.19288700819015503, + -0.07931981980800629, + 0.08850078815833116 + ], + [ + 0.1953589916229248, + 0.9804229736328125, + 0.024610796943306923, + -0.047924806999090394 + ], + [ + 0.07301986217498779, + -0.03956543654203415, + 0.9965453743934631, + -0.13384946423272293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.18199658393859863, + -0.08247476816177368, + 0.08481862832847824 + ], + [ + 0.18456736207008362, + 0.982511043548584, + 0.024634940549731255, + -0.0497301672704709 + ], + [ + 0.07654890418052673, + -0.03936030715703964, + 0.9962886571884155, + -0.13452106321341972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1702432483434677, + -0.08704868704080582, + 0.08025690731711876 + ], + [ + 0.17297138273715973, + 0.9846154451370239, + 0.024766409769654274, + -0.05171466510520023 + ], + [ + 0.08149316161870956, + -0.03936639428138733, + 0.9958961606025696, + -0.13498955054415596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.15885408222675323, + -0.09249308705329895, + 0.0753340791624326 + ], + [ + 0.1617366224527359, + 0.9865297079086304, + 0.024503173306584358, + -0.05394037709786342 + ], + [ + 0.08735474944114685, + -0.03904515877366066, + 0.9954118132591248, + -0.1360390386902369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916687, + -0.14746220409870148, + -0.09873469173908234, + 0.07055710897359074 + ], + [ + 0.15045319497585297, + 0.9883372187614441, + 0.023524729534983635, + -0.05528215883124589 + ], + [ + 0.09411415457725525, + -0.03800627589225769, + 0.9948356747627258, + -0.13604989491212063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.13747529685497284, + -0.10522107034921646, + 0.06654020967519182 + ], + [ + 0.14056672155857086, + 0.9898151755332947, + 0.022515583783388138, + -0.057307692203256835 + ], + [ + 0.10105407983064651, + -0.036966193467378616, + 0.9941939115524292, + -0.13653036253765607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.12813040614128113, + -0.11093787103891373, + 0.06257170540017959 + ], + [ + 0.13122212886810303, + 0.991130530834198, + 0.021000951528549194, + -0.05914451386301947 + ], + [ + 0.10726305097341537, + -0.03525463491678238, + 0.9936054348945618, + -0.13728101798930228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.11832474917173386, + -0.11610306054353714, + 0.05846193582456336 + ], + [ + 0.12137790769338608, + 0.9924135804176331, + 0.01956387795507908, + -0.06110287858889654 + ], + [ + 0.11290735751390457, + -0.033385537564754486, + 0.9930444955825806, + -0.13768428481287426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.10830871760845184, + -0.12030729651451111, + 0.0542569508155187 + ], + [ + 0.11122792959213257, + 0.9936354756355286, + 0.0178004652261734, + -0.06295787944561906 + ], + [ + 0.11761365830898285, + -0.03094721958041191, + 0.992577075958252, + -0.13976428933027718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.09908399730920792, + -0.12443291395902634, + 0.049920318848811665 + ], + [ + 0.10182847827672958, + 0.9946752786636353, + 0.015877142548561096, + -0.06431913035802353 + ], + [ + 0.12219717353582382, + -0.02834581583738327, + 0.9921010136604309, + -0.14033978590980553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.09001149982213974, + -0.1283700168132782, + 0.04600037798985966 + ], + [ + 0.09270647913217545, + 0.9955779910087585, + 0.015163253992795944, + -0.0665038084690897 + ], + [ + 0.1264374852180481, + -0.026876460760831833, + 0.9916104078292847, + -0.14269321882285368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614136, + -0.08049169927835464, + -0.13254374265670776, + 0.04259046441596798 + ], + [ + 0.08308481425046921, + 0.9964421391487122, + 0.01414218358695507, + -0.06720130096197639 + ], + [ + 0.13093385100364685, + -0.02498348243534565, + 0.9910762310028076, + -0.1442492261656329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773499, + -0.0703352764248848, + -0.13583122193813324, + 0.03877508998490297 + ], + [ + 0.07289371639490128, + 0.9972421526908875, + 0.013948282226920128, + -0.06848169848895992 + ], + [ + 0.13447557389736176, + -0.023685382679104805, + 0.9906337857246399, + -0.1436289779197138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.060889843851327896, + -0.13881294429302216, + 0.035253504224312615 + ], + [ + 0.06331786513328552, + 0.9979069232940674, + 0.013138719834387302, + -0.06885766729903528 + ], + [ + 0.13772238790988922, + -0.021776240319013596, + 0.990231454372406, + -0.14479206937054792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.05374547094106674, + -0.1416022777557373, + 0.03244665167971045 + ], + [ + 0.05623587220907211, + 0.9983243346214294, + 0.013641752302646637, + -0.07063036908069228 + ], + [ + 0.14063182473182678, + -0.021447502076625824, + 0.9898296594619751, + -0.14473551363708118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.045408640056848526, + -0.14387789368629456, + 0.02905584056981099 + ], + [ + 0.0478987880051136, + 0.9987556338310242, + 0.013889262452721596, + -0.07140667681128553 + ], + [ + 0.14306816458702087, + -0.020621849223971367, + 0.9894979596138, + -0.14446307117931353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.038164395838975906, + -0.1461172252893448, + 0.02612841823894499 + ], + [ + 0.04070153459906578, + 0.9990674257278442, + 0.014412548393011093, + -0.07259612855238794 + ], + [ + 0.14543090760707855, + -0.020194444805383682, + 0.989162266254425, + -0.145346733295701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.03220750764012337, + -0.14786958694458008, + 0.02242321272691091 + ], + [ + 0.0347265787422657, + 0.9992918968200684, + 0.014485127292573452, + -0.07376572115617432 + ], + [ + 0.14729833602905273, + -0.019453296437859535, + 0.9889007806777954, + -0.14546528074126214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.988215982913971, + -0.029091212898492813, + -0.1502760350704193, + 0.020082088621954125 + ], + [ + 0.031473349779844284, + 0.9994134306907654, + 0.01349729299545288, + -0.07377188595441672 + ], + [ + 0.14979523420333862, + -0.01806792989373207, + 0.988551914691925, + -0.1448508156176943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.987951397895813, + -0.02778010256588459, + -0.1522507518529892, + 0.017658081111044457 + ], + [ + 0.03019012324512005, + 0.9994524717330933, + 0.013540053740143776, + -0.07539480591877405 + ], + [ + 0.15179122984409332, + -0.017973383888602257, + 0.9882491230964661, + -0.14502861469856695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.027334081009030342, + -0.1539868861436844, + 0.014323491578459996 + ], + [ + 0.02979983203113079, + 0.9994616508483887, + 0.01372696366161108, + -0.07675779853175341 + ], + [ + 0.15352876484394073, + -0.018146833404898643, + 0.9879775643348694, + -0.14579598748037575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.02814178727567196, + -0.15723510086536407, + 0.012513142451643944 + ], + [ + 0.030611323192715645, + 0.9994428157806396, + 0.013306012377142906, + -0.0765741478651762 + ], + [ + 0.15677304565906525, + -0.017948338761925697, + 0.9874715805053711, + -0.14481111969798804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/move_left/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6deb08e17b79381b7d3361748bde6e303178b825 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/move_left/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010043199872598052, + 0.005771652329713106, + 0.002187617914353171 + ], + [ + 0.0011594925308600068, + 0.9996362328529358, + -0.026945147663354874, + 0.0011784084612388227 + ], + [ + -0.005742491688579321, + 0.026951376348733902, + 0.999620258808136, + 0.004811929094477787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295654, + -0.005417153239250183, + 0.013236249797046185, + 0.004797195840595115 + ], + [ + 0.005993630737066269, + 0.999017596244812, + -0.04390867426991463, + -0.001801974860091622 + ], + [ + -0.01298538688570261, + 0.04398351535201073, + 0.9989478588104248, + 0.003895328430315623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917786, + -0.023633664473891258, + 0.018150687217712402, + 0.008066470997455793 + ], + [ + 0.024496281519532204, + 0.9985045790672302, + -0.048873111605644226, + -0.0052554750695633584 + ], + [ + -0.016968492418527603, + 0.04929602891206741, + 0.9986400604248047, + -0.0004965199578481798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04377982020378113, + 0.02065206505358219, + 0.010476465898955989 + ], + [ + 0.044819705188274384, + 0.9975928664207458, + -0.0529114305973053, + -0.010545943492752874 + ], + [ + -0.018285902217030525, + 0.05377501994371414, + 0.9983856081962585, + -0.0005966099249756234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056863486766815186, + 0.023121442645788193, + 0.012661196816808138 + ], + [ + 0.0581679567694664, + 0.9964825510978699, + -0.06032449007034302, + -0.01492149374869644 + ], + [ + -0.019609853625297546, + 0.0615556538105011, + 0.9979109764099121, + -0.002589563576456828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.0669407993555069, + 0.027335239574313164, + 0.012609851140624437 + ], + [ + 0.06877684593200684, + 0.9949638843536377, + -0.07291490584611893, + -0.015014466199164207 + ], + [ + -0.022316595539450645, + 0.07460407167673111, + 0.9969635009765625, + -0.003078460276652223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07772161066532135, + 0.03150692582130432, + 0.012129985211560359 + ], + [ + 0.08019189536571503, + 0.9930015206336975, + -0.08670175075531006, + -0.0151808552746462 + ], + [ + -0.02454782836139202, + 0.08892291784286499, + 0.9957359433174133, + -0.007203427322495442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08712751418352127, + 0.0332910530269146, + 0.011621236976267945 + ], + [ + 0.0900096669793129, + 0.9910994172096252, + -0.09808236360549927, + -0.018146190407057092 + ], + [ + -0.024449072778224945, + 0.10065130889415741, + 0.9946213364601135, + -0.010689100809395313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08894763141870499, + 0.03417264297604561, + 0.01010057390309297 + ], + [ + 0.0921560600399971, + 0.9898726940155029, + -0.1079784631729126, + -0.021298160690527698 + ], + [ + -0.02422213740646839, + 0.11063636839389801, + 0.9935657382011414, + -0.017395811148274404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08436749130487442, + 0.03339671716094017, + 0.010844448963418985 + ], + [ + 0.08777566999197006, + 0.9890100955963135, + -0.11897231638431549, + -0.022746867476365507 + ], + [ + -0.022992298007011414, + 0.1214129626750946, + 0.9923357367515564, + -0.020886516771637477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.079302579164505, + 0.03451511636376381, + 0.010476903273509098 + ], + [ + 0.08318085968494415, + 0.9878548979759216, + -0.13123910129070282, + -0.02473495690804771 + ], + [ + -0.02368832752108574, + 0.1336183398962021, + 0.990749716758728, + -0.023363408693072633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07875555753707886, + 0.035701934248209, + 0.013681873755577282 + ], + [ + 0.0831107646226883, + 0.9860875010490417, + -0.14395850896835327, + -0.030232143105986792 + ], + [ + -0.023867696523666382, + 0.1463865339756012, + 0.9889394640922546, + -0.028587151013123684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177673, + -0.09256604313850403, + 0.03465414047241211, + 0.03471187651157379 + ], + [ + 0.09669160842895508, + 0.9843844771385193, + -0.14709854125976562, + -0.04812876499361462 + ], + [ + -0.020496666431427002, + 0.14972901344299316, + 0.9885146021842957, + -0.09460728300942314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09307864308357239, + 0.03840361535549164, + 0.03670302006678704 + ], + [ + 0.0980973094701767, + 0.9820225238800049, + -0.16127224266529083, + -0.05008678750222565 + ], + [ + -0.022702213376760483, + 0.164219930768013, + 0.9861624836921692, + -0.09657606370110287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08639077842235565, + 0.04321001097559929, + 0.036292956616633974 + ], + [ + 0.09261272847652435, + 0.9806010127067566, + -0.17275570333003998, + -0.04883530153295933 + ], + [ + -0.027447279542684555, + 0.17594967782497406, + 0.9840164184570312, + -0.1040539457104527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07420744001865387, + 0.04774467647075653, + 0.03475367864991864 + ], + [ + 0.08167071640491486, + 0.9801908135414124, + -0.1804323047399521, + -0.04951047530541053 + ], + [ + -0.0334094762802124, + 0.18362782895565033, + 0.9824279546737671, + -0.1076321988278984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06434112787246704, + 0.05213944986462593, + 0.032944976805876464 + ], + [ + 0.07303920388221741, + 0.9796071648597717, + -0.1871766448020935, + -0.04918541393728338 + ], + [ + -0.03903302177786827, + 0.19034191966056824, + 0.9809415936470032, + -0.10576369199647098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05821879208087921, + 0.054883211851119995, + 0.03496555170187583 + ], + [ + 0.06763423979282379, + 0.9795976877212524, + -0.18924580514431, + -0.05384824476563013 + ], + [ + -0.04274580627679825, + 0.1923510879278183, + 0.980394721031189, + -0.0999042194050092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.051942091435194016, + 0.05863000079989433, + 0.03577315648778891 + ], + [ + 0.062262121587991714, + 0.9796562790870667, + -0.190779909491539, + -0.05763648367431174 + ], + [ + -0.0475277416408062, + 0.19384418427944183, + 0.9798803925514221, + -0.09649790204329113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.05063077434897423, + 0.06381705403327942, + 0.032776404777143754 + ], + [ + 0.06216574087738991, + 0.9789945483207703, + -0.19417811930179596, + -0.05735920411017206 + ], + [ + -0.052645161747932434, + 0.19749997556209564, + 0.9788882732391357, + -0.09850398132688978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04961514472961426, + 0.06491951644420624, + 0.03270220739337114 + ], + [ + 0.06151943653821945, + 0.9785534739494324, + -0.1965920627117157, + -0.0596960691591868 + ], + [ + -0.05377327278256416, + 0.19992852210998535, + 0.9783337712287903, + -0.09429258943463747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04558997601270676, + 0.06412158906459808, + 0.03322098022088026 + ], + [ + 0.057594262063503265, + 0.9781025052070618, + -0.19999592006206512, + -0.06133758143609406 + ], + [ + -0.053599677979946136, + 0.20306901633739471, + 0.9776962995529175, + -0.09150875247059724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607544, + -0.03938813880085945, + 0.06819803267717361, + 0.027131728528656508 + ], + [ + 0.052565593272447586, + 0.977608323097229, + -0.2037617564201355, + -0.06309446932381799 + ], + [ + -0.05864516645669937, + 0.2067137360572815, + 0.9766423106193542, + -0.10041585786538756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.04150507599115372, + 0.06588971614837646, + 0.030107056234891596 + ], + [ + 0.05446356534957886, + 0.9763911962509155, + -0.2090309113264084, + -0.05956856990471864 + ], + [ + -0.05565829947590828, + 0.21198473870754242, + 0.9756867289543152, + -0.08179635722667743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03953487426042557, + 0.06778249144554138, + 0.026748377479549147 + ], + [ + 0.05318856239318848, + 0.9755423069000244, + -0.21327950060367584, + -0.05852303090385902 + ], + [ + -0.05769271031022072, + 0.21622709929943085, + 0.9746370315551758, + -0.07168976614713414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.034961801022291183, + 0.07318919152021408, + 0.018057437158293194 + ], + [ + 0.05014246329665184, + 0.9748436808586121, + -0.21717625856399536, + -0.058704419889383845 + ], + [ + -0.06375514715909958, + 0.2201305627822876, + 0.9733847379684448, + -0.06820697660247485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03524046018719673, + 0.07438088953495026, + 0.015194432294139495 + ], + [ + 0.05080832168459892, + 0.974373459815979, + -0.2191229611635208, + -0.05899577308446169 + ], + [ + -0.06475277245044708, + 0.22215865552425385, + 0.9728579521179199, + -0.05889279080125002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.03681790083646774, + 0.07488847523927689, + 0.013734707408226451 + ], + [ + 0.05266831815242767, + 0.9735798835754395, + -0.22218969464302063, + -0.05741645833875379 + ], + [ + -0.06472935527563095, + 0.22535893321037292, + 0.9721231460571289, + -0.05150735077058148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017395, + -0.03757404536008835, + 0.07595515251159668, + 0.010260848494039639 + ], + [ + 0.053659066557884216, + 0.9734908938407898, + -0.2223425805568695, + -0.06137841217792951 + ], + [ + -0.06558734178543091, + 0.22561851143836975, + 0.9720054268836975, + -0.04639563105809383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.039605412632226944, + 0.0693020299077034, + 0.023006203464972664 + ], + [ + 0.05432456359267235, + 0.972733736038208, + -0.2254725694656372, + -0.059516299181641676 + ], + [ + -0.058482490479946136, + 0.22851794958114624, + 0.9717815518379211, + -0.0364398347834746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.996643602848053, + -0.03472062572836876, + 0.07413497567176819, + 0.010445035229890773 + ], + [ + 0.050829771906137466, + 0.9723463654518127, + -0.2279449999332428, + -0.06144144997860377 + ], + [ + -0.0641704797744751, + 0.23094817996025085, + 0.9708476066589355, + -0.03607038104126596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04096035286784172, + 0.07396215945482254, + 0.010452516456572417 + ], + [ + 0.057165201753377914, + 0.9709324836730957, + -0.23242676258087158, + -0.05761274485888644 + ], + [ + -0.062291987240314484, + 0.2358226180076599, + 0.9697976112365723, + -0.03281065293738985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.030447332188487053, + 0.07498908042907715, + 0.0021381055219815287 + ], + [ + 0.04709552973508835, + 0.9717099070549011, + -0.23143444955348969, + -0.06804461839298408 + ], + [ + -0.06582106649875641, + 0.23420687019824982, + 0.9699560403823853, + -0.03556767818637383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887695, + -0.03605753555893898, + 0.07364329695701599, + 0.004420307950458972 + ], + [ + 0.05283621326088905, + 0.9692109823226929, + -0.2404961884021759, + -0.05640108667186692 + ], + [ + -0.0627041906118393, + 0.24357736110687256, + 0.9678524136543274, + -0.03426446047348854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.027423828840255737, + 0.07060058414936066, + 0.006649306601184044 + ], + [ + 0.04404309391975403, + 0.9682877659797668, + -0.245924711227417, + -0.05612482754593222 + ], + [ + -0.06161748245358467, + 0.24832779169082642, + 0.9667143225669861, + -0.023051273435927354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.02494669333100319, + 0.07098055630922318, + 0.0009921430108638905 + ], + [ + 0.04198500141501427, + 0.9673789739608765, + -0.249830424785614, + -0.05845094718612157 + ], + [ + -0.062432654201984406, + 0.25210243463516235, + 0.9656844735145569, + -0.02171332988028343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.022420700639486313, + 0.0718754455447197, + -0.002528269019009724 + ], + [ + 0.040134165436029434, + 0.9659827947616577, + -0.2554730474948883, + -0.053799253531819226 + ], + [ + -0.06370256096124649, + 0.2576325833797455, + 0.964140772819519, + -0.03092299391889674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188293, + -0.018108654767274857, + 0.07375975698232651, + -0.009907589586149169 + ], + [ + 0.03651212900876999, + 0.9658660292625427, + -0.25645601749420166, + -0.05827637007221197 + ], + [ + -0.06659797579050064, + 0.25840842723846436, + 0.963737428188324, + -0.038701018519126454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.019618939608335495, + 0.06999560445547104, + -0.004267967243989312 + ], + [ + 0.037083908915519714, + 0.9654900431632996, + -0.25778627395629883, + -0.06288549900054932 + ], + [ + -0.06252256780862808, + 0.2597000002861023, + 0.9636632204055786, + -0.033749218160907424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.02203492261469364, + 0.06698434054851532, + -0.002794119123464979 + ], + [ + 0.038790106773376465, + 0.9647510647773743, + -0.26028966903686523, + -0.0591898480286965 + ], + [ + -0.058887749910354614, + 0.26224005222320557, + 0.9632042050361633, + -0.03891829885223992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.025051329284906387, + 0.06388658285140991, + -0.0012714380000391629 + ], + [ + 0.0407622866332531, + 0.9652762413024902, + -0.25803136825561523, + -0.06315484477891627 + ], + [ + -0.05520417541265488, + 0.26002728939056396, + 0.9640219211578369, + -0.052845839764445256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.028435396030545235, + 0.06179877370595932, + -0.004259795160629812 + ], + [ + 0.04351149871945381, + 0.9650570750236511, + -0.2584019601345062, + -0.06089732254353853 + ], + [ + -0.05229157954454422, + 0.26049235463142395, + 0.9640587568283081, + -0.062077736071287054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.026608727872371674, + 0.05980280041694641, + -0.008228985976395955 + ], + [ + 0.041225872933864594, + 0.9651437401771545, + -0.25845301151275635, + -0.057948956278781605 + ], + [ + -0.05084118992090225, + 0.2603641748428345, + 0.9641709923744202, + -0.06571193476581676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03089982084929943, + 0.053920429199934006, + -0.010278028744853972 + ], + [ + 0.04373984783887863, + 0.9656163454055786, + -0.25626519322395325, + -0.05809319045426499 + ], + [ + -0.044147904962301254, + 0.2581283152103424, + 0.965101420879364, + -0.06497347824211813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03488101065158844, + 0.04706127941608429, + -0.013872763392730404 + ], + [ + 0.045669130980968475, + 0.9665557742118835, + -0.25235751271247864, + -0.05746504334876171 + ], + [ + -0.03668486326932907, + 0.2540734112262726, + 0.9664889574050903, + -0.06191268806847242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03776445984840393, + 0.038437116891145706, + -0.017478979277846397 + ], + [ + 0.0461643785238266, + 0.9674650430679321, + -0.24875743687152863, + -0.054124129881970906 + ], + [ + -0.027792375534772873, + 0.2501704692840576, + 0.9678028225898743, + -0.05946393089098299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04203120619058609, + 0.029186103492975235, + -0.023299784076392143 + ], + [ + 0.04788491129875183, + 0.9687319993972778, + -0.24344474077224731, + -0.05159991530016956 + ], + [ + -0.01804123818874359, + 0.24452337622642517, + 0.9694755673408508, + -0.05608374221712096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271545, + -0.04421382397413254, + 0.019324898719787598, + -0.029633604792448195 + ], + [ + 0.04755266755819321, + 0.9699230194091797, + -0.23872177302837372, + -0.04770186730684378 + ], + [ + -0.008188864216208458, + 0.23936264216899872, + 0.9708957076072693, + -0.05290107092796228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04726714268326759, + 0.008033093996345997, + -0.03382493376922914 + ], + [ + 0.047837208956480026, + 0.9712949395179749, + -0.23301881551742554, + -0.04601817945352732 + ], + [ + 0.003211629344150424, + 0.2331351339817047, + 0.9724390506744385, + -0.049042153505222376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.048086944967508316, + -0.002156302332878113, + -0.037171846080539576 + ], + [ + 0.046333786100149155, + 0.9726343154907227, + -0.22767460346221924, + -0.04377647618261667 + ], + [ + 0.013045470230281353, + 0.22731077671051025, + 0.9737348556518555, + -0.04889645506667658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061279, + -0.046852003782987595, + -0.013223135843873024, + -0.03396385219425728 + ], + [ + 0.04276834800839424, + 0.9742439985275269, + -0.22140346467494965, + -0.04440026327681083 + ], + [ + 0.023255756124854088, + 0.22057540714740753, + 0.9750926494598389, + -0.05565571107495672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04715019091963768, + -0.020617427304387093, + -0.03769145479632749 + ], + [ + 0.04158389940857887, + 0.9754133224487305, + -0.21642473340034485, + -0.04374289744430118 + ], + [ + 0.030314980074763298, + 0.21528062224388123, + 0.9760816097259521, + -0.05453397668898106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.046040020883083344, + -0.02804003469645977, + -0.03620964900996441 + ], + [ + 0.03913160413503647, + 0.9768373966217041, + -0.21037447452545166, + -0.044725809739823014 + ], + [ + 0.0370761975646019, + 0.2089713215827942, + 0.9772186875343323, + -0.06065937268237273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04606097564101219, + -0.03358866646885872, + -0.036658404495280524 + ], + [ + 0.03823528811335564, + 0.978065550327301, + -0.204757958650589, + -0.044182690892081995 + ], + [ + 0.04228327050805092, + 0.20314070582389832, + 0.9782361388206482, + -0.064344863106425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622803, + -0.04786644130945206, + -0.03947734832763672, + -0.03675698616311082 + ], + [ + 0.03909345716238022, + 0.9792292714118958, + -0.1989516168832779, + -0.0413529257902987 + ], + [ + 0.0481804758310318, + 0.19702498614788055, + 0.9792138934135437, + -0.06515776719420384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.997665524482727, + -0.05180840939283371, + -0.04449084773659706, + -0.03726692399821985 + ], + [ + 0.0423891544342041, + 0.9806056618690491, + -0.19135227799415588, + -0.0375897624108017 + ], + [ + 0.0535416342318058, + 0.18901965022087097, + 0.9805125594139099, + -0.06677465371341787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.056758083403110504, + -0.04876594990491867, + -0.03741450604433433 + ], + [ + 0.0469999760389328, + 0.982166051864624, + -0.18204638361930847, + -0.0324296952249148 + ], + [ + 0.05822886526584625, + 0.17924398183822632, + 0.9820799231529236, + -0.07031000266090418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144043, + -0.061164163053035736, + -0.05301344022154808, + -0.03766642657992168 + ], + [ + 0.05142729729413986, + 0.9843155145645142, + -0.16875486075878143, + -0.03140348562190676 + ], + [ + 0.06250370293855667, + 0.1654748171567917, + 0.9842313528060913, + -0.07195140481886701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06664244085550308, + -0.0575336217880249, + -0.036738683737050276 + ], + [ + 0.056910090148448944, + 0.9859931468963623, + -0.1567760407924652, + -0.02463673017600663 + ], + [ + 0.06717569380998611, + 0.15289300680160522, + 0.9859569668769836, + -0.07069146451978092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06931956112384796, + -0.061401091516017914, + -0.03601898076251532 + ], + [ + 0.05990174412727356, + 0.9877932071685791, + -0.14379283785820007, + -0.018533540268739063 + ], + [ + 0.07061923295259476, + 0.13949695229530334, + 0.9877011179924011, + -0.07098221549620995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.0695200189948082, + -0.06400157511234283, + -0.03728315358997411 + ], + [ + 0.06083834916353226, + 0.9897998571395874, + -0.12882152199745178, + -0.016779235866653103 + ], + [ + 0.07230442762374878, + 0.12435134500265121, + 0.9896003007888794, + -0.07067860285950522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06904090940952301, + -0.0674002468585968, + -0.03672192432782334 + ], + [ + 0.06089574098587036, + 0.9913562536239624, + -0.11620894074440002, + -0.011875389728090192 + ], + [ + 0.07484082877635956, + 0.11156237125396729, + 0.9909352660179138, + -0.06809240335073227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740051, + -0.0688813105225563, + -0.06971269845962524, + -0.03638224104562632 + ], + [ + 0.061374958604574203, + 0.9926167726516724, + -0.10461846739053726, + -0.006392316821102913 + ], + [ + 0.07640424370765686, + 0.09983623772859573, + 0.9920660853385925, + -0.06677206513973383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06817160546779633, + -0.07074913382530212, + -0.03741680324300487 + ], + [ + 0.061275944113731384, + 0.9935474991798401, + -0.09543921798467636, + 0.00011996259379526983 + ], + [ + 0.07679887115955353, + 0.09064225107431412, + 0.9929178953170776, + -0.0632472776959085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.0672144666314125, + -0.07272934168577194, + -0.03685717853820986 + ], + [ + 0.060706935822963715, + 0.9942457675933838, + -0.08826125413179398, + 0.006622956237859196 + ], + [ + 0.07824327796697617, + 0.08341220766305923, + 0.9934386610984802, + -0.056556989128390946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06683296710252762, + -0.07361272722482681, + -0.0365944837148373 + ], + [ + 0.06083381921052933, + 0.994861900806427, + -0.0809260830283165, + 0.010653270609103717 + ], + [ + 0.07864303141832352, + 0.07604695111513138, + 0.9939980506896973, + -0.052728573080056754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.0678880587220192, + -0.07447841018438339, + -0.03605202957987786 + ], + [ + 0.062438614666461945, + 0.9953603148460388, + -0.07320692390203476, + 0.012666703303718668 + ], + [ + 0.07910273224115372, + 0.06818390637636185, + 0.9945319294929504, + -0.049963785042492756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.069198839366436, + -0.07591947913169861, + -0.03553691827811492 + ], + [ + 0.06413831561803818, + 0.9956768751144409, + -0.06718528270721436, + 0.01681908026783385 + ], + [ + 0.0802404135465622, + 0.06196051836013794, + 0.9948478937149048, + -0.04602966632089044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.0705689936876297, + -0.07807497680187225, + -0.03406931054658997 + ], + [ + 0.06591843068599701, + 0.9959818124771118, + -0.06062209978699684, + 0.019659910198205555 + ], + [ + 0.08203929662704468, + 0.05513886734843254, + 0.9951026439666748, + -0.042973217425438075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07169889658689499, + -0.07908991724252701, + -0.03422538231278205 + ], + [ + 0.06750068813562393, + 0.996227502822876, + -0.054538484662771225, + 0.021397586322875105 + ], + [ + 0.0827018991112709, + 0.04888821020722389, + 0.9953745007514954, + -0.038720671883505635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.07499485462903976, + -0.07985445111989975, + -0.033772833016104044 + ], + [ + 0.07123138755559921, + 0.996256411075592, + -0.048981986939907074, + 0.023218706234270692 + ], + [ + 0.08322890847921371, + 0.04299904406070709, + 0.9956023693084717, + -0.03536840845058616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554321, + -0.07863131165504456, + -0.07973217219114304, + -0.03428185118648869 + ], + [ + 0.07529625296592712, + 0.996189534664154, + -0.04401031881570816, + 0.02432685213593336 + ], + [ + 0.08288893848657608, + 0.03772997111082077, + 0.995844304561615, + -0.03196143745802916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933647513389587, + -0.08295077830553055, + -0.07965943962335587, + -0.0341982930723546 + ], + [ + 0.07997908443212509, + 0.9960015416145325, + -0.03980320692062378, + 0.025737083228862184 + ], + [ + 0.08264263719320297, + 0.033168017864227295, + 0.9960271716117859, + -0.02914936145146688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.08643079549074173, + -0.079750657081604, + -0.03531906135045948 + ], + [ + 0.08376192301511765, + 0.9958269000053406, + -0.03623088449239731, + 0.027306461085875828 + ], + [ + 0.0825493186712265, + 0.029299400746822357, + 0.9961562156677246, + -0.02547713327102172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770325, + -0.08973576873540878, + -0.08051719516515732, + -0.03563889950060119 + ], + [ + 0.08739734441041946, + 0.9956555962562561, + -0.032118503004312515, + 0.02825921931518958 + ], + [ + 0.08304957300424576, + 0.024847231805324554, + 0.9962356090545654, + -0.023888066984139956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.09170776605606079, + -0.08202848583459854, + -0.0361432736636036 + ], + [ + 0.08968321979045868, + 0.995575487613678, + -0.028041932731866837, + 0.028827333208332712 + ], + [ + 0.08423721045255661, + 0.02047228068113327, + 0.9962354302406311, + -0.022328745898527978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022949, + -0.09405223280191422, + -0.08429194986820221, + -0.03643042309066425 + ], + [ + 0.09240105003118515, + 0.9954494833946228, + -0.02328922040760517, + 0.029328861383673473 + ], + [ + 0.08609877526760101, + 0.015314066782593727, + 0.9961689114570618, + -0.019663841993762896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024902, + -0.09507060796022415, + -0.08720631897449493, + -0.03667562017217279 + ], + [ + 0.09367165714502335, + 0.9954021573066711, + -0.020005470141768456, + 0.03308574184775352 + ], + [ + 0.08870728313922882, + 0.01166953332722187, + 0.9959893822669983, + -0.016570325319965683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.09544503688812256, + -0.08839315921068192, + -0.03895544955411401 + ], + [ + 0.0944184809923172, + 0.995408296585083, + -0.01573241874575615, + 0.035190811090999176 + ], + [ + 0.08948885649442673, + 0.007252783980220556, + 0.9959614276885986, + -0.014834717987503252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.09536831825971603, + -0.0915817841887474, + -0.03787978919238871 + ], + [ + 0.09469663351774216, + 0.9954378604888916, + -0.011661822907626629, + 0.03689609999712716 + ], + [ + 0.09227614849805832, + 0.0028869500383734703, + 0.9957292675971985, + -0.013200095305458093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.09652624279260635, + -0.09105435758829117, + -0.04166077486454295 + ], + [ + 0.0962834283709526, + 0.9953289031982422, + -0.007065927609801292, + 0.037688325030299334 + ], + [ + 0.09131107479333878, + -0.0017635824624449015, + 0.9958208799362183, + -0.010741627560212063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.09647815674543381, + -0.09241335839033127, + -0.042444873008176565 + ], + [ + 0.09662140160799026, + 0.9953168630599976, + -0.0029333564452826977, + 0.038561400949445546 + ], + [ + 0.0922635868191719, + -0.0060220458544790745, + 0.995716392993927, + -0.008735795658177292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.09635921567678452, + -0.09481746703386307, + -0.042678281075010704 + ], + [ + 0.09692727774381638, + 0.9952905178070068, + 0.0013931263238191605, + 0.03883185181289147 + ], + [ + 0.09423667937517166, + -0.010570736601948738, + 0.9954937100410461, + -0.0047650516447093755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.0948014110326767, + -0.09748154133558273, + -0.042596582471369174 + ], + [ + 0.0958503782749176, + 0.9953769445419312, + 0.0061239511705935, + 0.0372463274651613 + ], + [ + 0.0964503213763237, + -0.015410713851451874, + 0.9952185153961182, + -0.0012497186792106967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.09554288536310196, + -0.09889417141675949, + -0.04493755395882405 + ], + [ + 0.0968770906329155, + 0.9952577352523804, + 0.008767124265432358, + 0.03958479685979521 + ], + [ + 0.09758754819631577, + -0.018264420330524445, + 0.9950593113899231, + 0.0017276389452700429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.09555571526288986, + -0.1013667955994606, + -0.04545382783294488 + ], + [ + 0.09731114655733109, + 0.9951754212379456, + 0.012505126185715199, + 0.039453474546854314 + ], + [ + 0.09968281537294388, + -0.022247314453125, + 0.9947705268859863, + 0.004526690767807329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.09563429653644562, + -0.10289280861616135, + -0.04783802703978159 + ], + [ + 0.09764714539051056, + 0.9951125979423523, + 0.01469507347792387, + 0.04120473905633657 + ], + [ + 0.10098458081483841, + -0.024596549570560455, + 0.9945839047431946, + 0.00684175020418106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.09531968086957932, + -0.10433410853147507, + -0.05054957410718641 + ], + [ + 0.09759130328893661, + 0.9950834512710571, + 0.016876792535185814, + 0.042199600316010985 + ], + [ + 0.10221245139837265, + -0.026889516040682793, + 0.9943990707397461, + 0.009438487417741209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.09422576427459717, + -0.10631398856639862, + -0.0523302882623214 + ], + [ + 0.09672302007675171, + 0.9951380491256714, + 0.018571535125374794, + 0.04334005565088019 + ], + [ + 0.10404717922210693, + -0.028666192665696144, + 0.9941591620445251, + 0.010966544798933543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622742, + -0.0927882194519043, + -0.10825425386428833, + -0.054269057197066456 + ], + [ + 0.09555050730705261, + 0.9952113032341003, + 0.020603543147444725, + 0.044128635754952066 + ], + [ + 0.10582409799098969, + -0.03073679469525814, + 0.9939097166061401, + 0.011753106059936376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9896503686904907, + -0.0917322188615799, + -0.11035078763961792, + -0.05657619126141072 + ], + [ + 0.09473170340061188, + 0.9952543377876282, + 0.022241652011871338, + 0.04622620311048296 + ], + [ + 0.10778681933879852, + -0.03246517479419708, + 0.9936438202857971, + 0.012104470324185159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754456, + -0.09037180989980698, + -0.11118438839912415, + -0.06049596885394337 + ], + [ + 0.09365765005350113, + 0.995298445224762, + 0.024683302268385887, + 0.047674112359428 + ], + [ + 0.10843096673488617, + -0.03484189510345459, + 0.9934931993484497, + 0.012021753519900844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.09128565341234207, + -0.10880491137504578, + -0.0640917588598453 + ], + [ + 0.0950760468840599, + 0.9950129389762878, + 0.030162647366523743, + 0.043393983567754424 + ], + [ + 0.10550887882709503, + -0.04020162671804428, + 0.9936054348945618, + -0.007089974873293287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724731, + -0.0911080613732338, + -0.11110899597406387, + -0.0657755223222268 + ], + [ + 0.09525392204523087, + 0.9949195981025696, + 0.032583244144916534, + 0.04639845319155954 + ], + [ + 0.1075759157538414, + -0.04282870143651962, + 0.993273913860321, + -0.003003143227826327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.09012183547019958, + -0.11706908047199249, + -0.06531396872785866 + ], + [ + 0.09481452405452728, + 0.9948744773864746, + 0.03514283895492554, + 0.050698635574334704 + ], + [ + 0.11330190300941467, + -0.045857034623622894, + 0.9925017952919006, + 0.016200805162517432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.09003256261348724, + -0.11436064541339874, + -0.06894029255669851 + ], + [ + 0.09521777927875519, + 0.9946237802505493, + 0.040707141160964966, + 0.046632705896328654 + ], + [ + 0.11008085310459137, + -0.05116282403469086, + 0.9926049709320068, + -0.0011842931011834977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.09317120909690857, + -0.11693821847438812, + -0.07132218437444451 + ], + [ + 0.09878641366958618, + 0.9941719770431519, + 0.04316605255007744, + 0.05138195625737182 + ], + [ + 0.11223486065864563, + -0.05423273518681526, + 0.9922006726264954, + 0.006925132687593627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9884978532791138, + -0.09257038682699203, + -0.11959405243396759, + -0.0714983124158576 + ], + [ + 0.09880081564188004, + 0.9939848184585571, + 0.04725014045834541, + 0.04991366925020503 + ], + [ + 0.11450071632862091, + -0.058522652834653854, + 0.9916979074478149, + 0.01317841050843907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444946, + -0.09110705554485321, + -0.11785479635000229, + -0.07606070282367561 + ], + [ + 0.09744705259799957, + 0.994024395942688, + 0.049189068377017975, + 0.05134650715268575 + ], + [ + 0.11266907304525375, + -0.060124851763248444, + 0.9918118119239807, + 0.004512403461222464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.09047552943229675, + -0.11960691213607788, + -0.07492953102685448 + ], + [ + 0.09737388789653778, + 0.9938284158706665, + 0.05313626676797867, + 0.048413092795854956 + ], + [ + 0.11406120657920837, + -0.06418189406394958, + 0.9913983941078186, + -0.0013810367896579792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.09348472207784653, + -0.12423595041036606, + -0.07483632372230548 + ], + [ + 0.10086613148450851, + 0.9934059977531433, + 0.054502878338098526, + 0.05224047250026821 + ], + [ + 0.11832154542207718, + -0.06637126952409744, + 0.9907547235488892, + 0.014720062179188443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.09305234998464584, + -0.12582187354564667, + -0.07577411614549467 + ], + [ + 0.10070245712995529, + 0.9933472275733948, + 0.05586007609963417, + 0.05309998712096459 + ], + [ + 0.11978689581155777, + -0.06784240901470184, + 0.9904789328575134, + 0.019932218325825837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.09121833741664886, + -0.12577815353870392, + -0.0765770815121822 + ], + [ + 0.09902217984199524, + 0.9934374094009399, + 0.057243041694164276, + 0.052615593399247554 + ], + [ + 0.119731105864048, + -0.06900269538164139, + 0.9904054999351501, + 0.01827546149874345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685181, + -0.09039635956287384, + -0.12600620090961456, + -0.0779039574166139 + ], + [ + 0.09821051359176636, + 0.9935184121131897, + 0.057234786450862885, + 0.05480497678120931 + ], + [ + 0.12001567333936691, + -0.06891750544309616, + 0.9903770089149475, + 0.0216707875745164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133423, + -0.09025000780820847, + -0.12632746994495392, + -0.07704926062470828 + ], + [ + 0.09827960282564163, + 0.9934183955192566, + 0.05883049964904785, + 0.05357074895157264 + ], + [ + 0.12018658220767975, + -0.07053257524967194, + 0.9902425408363342, + 0.018685901155456517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.0910235345363617, + -0.12735259532928467, + -0.07409347554302623 + ], + [ + 0.09938836097717285, + 0.9931811690330505, + 0.06093505769968033, + 0.050804815422265955 + ], + [ + 0.12093768268823624, + -0.07284121960401535, + 0.9899839758872986, + 0.011931571246594445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.1056254431605339, + -0.1236414983868599, + -0.08528433317302639 + ], + [ + 0.11176148802042007, + 0.9927705526351929, + 0.04377209022641182, + 0.08686454227655871 + ], + [ + 0.11812419444322586, + -0.057007815688848495, + 0.9913610816001892, + 0.015945532392614925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.11250335723161697, + -0.13109606504440308, + -0.07478495664321459 + ], + [ + 0.11918199807405472, + 0.9918863773345947, + 0.044239342212677, + 0.08858115615753027 + ], + [ + 0.12505531311035156, + -0.05919851362705231, + 0.9903820753097534, + 0.015613034797402527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636597, + -0.11088694632053375, + -0.13320301473140717, + -0.07145269707036325 + ], + [ + 0.11870886385440826, + 0.9915525317192078, + 0.05226680636405945, + 0.07398837452642938 + ], + [ + 0.12628208100795746, + -0.06728817522525787, + 0.9897096157073975, + 0.0005038393048458108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.10610239207744598, + -0.13848407566547394, + -0.0645501213068636 + ], + [ + 0.1153840571641922, + 0.9914590716362, + 0.06078978255391121, + 0.056907125517853305 + ], + [ + 0.13085134327411652, + -0.07583639770746231, + 0.988497257232666, + -0.01168315827798767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.10311172902584076, + -0.14245112240314484, + -0.060389701917003366 + ], + [ + 0.11378641426563263, + 0.9911117553710938, + 0.06892167031764984, + 0.041815554121365915 + ], + [ + 0.13407833874225616, + -0.08405661582946777, + 0.9873993396759033, + -0.020705569201172926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.10613180696964264, + -0.14284540712833405, + -0.06683644993692384 + ], + [ + 0.11666357517242432, + 0.9908770322799683, + 0.06747051328420639, + 0.04806810579238793 + ], + [ + 0.1343814581632614, + -0.0830584242939949, + 0.9874426126480103, + -0.03037727392700493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.10455378890037537, + -0.14430680871009827, + -0.07248972085997081 + ], + [ + 0.11519041657447815, + 0.9910532236099243, + 0.06741401553153992, + 0.05125809884988344 + ], + [ + 0.13596734404563904, + -0.08295774459838867, + 0.9872339367866516, + -0.03431414729700639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.10444070398807526, + -0.14927938580513, + -0.0629068731975097 + ], + [ + 0.11634883284568787, + 0.9904941916465759, + 0.0733771026134491, + 0.041741112696054655 + ], + [ + 0.1401968002319336, + -0.08951753377914429, + 0.9860687255859375, + -0.049307440030269135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809753, + -0.10444523394107819, + -0.15275369584560394, + -0.061158205255165576 + ], + [ + 0.11693863570690155, + 0.9902874231338501, + 0.07520769536495209, + 0.04109878713885943 + ], + [ + 0.14341498911380768, + -0.09177164733409882, + 0.9853984713554382, + -0.05372889865285311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.10379937291145325, + -0.15568995475769043, + -0.061595043546368945 + ], + [ + 0.11653591692447662, + 0.9903490543365479, + 0.07502059638500214, + 0.043993741031895336 + ], + [ + 0.1464003026485443, + -0.09183898568153381, + 0.9849530458450317, + -0.05558690854117402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065002, + -0.10240726172924042, + -0.15848848223686218, + -0.060039850883185863 + ], + [ + 0.11551395058631897, + 0.9904093146324158, + 0.07580187171697617, + 0.04462800174951553 + ], + [ + 0.14920580387115479, + -0.0927477702498436, + 0.9844467639923096, + -0.056708188354969026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.10228833556175232, + -0.16093888878822327, + -0.05699417353727116 + ], + [ + 0.11631129682064056, + 0.9899656176567078, + 0.08024775236845016, + 0.03927448180496183 + ], + [ + 0.1511155664920807, + -0.09749417752027512, + 0.9836965799331665, + -0.06212156330927825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.10206608474254608, + -0.16337890923023224, + -0.05816159936097953 + ], + [ + 0.11675001680850983, + 0.9896928071975708, + 0.08293089270591736, + 0.03805135789717364 + ], + [ + 0.15323050320148468, + -0.10045203566551208, + 0.9830716252326965, + -0.060658343072630405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.10184565931558609, + -0.16516520082950592, + -0.060015761341231 + ], + [ + 0.11711373180150986, + 0.9894329309463501, + 0.08548008650541306, + 0.0378338085153164 + ], + [ + 0.15471412241458893, + -0.10319850593805313, + 0.9825546145439148, + -0.060424653287881464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.10170579701662064, + -0.16763797402381897, + -0.06158383117718066 + ], + [ + 0.1176675483584404, + 0.9891297817230225, + 0.08818519860506058, + 0.03821069559034629 + ], + [ + 0.1568467617034912, + -0.10619892925024033, + 0.9818965792655945, + -0.05807097605150989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.10047782957553864, + -0.1694483458995819, + -0.06357975210994482 + ], + [ + 0.1170346736907959, + 0.9889762997627258, + 0.09071221947669983, + 0.03868657517382222 + ], + [ + 0.15846583247184753, + -0.10876592993736267, + 0.9813554883003235, + -0.05862823217215701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.098045215010643, + -0.16996802389621735, + -0.07059674341327105 + ], + [ + 0.11479306221008301, + 0.9891512989997864, + 0.09166397899389267, + 0.04122040044420805 + ], + [ + 0.15913687646389008, + -0.10939318686723709, + 0.9811771512031555, + -0.0539640571253422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.09745955467224121, + -0.1728684902191162, + -0.06728314471582317 + ], + [ + 0.11492407321929932, + 0.9889113903045654, + 0.09405716508626938, + 0.04033882090678582 + ], + [ + 0.16178485751152039, + -0.11205323785543442, + 0.9804436564445496, + -0.05732003148549643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.09616538882255554, + -0.1743066906929016, + -0.06905953466701203 + ], + [ + 0.11393052339553833, + 0.9889422655105591, + 0.09493681788444519, + 0.041329172113512315 + ], + [ + 0.16324961185455322, + -0.11289544403553009, + 0.9801041483879089, + -0.055858388352088444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035645, + -0.09488837420940399, + -0.17515265941619873, + -0.07117342865810945 + ], + [ + 0.11276309192180634, + 0.9890628457069397, + 0.0950743705034256, + 0.04231997510561576 + ], + [ + 0.16421553492546082, + -0.1129196435213089, + 0.9799399971961975, + -0.055512327528916876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.09463026374578476, + -0.17648129165172577, + -0.0727836340570297 + ], + [ + 0.1126355305314064, + 0.9890897274017334, + 0.09494620561599731, + 0.04368701024761057 + ], + [ + 0.16557104885578156, + -0.11290109157562256, + 0.979714035987854, + -0.05489365941184199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.09488288313150406, + -0.17737092077732086, + -0.07508220141196353 + ], + [ + 0.11293945461511612, + 0.9890859127044678, + 0.09462426602840424, + 0.045623696238821385 + ], + [ + 0.16645686328411102, + -0.11272227764129639, + 0.9795845150947571, + -0.05521730383237203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.0948750451207161, + -0.17863698303699493, + -0.07668901188060259 + ], + [ + 0.11332901567220688, + 0.988900363445282, + 0.09608621895313263, + 0.044884286352839226 + ], + [ + 0.16753800213336945, + -0.11434487998485565, + 0.9792120456695557, + -0.055310318198723674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860474, + -0.09527027606964111, + -0.1800309717655182, + -0.07809782876736587 + ], + [ + 0.114105224609375, + 0.9886906147003174, + 0.09731853753328323, + 0.045077266378535166 + ], + [ + 0.16872337460517883, + -0.11582087725400925, + 0.9788349866867065, + -0.05511371543010076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.09509126842021942, + -0.1814223676919937, + -0.07947223185219317 + ], + [ + 0.11435167491436005, + 0.9885132312774658, + 0.09881967306137085, + 0.044618898088860715 + ], + [ + 0.16994152963161469, + -0.11747035384178162, + 0.9784275889396667, + -0.05567515191232038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.0954979658126831, + -0.18299457430839539, + -0.08121812449624907 + ], + [ + 0.11483760178089142, + 0.9885226488113403, + 0.09815937280654907, + 0.04775104721387227 + ], + [ + 0.17152026295661926, + -0.11706013977527618, + 0.9782012701034546, + -0.05369633359786792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.09442396461963654, + -0.18489977717399597, + -0.08155404732713843 + ], + [ + 0.1141623705625534, + 0.9884998798370361, + 0.099171482026577, + 0.047197176439639846 + ], + [ + 0.17340925335884094, + -0.11811920255422592, + 0.9777408242225647, + -0.05502636609041793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.09225362539291382, + -0.18598614633083344, + -0.08348200146713829 + ], + [ + 0.11208336055278778, + 0.9887478947639465, + 0.0990702360868454, + 0.04781496061219109 + ], + [ + 0.1747538298368454, + -0.1177576333284378, + 0.9775450229644775, + -0.056427923016823256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.09108749777078629, + -0.18740954995155334, + -0.08499996106211957 + ], + [ + 0.11109723895788193, + 0.9888483881950378, + 0.09917785227298737, + 0.04806934196788531 + ], + [ + 0.1762857735157013, + -0.11782152950763702, + 0.9772621989250183, + -0.05663210526108742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.09031878411769867, + -0.1887170821428299, + -0.08563494322519018 + ], + [ + 0.11049221456050873, + 0.988909125328064, + 0.09924842417240143, + 0.047436272028164986 + ], + [ + 0.1776600331068039, + -0.11790375411510468, + 0.9770033955574036, + -0.05860955693528184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.09068617969751358, + -0.18996351957321167, + -0.08639768536210571 + ], + [ + 0.11101716011762619, + 0.9888496994972229, + 0.0992543026804924, + 0.04672943425929954 + ], + [ + 0.1788443922996521, + -0.11811961978673935, + 0.9767612218856812, + -0.06042179126515348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621643, + -0.09112417697906494, + -0.19134095311164856, + -0.08666842081225837 + ], + [ + 0.11153890192508698, + 0.988839864730835, + 0.09876619279384613, + 0.046442489899121794 + ], + [ + 0.1802055835723877, + -0.11786462366580963, + 0.9765418171882629, + -0.06263540746309819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.09132130444049835, + -0.19269326329231262, + -0.08723848890035582 + ], + [ + 0.11170653998851776, + 0.9889262914657593, + 0.09770605713129044, + 0.04697013117181949 + ], + [ + 0.181636780500412, + -0.11698395758867264, + 0.9763825535774231, + -0.06375627523431411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.09194756299257278, + -0.19426679611206055, + -0.08750674755782145 + ], + [ + 0.11235930770635605, + 0.9889426827430725, + 0.09678748995065689, + 0.0473913268910514 + ], + [ + 0.18321934342384338, + -0.11635323613882065, + 0.9761621952056885, + -0.06461004839621039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.09236060827970505, + -0.1952887624502182, + -0.08860847734105894 + ], + [ + 0.11276378482580185, + 0.9889675378799438, + 0.0960601419210434, + 0.04743883249660333 + ], + [ + 0.18426208198070526, + -0.11581338942050934, + 0.9760301113128662, + -0.06547814699319693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.09304553270339966, + -0.19625785946846008, + -0.08917992645158218 + ], + [ + 0.11348238587379456, + 0.988932192325592, + 0.09557624906301498, + 0.04697043838409277 + ], + [ + 0.1851927936077118, + -0.1155664399266243, + 0.9758831858634949, + -0.0673589931594001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.09423211216926575, + -0.19758786261081696, + -0.08896881598565315 + ], + [ + 0.11480601131916046, + 0.9887989163398743, + 0.09537453949451447, + 0.04660490353902181 + ], + [ + 0.1863873153924942, + -0.11574555933475494, + 0.9756345152854919, + -0.06857505448990397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9753864407539368, + -0.09552070498466492, + -0.19873878359794617, + -0.08884136943289866 + ], + [ + 0.11616867780685425, + 0.9886807799339294, + 0.09494808316230774, + 0.04671389764318099 + ], + [ + 0.18741971254348755, + -0.11569829285144806, + 0.9754423499107361, + -0.06974627788250264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335815, + -0.09635034203529358, + -0.1995343267917633, + -0.08873346616697109 + ], + [ + 0.1170622855424881, + 0.9885968565940857, + 0.09472435712814331, + 0.046447369819268204 + ], + [ + 0.18813228607177734, + -0.11572767794132233, + 0.9753016829490662, + -0.07168062690358895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.0967891588807106, + -0.2004728466272354, + -0.0888646325398969 + ], + [ + 0.11754768341779709, + 0.9885750412940979, + 0.09435015916824341, + 0.046458487492850704 + ], + [ + 0.18905039131641388, + -0.11554768681526184, + 0.9751454591751099, + -0.07299820137584312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.09714441001415253, + -0.2013595551252365, + -0.0888887467292639 + ], + [ + 0.11791388690471649, + 0.9885806441307068, + 0.09383318573236465, + 0.04624177251870815 + ], + [ + 0.189944788813591, + -0.1152011975646019, + 0.9750126600265503, + -0.07498881604809028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.09762518852949142, + -0.20222583413124084, + -0.08902092822150798 + ], + [ + 0.11839186400175095, + 0.9885784387588501, + 0.09325264394283295, + 0.04593667239587531 + ], + [ + 0.19081228971481323, + -0.1148129403591156, + 0.9748890399932861, + -0.07689724542901047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9741423726081848, + -0.09781992435455322, + -0.20366127789020538, + -0.08863809793614424 + ], + [ + 0.11860299110412598, + 0.9886284470558167, + 0.09245079755783081, + 0.0462751628114627 + ], + [ + 0.19230179488658905, + -0.11421507596969604, + 0.9746665954589844, + -0.07725217196549106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.09773191809654236, + -0.20458616316318512, + -0.0890300324998605 + ], + [ + 0.11847157776355743, + 0.988715648651123, + 0.09168357402086258, + 0.046360213500566974 + ], + [ + 0.19331713020801544, + -0.11353353410959244, + 0.9745453596115112, + -0.07827224353185067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.973677396774292, + -0.0979643389582634, + -0.20580418407917023, + -0.08888113431186759 + ], + [ + 0.11873745173215866, + 0.9887366890907288, + 0.09111108630895615, + 0.045952096450914685 + ], + [ + 0.19456051290035248, + -0.11314947158098221, + 0.9743425250053406, + -0.07881484916194892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.09835473448038101, + -0.2063547670841217, + -0.08988746013651547 + ], + [ + 0.11907441169023514, + 0.9887531995773315, + 0.090489462018013, + 0.04564543204047741 + ], + [ + 0.19513386487960815, + -0.11266501247882843, + 0.9742840528488159, + -0.07996402912669712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.09844247996807098, + -0.20692245662212372, + -0.0904389252742896 + ], + [ + 0.11909666657447815, + 0.9888111352920532, + 0.0898246318101883, + 0.04561923822531333 + ], + [ + 0.1957646757364273, + -0.11207835376262665, + 0.9742251634597778, + -0.0810282279092532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.09812191873788834, + -0.20800474286079407, + -0.09031273050185963 + ], + [ + 0.11871661990880966, + 0.9889377355575562, + 0.08892975747585297, + 0.04616368087565797 + ], + [ + 0.19697779417037964, + -0.11123950779438019, + 0.9740767478942871, + -0.08092439145359219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.09829660505056381, + -0.20870326459407806, + -0.09012237592385366 + ], + [ + 0.11887537688016891, + 0.9889628291130066, + 0.08843759447336197, + 0.046020154562643446 + ], + [ + 0.1977066546678543, + -0.11086181551218033, + 0.9739721417427063, + -0.08052518323828013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.09785573184490204, + -0.20849496126174927, + -0.09020407671729724 + ], + [ + 0.11828659474849701, + 0.9890846610069275, + 0.08786271512508392, + 0.04573095937569936 + ], + [ + 0.19762128591537476, + -0.11016274988651276, + 0.9740687608718872, + -0.08164083460966746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.09647294133901596, + -0.20772293210029602, + -0.090863014315056 + ], + [ + 0.11665081232786179, + 0.9893409013748169, + 0.0871616005897522, + 0.04599523054292569 + ], + [ + 0.19710007309913635, + -0.10907578468322754, + 0.9742966890335083, + -0.082599609096845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.09505336731672287, + -0.20731209218502045, + -0.09057486302768573 + ], + [ + 0.1150783821940422, + 0.989561140537262, + 0.08675079047679901, + 0.04650891746720697 + ], + [ + 0.1969020515680313, + -0.10832169651985168, + 0.9744208455085754, + -0.08302466236373299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.973919689655304, + -0.09286005795001984, + -0.20702049136161804, + -0.09002242150406044 + ], + [ + 0.11279778182506561, + 0.9898317456245422, + 0.08665876090526581, + 0.046908352275689444 + ], + [ + 0.19686833024024963, + -0.10775011777877808, + 0.9744910597801208, + -0.08330754878429267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.09080660343170166, + -0.20616234838962555, + -0.09003609547821376 + ], + [ + 0.11068245768547058, + 0.9900410175323486, + 0.0869951918721199, + 0.046844698743433014 + ], + [ + 0.19620944559574127, + -0.10757755488157272, + 0.9746429920196533, + -0.08480605578575379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.08831210434436798, + -0.20570972561836243, + -0.09010461668173474 + ], + [ + 0.10809850692749023, + 0.9903258681297302, + 0.08700229972600937, + 0.047529372279970054 + ], + [ + 0.19603630900382996, + -0.10703111439943314, + 0.9747379422187805, + -0.08560876888342393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129883, + -0.08584735542535782, + -0.20573335886001587, + -0.09073437480972366 + ], + [ + 0.10556920617818832, + 0.9906105995178223, + 0.08686628937721252, + 0.0485977441072464 + ], + [ + 0.19634440541267395, + -0.10639943182468414, + 0.9747450947761536, + -0.08593037380621985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777283, + -0.08371412754058838, + -0.2064916342496872, + -0.09085730629790034 + ], + [ + 0.1036105751991272, + 0.9907628893852234, + 0.08748546987771988, + 0.048491910074511146 + ], + [ + 0.19726048409938812, + -0.10668084770441055, + 0.9745293855667114, + -0.08748968844102999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.08187540620565414, + -0.20737075805664062, + -0.09208391437100041 + ], + [ + 0.10188858956098557, + 0.9909200668334961, + 0.08772731572389603, + 0.048971454238789715 + ], + [ + 0.1983051300048828, + -0.10664794594049454, + 0.9743209481239319, + -0.08930146215308427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530396, + -0.07997071743011475, + -0.20942778885364532, + -0.0927507645235612 + ], + [ + 0.10039535164833069, + 0.9909796714782715, + 0.08876939862966537, + 0.04815065717467895 + ], + [ + 0.20043973624706268, + -0.10753565281629562, + 0.9737864136695862, + -0.09189339583882919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.07701306790113449, + -0.21328267455101013, + -0.09330705811516343 + ], + [ + 0.09784286469221115, + 0.9912249445915222, + 0.08888120949268341, + 0.04853569830202649 + ], + [ + 0.204566091299057, + -0.10743407905101776, + 0.9729391932487488, + -0.09255591352016498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.07502195239067078, + -0.2183000147342682, + -0.09429318859345384 + ], + [ + 0.09627111256122589, + 0.9914239645004272, + 0.08837667852640152, + 0.04995472401253179 + ], + [ + 0.2097976803779602, + -0.10700594633817673, + 0.9718717336654663, + -0.09288644942208234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.07415057718753815, + -0.22328127920627594, + -0.09647400107903359 + ], + [ + 0.0962403267621994, + 0.9913062453269958, + 0.0897204726934433, + 0.048013164083927105 + ], + [ + 0.2146873027086258, + -0.10869064927101135, + 0.9706161618232727, + -0.09502994185074781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.07436057180166245, + -0.22939182817935944, + -0.09911578140325017 + ], + [ + 0.09724108129739761, + 0.991174578666687, + 0.0900953859090805, + 0.04729008918835057 + ], + [ + 0.2206677943468094, + -0.10974293947219849, + 0.9691554307937622, + -0.09673245127002399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.075393907725811, + -0.23730406165122986, + -0.10146597121706885 + ], + [ + 0.09924861043691635, + 0.9909639954566956, + 0.09022247046232224, + 0.04673633081281287 + ], + [ + 0.22835755348205566, + -0.11093304306268692, + 0.9672366380691528, + -0.09846868117650351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.07403167337179184, + -0.24615532159805298, + -0.10545418176513452 + ], + [ + 0.09895602613687515, + 0.9909713864326477, + 0.09046213328838348, + 0.04662411410648089 + ], + [ + 0.23723581433296204, + -0.1117810606956482, + 0.9649995565414429, + -0.10076801272538992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447266, + -0.07028083503246307, + -0.2563932538032532, + -0.10982781257639583 + ], + [ + 0.09669665992259979, + 0.9910615086555481, + 0.09190692752599716, + 0.04607636254822087 + ], + [ + 0.2476421743631363, + -0.1133919432759285, + 0.9621931314468384, + -0.1038199874580416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.06318016350269318, + -0.26793599128723145, + -0.11519244431685179 + ], + [ + 0.09126824140548706, + 0.99140864610672, + 0.09369607269763947, + 0.046731209086302 + ], + [ + 0.2597143054008484, + -0.11452996730804443, + 0.9588698148727417, + -0.10653911579368461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.053399331867694855, + -0.28061285614967346, + -0.12168760355084371 + ], + [ + 0.08347515016794205, + 0.9918422698974609, + 0.09633699059486389, + 0.04736406785937456 + ], + [ + 0.27317938208580017, + -0.11574725806713104, + 0.9549741148948669, + -0.11011259380059364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.040249817073345184, + -0.2958751320838928, + -0.1282365909562661 + ], + [ + 0.07252354174852371, + 0.9924487471580505, + 0.09892350435256958, + 0.04984262233806981 + ], + [ + 0.2896592617034912, + -0.11586835980415344, + 0.9500905275344849, + -0.11283600674225734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.02490105852484703, + -0.3097083270549774, + -0.13917292020259758 + ], + [ + 0.05914822593331337, + 0.9930567741394043, + 0.10168454796075821, + 0.05252959318777435 + ], + [ + 0.3050259053707123, + -0.11497042328119278, + 0.9453787803649902, + -0.12172030760691717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.012554572895169258, + -0.32818034291267395, + -0.14705572185608057 + ], + [ + 0.04996383190155029, + 0.9931305646896362, + 0.10580794513225555, + 0.054442736219901304 + ], + [ + 0.32459756731987, + -0.11633610725402832, + 0.9386705160140991, + -0.1228946559322186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0002573709934949875, + -0.3476983904838562, + -0.153651156104528 + ], + [ + 0.0404190793633461, + 0.9931393265724182, + 0.1097295805811882, + 0.056061244240173926 + ], + [ + 0.34534120559692383, + -0.1169368103146553, + 0.9311633706092834, + -0.1252689928198472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192627, + 0.012436185963451862, + -0.3662859797477722, + -0.16063974692016586 + ], + [ + 0.03115358203649521, + 0.9931231737136841, + 0.11285322904586792, + 0.05814509167948849 + ], + [ + 0.36517053842544556, + -0.11641193926334381, + 0.9236334562301636, + -0.12762600247167116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.022697875276207924, + -0.38441959023475647, + -0.16607916011260107 + ], + [ + 0.023564675822854042, + 0.9930619597434998, + 0.11520680785179138, + 0.05950282814984138 + ], + [ + 0.384367436170578, + -0.11538071930408478, + 0.915941596031189, + -0.13110299236499345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.029455576092004776, + -0.3999384641647339, + -0.17277087455886042 + ], + [ + 0.018857046961784363, + 0.9930316209793091, + 0.11632957309484482, + 0.060754868655632704 + ], + [ + 0.4005780816078186, + -0.11410752683877945, + 0.9091296195983887, + -0.13452851008146238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.03700459748506546, + -0.4142109751701355, + -0.17757725020249687 + ], + [ + 0.012702034786343575, + 0.993096649646759, + 0.11660902947187424, + 0.0628748720097873 + ], + [ + 0.4156665802001953, + -0.11130888015031815, + 0.9026802778244019, + -0.1390763858954112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.04418061673641205, + -0.42662155628204346, + -0.18043249432857222 + ], + [ + 0.00687362439930439, + 0.9930614829063416, + 0.1173952966928482, + 0.06401228085876658 + ], + [ + 0.4288480281829834, + -0.10898153483867645, + 0.8967788815498352, + -0.14214492291212083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.04922556132078171, + -0.4364371597766876, + -0.18191019732218522 + ], + [ + 0.0022470448166131973, + 0.9931711554527283, + 0.11664480715990067, + 0.066802210921151 + ], + [ + 0.43919870257377625, + -0.10577289015054703, + 0.892141580581665, + -0.1421788198188839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.051780350506305695, + -0.4422224760055542, + -0.18234040097803134 + ], + [ + -0.00010766647756099701, + 0.99323970079422, + 0.116081602871418, + 0.06674927826095213 + ], + [ + 0.4452436566352844, + -0.10389294475317001, + 0.8893617391586304, + -0.14538297152672058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.05171838775277138, + -0.44711071252822876, + -0.17656222153932621 + ], + [ + 2.9165297746658325e-05, + 0.9933696985244751, + 0.11496375501155853, + 0.06644657885608 + ], + [ + 0.4500919580459595, + -0.10267363488674164, + 0.8870599269866943, + -0.14629195592342278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.051662374287843704, + -0.44594472646713257, + -0.17498961315195785 + ], + [ + -0.0009096004068851471, + 0.9935625791549683, + 0.11328089237213135, + 0.06721525136699788 + ], + [ + 0.44892632961273193, + -0.10081858932971954, + 0.887863039970398, + -0.14721949291534914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.04776440188288689, + -0.4419002830982208, + -0.17175908577747834 + ], + [ + 0.0016431137919425964, + 0.9938464760780334, + 0.1107543483376503, + 0.06747567507191601 + ], + [ + 0.444471150636673, + -0.09993892163038254, + 0.8902009129524231, + -0.14676461236344443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.041424691677093506, + -0.4345242381095886, + -0.16726521872557126 + ], + [ + 0.006396599113941193, + 0.9941283464431763, + 0.10801819711923599, + 0.06639455725940374 + ], + [ + 0.43644750118255615, + -0.0999642089009285, + 0.8941592574119568, + -0.148035773061789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791626, + 0.0338175967335701, + -0.4252876937389374, + -0.16083969615208799 + ], + [ + 0.011889135465025902, + 0.9944684505462646, + 0.10436084866523743, + 0.0664777081921442 + ], + [ + 0.42646440863609314, + -0.0994429886341095, + 0.8990212678909302, + -0.14571494558173367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.02482655830681324, + -0.41355443000793457, + -0.1521684816505155 + ], + [ + 0.018159927800297737, + 0.9948529005050659, + 0.09968909621238708, + 0.0666069396930691 + ], + [ + 0.41390079259872437, + -0.09824123978614807, + 0.9050053954124451, + -0.14192147484192483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.009677340276539326, + -0.3984796106815338, + -0.14370314096793152 + ], + [ + 0.030192993581295013, + 0.9951463937759399, + 0.09365888684988022, + 0.06628635907784486 + ], + [ + 0.39745190739631653, + -0.09792830795049667, + 0.9123826026916504, + -0.13520585141884975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.005942344665527344, + -0.3809187710285187, + -0.13329111508961416 + ], + [ + 0.04245951399207115, + 0.9952561855316162, + 0.08753432333469391, + 0.06352665395213243 + ], + [ + 0.3785916268825531, + -0.09710693359375, + 0.9204556941986084, + -0.13340047111368586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.02467264048755169, + -0.3598748743534088, + -0.12325699626125843 + ], + [ + 0.057661354541778564, + 0.9950268268585205, + 0.08122081309556961, + 0.058775357952994156 + ], + [ + 0.3560812175273895, + -0.09650342911481857, + 0.9294586181640625, + -0.13329327771296867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.04396728426218033, + -0.33740484714508057, + -0.11389788736899695 + ], + [ + 0.07322211563587189, + 0.9945314526557922, + 0.07446920871734619, + 0.05445461347699165 + ], + [ + 0.3322855234146118, + -0.09473130106925964, + 0.9384094476699829, + -0.1300156762202581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.06606294214725494, + -0.31522223353385925, + -0.10438391359952783 + ], + [ + 0.09117239713668823, + 0.9936740398406982, + 0.06557057797908783, + 0.054068770507971445 + ], + [ + 0.30889639258384705, + -0.09081625938415527, + 0.9467499256134033, + -0.12257091214514187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.0867420881986618, + -0.2908088266849518, + -0.09462516130003921 + ], + [ + 0.10839028656482697, + 0.9923473000526428, + 0.05914688482880592, + 0.049573839201122266 + ], + [ + 0.2834528386592865, + -0.08787843585014343, + 0.9549512267112732, + -0.12356990509563023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.957180917263031, + -0.10843473672866821, + -0.26841503381729126, + -0.08174403101528209 + ], + [ + 0.12702696025371552, + 0.9904906153678894, + 0.05284423381090164, + 0.04574550287081645 + ], + [ + 0.26013243198394775, + -0.08467743545770645, + 0.9618528485298157, + -0.12469885521210157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.128010556101799, + -0.24506095051765442, + -0.07332487624679877 + ], + [ + 0.14353950321674347, + 0.9885507822036743, + 0.04651626572012901, + 0.043581975818189796 + ], + [ + 0.23630061745643616, + -0.07987895607948303, + 0.9683911204338074, + -0.12287029320867653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.1475183516740799, + -0.2223912924528122, + -0.06520029248144384 + ], + [ + 0.1605565994977951, + 0.9861482381820679, + 0.041632238775491714, + 0.04046607988639774 + ], + [ + 0.21316926181316376, + -0.07582873106002808, + 0.9740682244300842, + -0.12191209681013711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.1638677418231964, + -0.20116622745990753, + -0.05727738397052656 + ], + [ + 0.1746748685836792, + 0.9839277863502502, + 0.037077896296978, + 0.038449430140929344 + ], + [ + 0.19185717403888702, + -0.07094679027795792, + 0.9788551330566406, + -0.12134025568763415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.17610272765159607, + -0.1806613802909851, + -0.05031437707635074 + ], + [ + 0.18486613035202026, + 0.9822182655334473, + 0.03273899108171463, + 0.03744894615095905 + ], + [ + 0.17168349027633667, + -0.06507810205221176, + 0.9830003380775452, + -0.12221653974718517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.18913325667381287, + -0.16122466325759888, + -0.04206785085873728 + ], + [ + 0.19656822085380554, + 0.979989230632782, + 0.031337715685367584, + 0.03291644216475323 + ], + [ + 0.15207141637802124, + -0.062046147882938385, + 0.9864200949668884, + -0.1292214252245732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.19852980971336365, + -0.1449819803237915, + -0.035962932862532465 + ], + [ + 0.2046114206314087, + 0.9784380197525024, + 0.02816375158727169, + 0.03283033949824479 + ], + [ + 0.13626453280448914, + -0.056964434683322906, + 0.9890334010124207, + -0.1274816524523955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.20980796217918396, + -0.12796364724636078, + -0.028237343184713645 + ], + [ + 0.21499767899513245, + 0.9762121438980103, + 0.02803308144211769, + 0.02748023935108103 + ], + [ + 0.11903809756040573, + -0.05468526855111122, + 0.9913825988769531, + -0.14390766962916932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.970149576663971, + -0.21279112994670868, + -0.11631737649440765, + -0.02625479253693526 + ], + [ + 0.21684689819812775, + 0.9759286046028137, + 0.02325509488582611, + 0.03204285013370024 + ], + [ + 0.10856898128986359, + -0.047783978283405304, + 0.992939829826355, + -0.12658170461654664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897217, + -0.21740037202835083, + -0.10408660769462585, + -0.023335128678725336 + ], + [ + 0.22077131271362305, + 0.9750796556472778, + 0.021900998428463936, + 0.03084581081683819 + ], + [ + 0.09673145413398743, + -0.04423462599515915, + 0.9943270683288574, + -0.12813047227951196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.22146070003509521, + -0.09397425502538681, + -0.016823249889744665 + ], + [ + 0.22446614503860474, + 0.9742201566696167, + 0.02258334681391716, + 0.026957113875283132 + ], + [ + 0.0865502879023552, + -0.043014127761125565, + 0.9953184723854065, + -0.14105772342946796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9713939428329468, + -0.2210748940706253, + -0.08671591430902481, + -0.014072309230637361 + ], + [ + 0.2237585335969925, + 0.9743863940238953, + 0.022433090955018997, + 0.026020563158214598 + ], + [ + 0.07953541725873947, + -0.041194792836904526, + 0.9959805011749268, + -0.14243048788326929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.21781934797763824, + -0.08145803958177567, + -0.013287402689456954 + ], + [ + 0.22027860581874847, + 0.9751792550086975, + 0.02242249622941017, + 0.02535225365024346 + ], + [ + 0.07455214112997055, + -0.03975122049450874, + 0.9964244961738586, + -0.14250697205081964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.2119612991809845, + -0.0784216895699501, + -0.013871251798083656 + ], + [ + 0.21434932947158813, + 0.9764789938926697, + 0.023304712027311325, + 0.024283539058051556 + ], + [ + 0.07163744419813156, + -0.03951137140393257, + 0.996647834777832, + -0.1435089330547131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.20344486832618713, + -0.07777990400791168, + -0.015743212516491245 + ], + [ + 0.2058640420436859, + 0.9782768487930298, + 0.024379855021834373, + 0.023477803985787252 + ], + [ + 0.07113032042980194, + -0.03980662673711777, + 0.9966723918914795, + -0.14402234070321435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751465, + -0.19288700819015503, + -0.07931981980800629, + -0.018080835350048854 + ], + [ + 0.1953589916229248, + 0.9804229736328125, + 0.024610796943306923, + 0.02353614520950195 + ], + [ + 0.07301986217498779, + -0.03956543654203415, + 0.9965453743934631, + -0.14409761321850312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.18199658393859863, + -0.08247476816177368, + -0.021434277780035635 + ], + [ + 0.18456736207008362, + 0.982511043548584, + 0.024634940549731255, + 0.023244169411750937 + ], + [ + 0.07654890418052673, + -0.03936030715703964, + 0.9962886571884155, + -0.14512130732719714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1702432483434677, + -0.08704868704080582, + -0.025570220735847443 + ], + [ + 0.17297138273715973, + 0.9846154451370239, + 0.024766409769654274, + 0.02285946883324884 + ], + [ + 0.08149316161870956, + -0.03936639428138733, + 0.9958961606025696, + -0.14609416785976317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.15885408222675323, + -0.09249308705329895, + -0.03006414799736097 + ], + [ + 0.1617366224527359, + 0.9865297079086304, + 0.024503173306584358, + 0.022194369251911455 + ], + [ + 0.08735474944114685, + -0.03904515877366066, + 0.9954118132591248, + -0.1477067225254499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916687, + -0.14746220409870148, + -0.09873469173908234, + -0.03438088495252481 + ], + [ + 0.15045319497585297, + 0.9883372187614441, + 0.023524729534983635, + 0.022419051921520473 + ], + [ + 0.09411415457725525, + -0.03800627589225769, + 0.9948356747627258, + -0.14830208867788314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.13747529685497284, + -0.10522107034921646, + -0.03802300876913928 + ], + [ + 0.14056672155857086, + 0.9898151755332947, + 0.022515583783388138, + 0.021810326158490954 + ], + [ + 0.10105407983064651, + -0.036966193467378616, + 0.9941939115524292, + -0.14938866150302765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.12813040614128113, + -0.11093787103891373, + -0.04165577271427866 + ], + [ + 0.13122212886810303, + 0.991130530834198, + 0.021000951528549194, + 0.021334092987653534 + ], + [ + 0.10726305097341537, + -0.03525463491678238, + 0.9936054348945618, + -0.15061921166876951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.11832474917173386, + -0.11610306054353714, + -0.04537888428466953 + ], + [ + 0.12137790769338608, + 0.9924135804176331, + 0.01956387795507908, + 0.02078936414586173 + ], + [ + 0.11290735751390457, + -0.033385537564754486, + 0.9930444955825806, + -0.15143831768351743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.10830871760845184, + -0.12030729651451111, + -0.04917099268900024 + ], + [ + 0.11122792959213257, + 0.9936354756355286, + 0.0178004652261734, + 0.02038061101403501 + ], + [ + 0.11761365830898285, + -0.03094721958041191, + 0.992577075958252, + -0.15379503890872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.09908399730920792, + -0.12443291395902634, + -0.05314387617967069 + ], + [ + 0.10182847827672958, + 0.9946752786636353, + 0.015877142548561096, + 0.020386848140221375 + ], + [ + 0.12219717353582382, + -0.02834581583738327, + 0.9921010136604309, + -0.15462206951700724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.09001149982213974, + -0.1283700168132782, + -0.05669822649568575 + ], + [ + 0.09270647913217545, + 0.9955779910087585, + 0.015163253992795944, + 0.019539074927695795 + ], + [ + 0.1264374852180481, + -0.026876460760831833, + 0.9916104078292847, + -0.1573039068370803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614136, + -0.08049169927835464, + -0.13254374265670776, + -0.059683261741685076 + ], + [ + 0.08308481425046921, + 0.9964421391487122, + 0.01414218358695507, + 0.02023119509665884 + ], + [ + 0.13093385100364685, + -0.02498348243534565, + 0.9910762310028076, + -0.15917464611876725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773499, + -0.0703352764248848, + -0.13583122193813324, + -0.063010243842235 + ], + [ + 0.07289371639490128, + 0.9972421526908875, + 0.013948282226920128, + 0.020397958847192615 + ], + [ + 0.13447557389736176, + -0.023685382679104805, + 0.9906337857246399, + -0.15883676220591253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.060889843851327896, + -0.13881294429302216, + -0.06609250330326395 + ], + [ + 0.06331786513328552, + 0.9979069232940674, + 0.013138719834387302, + 0.02140606224982657 + ], + [ + 0.13772238790988922, + -0.021776240319013596, + 0.990231454372406, + -0.16019663773795478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.05374547094106674, + -0.1416022777557373, + -0.0686565340902561 + ], + [ + 0.05623587220907211, + 0.9983243346214294, + 0.013641752302646637, + 0.02076026381144666 + ], + [ + 0.14063182473182678, + -0.021447502076625824, + 0.9898296594619751, + -0.1604585936308926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.045408640056848526, + -0.14387789368629456, + -0.07168915014809524 + ], + [ + 0.0478987880051136, + 0.9987556338310242, + 0.013889262452721596, + 0.021240913294828856 + ], + [ + 0.14306816458702087, + -0.020621849223971367, + 0.9894979596138, + -0.160412354576282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.038164395838975906, + -0.1461172252893448, + -0.07434731545802366 + ], + [ + 0.04070153459906578, + 0.9990674257278442, + 0.014412548393011093, + 0.021192670194830142 + ], + [ + 0.14543090760707855, + -0.020194444805383682, + 0.989162266254425, + -0.16155536821127958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.03220750764012337, + -0.14786958694458008, + -0.07790099878787486 + ], + [ + 0.0347265787422657, + 0.9992918968200684, + 0.014485127292573452, + 0.021041981048054166 + ], + [ + 0.14729833602905273, + -0.019453296437859535, + 0.9889007806777954, + -0.1618553984623689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.988215982913971, + -0.029091212898492813, + -0.1502760350704193, + -0.0803443909646609 + ], + [ + 0.031473349779844284, + 0.9994134306907654, + 0.01349729299545288, + 0.021781173314994726 + ], + [ + 0.14979523420333862, + -0.01806792989373207, + 0.988551914691925, + -0.16142192284266155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.987951397895813, + -0.02778010256588459, + -0.1522507518529892, + -0.08304692235353413 + ], + [ + 0.03019012324512005, + 0.9994524717330933, + 0.013540053740143776, + 0.020702999572341257 + ], + [ + 0.15179122984409332, + -0.017973383888602257, + 0.9882491230964661, + -0.1618599781113812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.027334081009030342, + -0.1539868861436844, + -0.08674561755142662 + ], + [ + 0.02979983203113079, + 0.9994616508483887, + 0.01372696366161108, + 0.019793997957315453 + ], + [ + 0.15352876484394073, + -0.018146833404898643, + 0.9879775643348694, + -0.16289018166498243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.02814178727567196, + -0.15723510086536407, + -0.08901705089956523 + ], + [ + 0.030611323192715645, + 0.9994428157806396, + 0.013306012377142906, + 0.0203090013936162 + ], + [ + 0.15677304565906525, + -0.017948338761925697, + 0.9874715805053711, + -0.16228325814008712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/move_right/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8520924695d7132eedfba15fc591577b97e21a --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/move_right/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010043199872598052, + 0.005771652329713106, + 0.0030423040971414655 + ], + [ + 0.0011594925308600068, + 0.9996362328529358, + -0.026945147663354874, + 0.0011793994804959681 + ], + [ + -0.005742491688579321, + 0.026951376348733902, + 0.999620258808136, + 0.004807020981923447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295654, + -0.005417153239250183, + 0.013236249797046185, + 0.006506422709705483 + ], + [ + 0.005993630737066269, + 0.999017596244812, + -0.04390867426991463, + -0.0017917293374641583 + ], + [ + -0.01298538688570261, + 0.04398351535201073, + 0.9989478588104248, + 0.0038731311877759603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917786, + -0.023633664473891258, + 0.018150687217712402, + 0.010629434807178302 + ], + [ + 0.024496281519532204, + 0.9985045790672302, + -0.048873111605644226, + -0.005192664091308147 + ], + [ + -0.016968492418527603, + 0.04929602891206741, + 0.9986400604248047, + -0.0005400289127674813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04377982020378113, + 0.02065206505358219, + 0.013891261440311742 + ], + [ + 0.044819705188274384, + 0.9975928664207458, + -0.0529114305973053, + -0.01039271373142544 + ], + [ + -0.018285902217030525, + 0.05377501994371414, + 0.9983856081962585, + -0.0006591258299911124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056863486766815186, + 0.023121442645788193, + 0.01692664198195323 + ], + [ + 0.0581679567694664, + 0.9964825510978699, + -0.06032449007034302, + -0.014672912736861115 + ], + [ + -0.019609853625297546, + 0.0615556538105011, + 0.9979109764099121, + -0.0026733663697273303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.0669407993555069, + 0.027335239574313164, + 0.017724632691496458 + ], + [ + 0.06877684593200684, + 0.9949638843536377, + -0.07291490584611893, + -0.014661764425153916 + ], + [ + -0.022316595539450645, + 0.07460407167673111, + 0.9969635009765625, + -0.0031929043563417134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07772161066532135, + 0.03150692582130432, + 0.01809181417696751 + ], + [ + 0.08019189536571503, + 0.9930015206336975, + -0.08670175075531006, + -0.014701074704082094 + ], + [ + -0.02454782836139202, + 0.08892291784286499, + 0.9957359433174133, + -0.007350294671666164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08712751418352127, + 0.0332910530269146, + 0.018429037008402694 + ], + [ + 0.0900096669793129, + 0.9910994172096252, + -0.09808236360549927, + -0.01753073969266863 + ], + [ + -0.024449072778224945, + 0.10065130889415741, + 0.9946213364601135, + -0.010856273956596852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08894763141870499, + 0.03417264297604561, + 0.01775788083099402 + ], + [ + 0.0921560600399971, + 0.9898726940155029, + -0.1079784631729126, + -0.020589267920989255 + ], + [ + -0.02422213740646839, + 0.11063636839389801, + 0.9935657382011414, + -0.017582135282170314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08436749130487442, + 0.03339671716094017, + 0.01935620008943937 + ], + [ + 0.08777566999197006, + 0.9890100955963135, + -0.11897231638431549, + -0.021996648074724734 + ], + [ + -0.022992298007011414, + 0.1214129626750946, + 0.9923357367515564, + -0.02108303213921877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.079302579164505, + 0.03451511636376381, + 0.019843383477284357 + ], + [ + 0.08318085968494415, + 0.9878548979759216, + -0.13123910129070282, + -0.0239529146375055 + ], + [ + -0.02368832752108574, + 0.1336183398962021, + 0.990749716758728, + -0.023586119464638396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07875555753707886, + 0.035701934248209, + 0.02389986805426769 + ], + [ + 0.0831107646226883, + 0.9860875010490417, + -0.14395850896835327, + -0.02937972500729255 + ], + [ + -0.023867696523666382, + 0.1463865339756012, + 0.9889394640922546, + -0.028831947900545902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177673, + -0.09256604313850403, + 0.03465414047241211, + 0.045768579840660094 + ], + [ + 0.09669160842895508, + 0.9843844771385193, + -0.14709854125976562, + -0.047054413788848455 + ], + [ + -0.020496666431427002, + 0.14972901344299316, + 0.9885146021842957, + -0.09483502374755012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09307864308357239, + 0.03840361535549164, + 0.048608020215462414 + ], + [ + 0.0980973094701767, + 0.9820225238800049, + -0.16127224266529083, + -0.048912973542753445 + ], + [ + -0.022702213376760483, + 0.164219930768013, + 0.9861624836921692, + -0.09684771411757694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08639077842235565, + 0.04321001097559929, + 0.049053518626934446 + ], + [ + 0.09261272847652435, + 0.9806010127067566, + -0.17275570333003998, + -0.04764795886018337 + ], + [ + -0.027447279542684555, + 0.17594967782497406, + 0.9840164184570312, + -0.10440583390971789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07420744001865387, + 0.04774467647075653, + 0.04837554851148883 + ], + [ + 0.08167071640491486, + 0.9801908135414124, + -0.1804323047399521, + -0.048393610807565546 + ], + [ + -0.0334094762802124, + 0.18362782895565033, + 0.9824279546737671, + -0.10808908055480729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06434112787246704, + 0.05213944986462593, + 0.047424979985524446 + ], + [ + 0.07303920388221741, + 0.9796071648597717, + -0.1871766448020935, + -0.048124160547541754 + ], + [ + -0.03903302177786827, + 0.19034191966056824, + 0.9809415936470032, + -0.1063308384667477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05821879208087921, + 0.054883211851119995, + 0.05030084470143685 + ], + [ + 0.06763423979282379, + 0.9795976877212524, + -0.18924580514431, + -0.052807717999586695 + ], + [ + -0.04274580627679825, + 0.1923510879278183, + 0.980394721031189, + -0.10056184719388302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.051942091435194016, + 0.05863000079989433, + 0.051962578392181644 + ], + [ + 0.062262121587991714, + 0.9796562790870667, + -0.190779909491539, + -0.05662538939211358 + ], + [ + -0.0475277416408062, + 0.19384418427944183, + 0.9798803925514221, + -0.09726972006993671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.05063077434897423, + 0.06381705403327942, + 0.049813608965303145 + ], + [ + 0.06216574087738991, + 0.9789945483207703, + -0.19417811930179596, + -0.056296541872951716 + ], + [ + -0.052645161747932434, + 0.19749997556209564, + 0.9788882732391357, + -0.09940389862172624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04961514472961426, + 0.06491951644420624, + 0.050590910189426866 + ], + [ + 0.06151943653821945, + 0.9785534739494324, + -0.1965920627117157, + -0.05859187414439825 + ], + [ + -0.05377327278256416, + 0.19992852210998535, + 0.9783337712287903, + -0.09525775074099119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04558997601270676, + 0.06412158906459808, + 0.05196611220255876 + ], + [ + 0.057594262063503265, + 0.9781025052070618, + -0.19999592006206512, + -0.060254612405840145 + ], + [ + -0.053599677979946136, + 0.20306901633739471, + 0.9776962995529175, + -0.09251660966338256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607544, + -0.03938813880085945, + 0.06819803267717361, + 0.0467287901056628 + ], + [ + 0.052565593272447586, + 0.977608323097229, + -0.2037617564201355, + -0.062061128601368164 + ], + [ + -0.05864516645669937, + 0.2067137360572815, + 0.9766423106193542, + -0.10156871156496369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.04150507599115372, + 0.06588971614837646, + 0.05055758592027884 + ], + [ + 0.05446356534957886, + 0.9763911962509155, + -0.2090309113264084, + -0.05845136856421446 + ], + [ + -0.05565829947590828, + 0.21198473870754242, + 0.9756867289543152, + -0.08293806593387555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03953487426042557, + 0.06778249144554138, + 0.04805001278973033 + ], + [ + 0.05318856239318848, + 0.9755423069000244, + -0.21327950060367584, + -0.057386523160414815 + ], + [ + -0.05769271031022072, + 0.21622709929943085, + 0.9746370315551758, + -0.072922516367438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.034961801022291183, + 0.07318919152021408, + 0.040206438385778004 + ], + [ + 0.05014246329665184, + 0.9748436808586121, + -0.21717625856399536, + -0.05759014292723603 + ], + [ + -0.06375514715909958, + 0.2201305627822876, + 0.9733847379684448, + -0.06962375765045484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03524046018719673, + 0.07438088953495026, + 0.038193056875696546 + ], + [ + 0.05080832168459892, + 0.974373459815979, + -0.2191229611635208, + -0.05782327335327864 + ], + [ + -0.06475277245044708, + 0.22215865552425385, + 0.9728579521179199, + -0.06038708555010649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.03681790083646774, + 0.07488847523927689, + 0.037582857734881917 + ], + [ + 0.05266831815242767, + 0.9735798835754395, + -0.22218969464302063, + -0.056156019955618766 + ], + [ + -0.06472935527563095, + 0.22535893321037292, + 0.9721231460571289, + -0.05305642935837436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017395, + -0.03757404536008835, + 0.07595515251159668, + 0.03495801782442464 + ], + [ + 0.053659066557884216, + 0.9734908938407898, + -0.2223425805568695, + -0.060048401126494774 + ], + [ + -0.06558734178543091, + 0.22561851143836975, + 0.9720054268836975, + -0.04802130021345921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.039605412632226944, + 0.0693020299077034, + 0.04856541485358508 + ], + [ + 0.05432456359267235, + 0.972733736038208, + -0.2254725694656372, + -0.05812336165362444 + ], + [ + -0.058482490479946136, + 0.22851794958114624, + 0.9717815518379211, + -0.03793938582142194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.996643602848053, + -0.03472062572836876, + 0.07413497567176819, + 0.03685183154466825 + ], + [ + 0.050829771906137466, + 0.9723463654518127, + -0.2279449999332428, + -0.06009467824433858 + ], + [ + -0.0641704797744751, + 0.23094817996025085, + 0.9708476066589355, + -0.03777062452247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04096035286784172, + 0.07396215945482254, + 0.03770501531151116 + ], + [ + 0.057165201753377914, + 0.9709324836730957, + -0.23242676258087158, + -0.05604925216135816 + ], + [ + -0.062291987240314484, + 0.2358226180076599, + 0.9697976112365723, + -0.03451436540891981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.030447332188487053, + 0.07498908042907715, + 0.030250704546387383 + ], + [ + 0.04709552973508835, + 0.9717099070549011, + -0.23143444955348969, + -0.06671628293891747 + ], + [ + -0.06582106649875641, + 0.23420687019824982, + 0.9699560403823853, + -0.03742416980556953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887695, + -0.03605753555893898, + 0.07364329695701599, + 0.033382280244149715 + ], + [ + 0.05283621326088905, + 0.9692109823226929, + -0.2404961884021759, + -0.054865675346336816 + ], + [ + -0.0627041906118393, + 0.24357736110687256, + 0.9678524136543274, + -0.03608663353400353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.027423828840255737, + 0.07060058414936066, + 0.03647790979753193 + ], + [ + 0.04404309391975403, + 0.9682877659797668, + -0.245924711227417, + -0.05480729909534128 + ], + [ + -0.06161748245358467, + 0.24832779169082642, + 0.9667143225669861, + -0.024894531458043136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.02494669333100319, + 0.07098055630922318, + 0.031674163931837446 + ], + [ + 0.04198500141501427, + 0.9673789739608765, + -0.249830424785614, + -0.05715910098873652 + ], + [ + -0.062432654201984406, + 0.25210243463516235, + 0.9656844735145569, + -0.023634334624959872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.022420700639486313, + 0.0718754455447197, + 0.029005900200488224 + ], + [ + 0.040134165436029434, + 0.9659827947616577, + -0.2554730474948883, + -0.05253005342828667 + ], + [ + -0.06370256096124649, + 0.2576325833797455, + 0.964140772819519, + -0.032937519351004536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188293, + -0.018108654767274857, + 0.07375975698232651, + 0.02247723221189828 + ], + [ + 0.03651212900876999, + 0.9658660292625427, + -0.25645601749420166, + -0.05709050605312372 + ], + [ + -0.06659797579050064, + 0.25840842723846436, + 0.963737428188324, + -0.040864029698646984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.019618939608335495, + 0.06999560445547104, + 0.028977177043755853 + ], + [ + 0.037083908915519714, + 0.9654900431632996, + -0.25778627395629883, + -0.06164936870336533 + ], + [ + -0.06252256780862808, + 0.2597000002861023, + 0.9636632204055786, + -0.03583330375452837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.02203492261469364, + 0.06698434054851532, + 0.031308809820658125 + ], + [ + 0.038790106773376465, + 0.9647510647773743, + -0.26028966903686523, + -0.05786369053217081 + ], + [ + -0.058887749910354614, + 0.26224005222320557, + 0.9632042050361633, + -0.040931555259431526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.025051329284906387, + 0.06388658285140991, + 0.03368869065983683 + ], + [ + 0.0407622866332531, + 0.9652762413024902, + -0.25803136825561523, + -0.061726422768691155 + ], + [ + -0.05520417541265488, + 0.26002728939056396, + 0.9640219211578369, + -0.05478034505668359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.028435396030545235, + 0.06179877370595932, + 0.03155448308739907 + ], + [ + 0.04351149871945381, + 0.9650570750236511, + -0.2584019601345062, + -0.05933537130745558 + ], + [ + -0.05229157954454422, + 0.26049235463142395, + 0.9640587568283081, + -0.06395486969596301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.026608727872371674, + 0.05980280041694641, + 0.028444335248289456 + ], + [ + 0.041225872933864594, + 0.9651437401771545, + -0.25845301151275635, + -0.05643381735899 + ], + [ + -0.05084118992090225, + 0.2603641748428345, + 0.9641709923744202, + -0.0675804571304311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03089982084929943, + 0.053920429199934006, + 0.027256115648545264 + ], + [ + 0.04373984783887863, + 0.9656163454055786, + -0.25626519322395325, + -0.0564482730996405 + ], + [ + -0.044147904962301254, + 0.2581283152103424, + 0.965101420879364, + -0.0666337413347175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03488101065158844, + 0.04706127941608429, + 0.024522728537424255 + ], + [ + 0.045669130980968475, + 0.9665557742118835, + -0.25235751271247864, + -0.055708538311032146 + ], + [ + -0.03668486326932907, + 0.2540734112262726, + 0.9664889574050903, + -0.06332364434806201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03776445984840393, + 0.038437116891145706, + 0.021780138920483173 + ], + [ + 0.0461643785238266, + 0.9674650430679321, + -0.24875743687152863, + -0.052309120128042674 + ], + [ + -0.027792375534772873, + 0.2501704692840576, + 0.9678028225898743, + -0.06055662257867491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04203120619058609, + 0.029186103492975235, + 0.016818527740418403 + ], + [ + 0.04788491129875183, + 0.9687319993972778, + -0.24344474077224731, + -0.04967633339329663 + ], + [ + -0.01804123818874359, + 0.24452337622642517, + 0.9694755673408508, + -0.05680847571701066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271545, + -0.04421382397413254, + 0.019324898719787598, + 0.011344247368665846 + ], + [ + 0.04755266755819321, + 0.9699230194091797, + -0.23872177302837372, + -0.0457509886377897 + ], + [ + -0.008188864216208458, + 0.23936264216899872, + 0.9708957076072693, + -0.053237024331704165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04726714268326759, + 0.008033093996345997, + 0.008007245214703761 + ], + [ + 0.047837208956480026, + 0.9712949395179749, + -0.23301881551742554, + -0.04401474078782858 + ], + [ + 0.003211629344150424, + 0.2331351339817047, + 0.9724390506744385, + -0.04890764937029642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.048086944967508316, + -0.002156302332878113, + 0.005513658571956508 + ], + [ + 0.046333786100149155, + 0.9726343154907227, + -0.22767460346221924, + -0.04179639985355047 + ], + [ + 0.013045470230281353, + 0.22731077671051025, + 0.9737348556518555, + -0.048338956338886775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061279, + -0.046852003782987595, + -0.013223135843873024, + 0.009574208972163694 + ], + [ + 0.04276834800839424, + 0.9742439985275269, + -0.22140346467494965, + -0.042536001953368006 + ], + [ + 0.023255756124854088, + 0.22057540714740753, + 0.9750926494598389, + -0.05464199862848872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04715019091963768, + -0.020617427304387093, + 0.006694100259078878 + ], + [ + 0.04158389940857887, + 0.9754133224487305, + -0.21642473340034485, + -0.04189472413725323 + ], + [ + 0.030314980074763298, + 0.21528062224388123, + 0.9760816097259521, + -0.0531866442412138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.046040020883083344, + -0.02804003469645977, + 0.009023631526491584 + ], + [ + 0.03913160413503647, + 0.9768373966217041, + -0.21037447452545166, + -0.042953181518321365 + ], + [ + 0.0370761975646019, + 0.2089713215827942, + 0.9772186875343323, + -0.05897985262175401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04606097564101219, + -0.03358866646885872, + 0.00942038382188632 + ], + [ + 0.03823528811335564, + 0.978065550327301, + -0.204757958650589, + -0.042417985286850195 + ], + [ + 0.04228327050805092, + 0.20314070582389832, + 0.9782361388206482, + -0.06239332754451495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622803, + -0.04786644130945206, + -0.03947734832763672, + 0.010160991332979288 + ], + [ + 0.03909345716238022, + 0.9792292714118958, + -0.1989516168832779, + -0.03951519917155433 + ], + [ + 0.0481804758310318, + 0.19702498614788055, + 0.9792138934135437, + -0.06289287303120662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.997665524482727, + -0.05180840939283371, + -0.04449084773659706, + 0.010484588284714106 + ], + [ + 0.0423891544342041, + 0.9806056618690491, + -0.19135227799415588, + -0.0355608798054039 + ], + [ + 0.0535416342318058, + 0.18901965022087097, + 0.9805125594139099, + -0.06421197720317759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.056758083403110504, + -0.04876594990491867, + 0.011166850071495926 + ], + [ + 0.0469999760389328, + 0.982166051864624, + -0.18204638361930847, + -0.030139952802505247 + ], + [ + 0.05822886526584625, + 0.17924398183822632, + 0.9820799231529236, + -0.06747321178897833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144043, + -0.061164163053035736, + -0.05301344022154808, + 0.011743569354980426 + ], + [ + 0.05142729729413986, + 0.9843155145645142, + -0.16875486075878143, + -0.028854098234675888 + ], + [ + 0.06250370293855667, + 0.1654748171567917, + 0.9842313528060913, + -0.06885293065610094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06664244085550308, + -0.0575336217880249, + 0.013492848060260989 + ], + [ + 0.056910090148448944, + 0.9859931468963623, + -0.1567760407924652, + -0.021766905117238687 + ], + [ + 0.06717569380998611, + 0.15289300680160522, + 0.9859569668769836, + -0.06730397226782436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06931956112384796, + -0.061401091516017914, + 0.01504271673277403 + ], + [ + 0.05990174412727356, + 0.9877932071685791, + -0.14379283785820007, + -0.015461655954519907 + ], + [ + 0.07061923295259476, + 0.13949695229530334, + 0.9877011179924011, + -0.06736071637043586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.0695200189948082, + -0.06400157511234283, + 0.014620305355797471 + ], + [ + 0.06083834916353226, + 0.9897998571395874, + -0.12882152199745178, + -0.013607321935904842 + ], + [ + 0.07230442762374878, + 0.12435134500265121, + 0.9896003007888794, + -0.0669088848380961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06904090940952301, + -0.0674002468585968, + 0.016022291042420093 + ], + [ + 0.06089574098587036, + 0.9913562536239624, + -0.11620894074440002, + -0.008648435932257746 + ], + [ + 0.07484082877635956, + 0.11156237125396729, + 0.9909352660179138, + -0.06412647909078842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740051, + -0.0688813105225563, + -0.06971269845962524, + 0.017204705496820124 + ], + [ + 0.061374958604574203, + 0.9926167726516724, + -0.10461846739053726, + -0.003087511357779686 + ], + [ + 0.07640424370765686, + 0.09983623772859573, + 0.9920660853385925, + -0.0626579904785523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06817160546779633, + -0.07074913382530212, + 0.017019402759515835 + ], + [ + 0.061275944113731384, + 0.9935474991798401, + -0.09543921798467636, + 0.0034718091094181835 + ], + [ + 0.07679887115955353, + 0.09064225107431412, + 0.9929178953170776, + -0.059046313803420104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.0672144666314125, + -0.07272934168577194, + 0.018425278469092317 + ], + [ + 0.060706935822963715, + 0.9942457675933838, + -0.08826125413179398, + 0.009995563783579402 + ], + [ + 0.07824327796697617, + 0.08341220766305923, + 0.9934386610984802, + -0.05221014035244783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06683296710252762, + -0.07361272722482681, + 0.019536260228890646 + ], + [ + 0.06083381921052933, + 0.994861900806427, + -0.0809260830283165, + 0.014084921949184858 + ], + [ + 0.07864303141832352, + 0.07604695111513138, + 0.9939980506896973, + -0.04829229951286927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.0678880587220192, + -0.07447841018438339, + 0.020921397954225547 + ], + [ + 0.062438614666461945, + 0.9953603148460388, + -0.07320692390203476, + 0.016242247904276745 + ], + [ + 0.07910273224115372, + 0.06818390637636185, + 0.9945319294929504, + -0.045433970461161724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.069198839366436, + -0.07591947913169861, + 0.022275281559007293 + ], + [ + 0.06413831561803818, + 0.9956768751144409, + -0.06718528270721436, + 0.020546777243924955 + ], + [ + 0.0802404135465622, + 0.06196051836013794, + 0.9948478937149048, + -0.041366120918184264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.0705689936876297, + -0.07807497680187225, + 0.024577549331558823 + ], + [ + 0.06591843068599701, + 0.9959818124771118, + -0.06062209978699684, + 0.023547407392507946 + ], + [ + 0.08203929662704468, + 0.05513886734843254, + 0.9951026439666748, + -0.03813500249615082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07169889658689499, + -0.07908991724252701, + 0.02526179648155713 + ], + [ + 0.06750068813562393, + 0.996227502822876, + -0.054538484662771225, + 0.025436089031844057 + ], + [ + 0.0827018991112709, + 0.04888821020722389, + 0.9953745007514954, + -0.033772695013600536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.07499485462903976, + -0.07985445111989975, + 0.026545697659588398 + ], + [ + 0.07123138755559921, + 0.996256411075592, + -0.048981986939907074, + 0.02754129470986688 + ], + [ + 0.08322890847921371, + 0.04299904406070709, + 0.9956023693084717, + -0.03031776528646294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554321, + -0.07863131165504456, + -0.07973217219114304, + 0.02686954329076868 + ], + [ + 0.07529625296592712, + 0.996189534664154, + -0.04401031881570816, + 0.02896046770306734 + ], + [ + 0.08288893848657608, + 0.03772997111082077, + 0.995844304561615, + -0.026860579705009095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933647513389587, + -0.08295077830553055, + -0.07965943962335587, + 0.02778087517358045 + ], + [ + 0.07997908443212509, + 0.9960015416145325, + -0.03980320692062378, + 0.03072723123189221 + ], + [ + 0.08264263719320297, + 0.033168017864227295, + 0.9960271716117859, + -0.02399302596847216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.08643079549074173, + -0.079750657081604, + 0.02748990650885763 + ], + [ + 0.08376192301511765, + 0.9958269000053406, + -0.03623088449239731, + 0.03260422373811404 + ], + [ + 0.0825493186712265, + 0.029299400746822357, + 0.9961562156677246, + -0.020256065252499702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770325, + -0.08973576873540878, + -0.08051719516515732, + 0.02799607762613167 + ], + [ + 0.08739734441041946, + 0.9956555962562561, + -0.032118503004312515, + 0.033861613187652365 + ], + [ + 0.08304957300424576, + 0.024847231805324554, + 0.9962356090545654, + -0.018564376406944715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.09170776605606079, + -0.08202848583459854, + 0.028320423875831897 + ], + [ + 0.08968321979045868, + 0.995575487613678, + -0.028041932731866837, + 0.034652909878482165 + ], + [ + 0.08423721045255661, + 0.02047228068113327, + 0.9962354302406311, + -0.016856927099900366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022949, + -0.09405223280191422, + -0.08429194986820221, + 0.028854551667777402 + ], + [ + 0.09240105003118515, + 0.9954494833946228, + -0.02328922040760517, + 0.03540995612931557 + ], + [ + 0.08609877526760101, + 0.015314066782593727, + 0.9961689114570618, + -0.013997512339399412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024902, + -0.09507060796022415, + -0.08720631897449493, + 0.029433941747993235 + ], + [ + 0.09367165714502335, + 0.9954021573066711, + -0.020005470141768456, + 0.039330518990755084 + ], + [ + 0.08870728313922882, + 0.01166953332722187, + 0.9959893822669983, + -0.010656506444017092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.09544503688812256, + -0.08839315921068192, + 0.027992144654481077 + ], + [ + 0.0944184809923172, + 0.995408296585083, + -0.01573241874575615, + 0.041566076046890686 + ], + [ + 0.08948885649442673, + 0.007252783980220556, + 0.9959614276885986, + -0.008792308019076147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.09536831825971603, + -0.0915817841887474, + 0.029895957503627002 + ], + [ + 0.09469663351774216, + 0.9954378604888916, + -0.011661822907626629, + 0.04337108348551978 + ], + [ + 0.09227614849805832, + 0.0028869500383734703, + 0.9957292675971985, + -0.006890615066274619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.09652624279260635, + -0.09105435758829117, + 0.02695777396886395 + ], + [ + 0.0962834283709526, + 0.9953289031982422, + -0.007065927609801292, + 0.04435410084059605 + ], + [ + 0.09131107479333878, + -0.0017635824624449015, + 0.9958208799362183, + -0.004420091612980915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.09647815674543381, + -0.09241335839033127, + 0.02701232988689828 + ], + [ + 0.09662140160799026, + 0.9953168630599976, + -0.0029333564452826977, + 0.04533315730145854 + ], + [ + 0.0922635868191719, + -0.0060220458544790745, + 0.995716392993927, + -0.0022694588041840447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.09635921567678452, + -0.09481746703386307, + 0.027610671116660046 + ], + [ + 0.09692727774381638, + 0.9952905178070068, + 0.0013931263238191605, + 0.04570788946480323 + ], + [ + 0.09423667937517166, + -0.010570736601948738, + 0.9954937100410461, + 0.0019201144989993845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.0948014110326767, + -0.09748154133558273, + 0.02853144906365719 + ], + [ + 0.0958503782749176, + 0.9953769445419312, + 0.0061239511705935, + 0.04412789308489897 + ], + [ + 0.0964503213763237, + -0.015410713851451874, + 0.9952185153961182, + 0.005674919778576646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.09554288536310196, + -0.09889417141675949, + 0.027021893443396464 + ], + [ + 0.0968770906329155, + 0.9952577352523804, + 0.008767124265432358, + 0.04662287609381044 + ], + [ + 0.09758754819631577, + -0.018264420330524445, + 0.9950593113899231, + 0.008817332617651958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.09555571526288986, + -0.1013667955994606, + 0.027333734561808598 + ], + [ + 0.09731114655733109, + 0.9951754212379456, + 0.012505126185715199, + 0.04660625967841882 + ], + [ + 0.09968281537294388, + -0.022247314453125, + 0.9947705268859863, + 0.011853803692656196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.09563429653644562, + -0.10289280861616135, + 0.02578363419534304 + ], + [ + 0.09764714539051056, + 0.9951125979423523, + 0.01469507347792387, + 0.04846568063665659 + ], + [ + 0.10098458081483841, + -0.024596549570560455, + 0.9945839047431946, + 0.014350860059643403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.09531968086957932, + -0.10433410853147507, + 0.023909248322503185 + ], + [ + 0.09759130328893661, + 0.9950834512710571, + 0.016876792535185814, + 0.049539800905264345 + ], + [ + 0.10221245139837265, + -0.026889516040682793, + 0.9943990707397461, + 0.017126261540011973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.09422576427459717, + -0.10631398856639862, + 0.02296660018081849 + ], + [ + 0.09672302007675171, + 0.9951380491256714, + 0.018571535125374794, + 0.050697618716547634 + ], + [ + 0.10404717922210693, + -0.028666192665696144, + 0.9941591620445251, + 0.018881244756854498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622742, + -0.0927882194519043, + -0.10825425386428833, + 0.021868132484646946 + ], + [ + 0.09555050730705261, + 0.9952113032341003, + 0.020603543147444725, + 0.051478674778571494 + ], + [ + 0.10582409799098969, + -0.03073679469525814, + 0.9939097166061401, + 0.01989342129001251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9896503686904907, + -0.0917322188615799, + -0.11035078763961792, + 0.020396615192294125 + ], + [ + 0.09473170340061188, + 0.9952543377876282, + 0.022241652011871338, + 0.053594224486086105 + ], + [ + 0.10778681933879852, + -0.03246517479419708, + 0.9936438202857971, + 0.020487889606091714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754456, + -0.09037180989980698, + -0.11118438839912415, + 0.01732520008634808 + ], + [ + 0.09365765005350113, + 0.995298445224762, + 0.024683302268385887, + 0.055038645526028086 + ], + [ + 0.10843096673488617, + -0.03484189510345459, + 0.9934931993484497, + 0.02054794919478078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.09128565341234207, + -0.10880491137504578, + 0.014589643163176687 + ], + [ + 0.0950760468840599, + 0.9950129389762878, + 0.030162647366523743, + 0.05095131037135919 + ], + [ + 0.10550887882709503, + -0.04020162671804428, + 0.9936054348945618, + 0.0012966283155270882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724731, + -0.0911080613732338, + -0.11110899597406387, + 0.013732665509749685 + ], + [ + 0.09525392204523087, + 0.9949195981025696, + 0.032583244144916534, + 0.054051332398612276 + ], + [ + 0.1075759157538414, + -0.04282870143651962, + 0.993273913860321, + 0.0056397081233370006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.09012183547019958, + -0.11706908047199249, + 0.014991581360371715 + ], + [ + 0.09481452405452728, + 0.9948744773864746, + 0.03514283895492554, + 0.058397250775343336 + ], + [ + 0.11330190300941467, + -0.045857034623622894, + 0.9925017952919006, + 0.02540053232994854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.09003256261348724, + -0.11436064541339874, + 0.012237242867167188 + ], + [ + 0.09521777927875519, + 0.9946237802505493, + 0.040707141160964966, + 0.05444544676022652 + ], + [ + 0.11008085310459137, + -0.05116282403469086, + 0.9926049709320068, + 0.007847982025347078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.09317120909690857, + -0.11693821847438812, + 0.010651860704534083 + ], + [ + 0.09878641366958618, + 0.9941719770431519, + 0.04316605255007744, + 0.05957194098040589 + ], + [ + 0.11223486065864563, + -0.05423273518681526, + 0.9922006726264954, + 0.016230074126814674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9884978532791138, + -0.09257038682699203, + -0.11959405243396759, + 0.011298943670769036 + ], + [ + 0.09880081564188004, + 0.9939848184585571, + 0.04725014045834541, + 0.058189293124482164 + ], + [ + 0.11450071632862091, + -0.058522652834653854, + 0.9916979074478149, + 0.02276906879921245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444946, + -0.09110705554485321, + -0.11785479635000229, + 0.007610594653166269 + ], + [ + 0.09744705259799957, + 0.994024395942688, + 0.049189068377017975, + 0.0595920269879011 + ], + [ + 0.11266907304525375, + -0.060124851763248444, + 0.9918118119239807, + 0.014045940411205476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.09047552943229675, + -0.11960691213607788, + 0.009573909748568504 + ], + [ + 0.09737388789653778, + 0.9938284158706665, + 0.05313626676797867, + 0.05673564731692657 + ], + [ + 0.11406120657920837, + -0.06418189406394958, + 0.9913983941078186, + 0.008367784285488039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.09348472207784653, + -0.12423595041036606, + 0.010438675745430163 + ], + [ + 0.10086613148450851, + 0.9934059977531433, + 0.054502878338098526, + 0.06094771974807621 + ], + [ + 0.11832154542207718, + -0.06637126952409744, + 0.9907547235488892, + 0.024934144305367757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.09305234998464584, + -0.12582187354564667, + 0.01033124856841871 + ], + [ + 0.10070245712995529, + 0.9933472275733948, + 0.05586007609963417, + 0.061879175691268384 + ], + [ + 0.11978689581155777, + -0.06784240901470184, + 0.9904789328575134, + 0.030375178473500106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.09121833741664886, + -0.12577815353870392, + 0.010388001035421333 + ], + [ + 0.09902217984199524, + 0.9934374094009399, + 0.057243041694164276, + 0.061332930599012944 + ], + [ + 0.119731105864048, + -0.06900269538164139, + 0.9904054999351501, + 0.028815892185920323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685181, + -0.09039635956287384, + -0.12600620090961456, + 0.009909578909476607 + ], + [ + 0.09821051359176636, + 0.9935184121131897, + 0.057234786450862885, + 0.06353480021158854 + ], + [ + 0.12001567333936691, + -0.06891750544309616, + 0.9903770089149475, + 0.03233884742690457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133423, + -0.09025000780820847, + -0.12632746994495392, + 0.01160615462905322 + ], + [ + 0.09827960282564163, + 0.9934183955192566, + 0.05883049964904785, + 0.06239071330771996 + ], + [ + 0.12018658220767975, + -0.07053257524967194, + 0.9902425408363342, + 0.029471876481786754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.0910235345363617, + -0.12735259532928467, + 0.015387922130588795 + ], + [ + 0.09938836097717285, + 0.9931811690330505, + 0.06093505769968033, + 0.05980923103216367 + ], + [ + 0.12093768268823624, + -0.07284121960401535, + 0.9899839758872986, + 0.02288831856706713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.1056254431605339, + -0.1236414983868599, + 0.004951368514289206 + ], + [ + 0.11176148802042007, + 0.9927705526351929, + 0.04377209022641182, + 0.0970854646852638 + ], + [ + 0.11812419444322586, + -0.057007815688848495, + 0.9913610816001892, + 0.026748343337422764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.11250335723161697, + -0.13109606504440308, + 0.01613492495738543 + ], + [ + 0.11918199807405472, + 0.9918863773345947, + 0.044239342212677, + 0.09958257136436609 + ], + [ + 0.12505531311035156, + -0.05919851362705231, + 0.9903820753097534, + 0.027156602161434982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636597, + -0.11088694632053375, + -0.13320301473140717, + 0.020299778582576 + ], + [ + 0.11870886385440826, + 0.9915525317192078, + 0.05226680636405945, + 0.08504757637269476 + ], + [ + 0.12628208100795746, + -0.06728817522525787, + 0.9897096157073975, + 0.012268580185074329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.10610239207744598, + -0.13848407566547394, + 0.028025184750047512 + ], + [ + 0.1153840571641922, + 0.9914590716362, + 0.06078978255391121, + 0.06775519926833291 + ], + [ + 0.13085134327411652, + -0.07583639770746231, + 0.988497257232666, + 0.0006191047648779861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.10311172902584076, + -0.14245112240314484, + 0.03300365124566433 + ], + [ + 0.11378641426563263, + 0.9911117553710938, + 0.06892167031764984, + 0.052610675474772085 + ], + [ + 0.13407833874225616, + -0.08405661582946777, + 0.9873993396759033, + -0.007985316551266572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.10613180696964264, + -0.14284540712833405, + 0.02736208184152588 + ], + [ + 0.11666357517242432, + 0.9908770322799683, + 0.06747051328420639, + 0.05923590102256873 + ], + [ + 0.1343814581632614, + -0.0830584242939949, + 0.9874426126480103, + -0.017513407846419218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.10455378890037537, + -0.14430680871009827, + 0.022545592018809082 + ], + [ + 0.11519041657447815, + 0.9910532236099243, + 0.06741401553153992, + 0.06238332711733305 + ], + [ + 0.13596734404563904, + -0.08295774459838867, + 0.9872339367866516, + -0.021182258513111334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.10444070398807526, + -0.14927938580513, + 0.03289832246418183 + ], + [ + 0.11634883284568787, + 0.9904941916465759, + 0.0733771026134491, + 0.05307766563999347 + ], + [ + 0.1401968002319336, + -0.08951753377914429, + 0.9860687255859375, + -0.03564723898202945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809753, + -0.10444523394107819, + -0.15275369584560394, + 0.03543487644125509 + ], + [ + 0.11693863570690155, + 0.9902874231338501, + 0.07520769536495209, + 0.05259275560577711 + ], + [ + 0.14341498911380768, + -0.09177164733409882, + 0.9853984713554382, + -0.03963255356901731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.10379937291145325, + -0.15568995475769043, + 0.035799069708993304 + ], + [ + 0.11653591692447662, + 0.9903490543365479, + 0.07502059638500214, + 0.0555477293765443 + ], + [ + 0.1464003026485443, + -0.09183898568153381, + 0.9849530458450317, + -0.04107200674012176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065002, + -0.10240726172924042, + -0.15848848223686218, + 0.03816371876746416 + ], + [ + 0.11551395058631897, + 0.9904093146324158, + 0.07580187171697617, + 0.05617939680814743 + ], + [ + 0.14920580387115479, + -0.0927477702498436, + 0.9844467639923096, + -0.041787607967853545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.10228833556175232, + -0.16093888878822327, + 0.04200979494609131 + ], + [ + 0.11631129682064056, + 0.9899656176567078, + 0.08024775236845016, + 0.051005022851829854 + ], + [ + 0.1511155664920807, + -0.09749417752027512, + 0.9836965799331665, + -0.04688084805623079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.10206608474254608, + -0.16337890923023224, + 0.04164273830560539 + ], + [ + 0.11675001680850983, + 0.9896928071975708, + 0.08293089270591736, + 0.049925932256329776 + ], + [ + 0.15323050320148468, + -0.10045203566551208, + 0.9830716252326965, + -0.04507336026837683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.10184565931558609, + -0.16516520082950592, + 0.04059893922068371 + ], + [ + 0.11711373180150986, + 0.9894329309463501, + 0.08548008650541306, + 0.04984547331547126 + ], + [ + 0.15471412241458893, + -0.10319850593805313, + 0.9825546145439148, + -0.04455653816843644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.10170579701662064, + -0.16763797402381897, + 0.03982743920487727 + ], + [ + 0.1176675483584404, + 0.9891297817230225, + 0.08818519860506058, + 0.05037973264280038 + ], + [ + 0.1568467617034912, + -0.10619892925024033, + 0.9818965792655945, + -0.04185007163602063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.10047782957553864, + -0.1694483458995819, + 0.03865037951618434 + ], + [ + 0.1170346736907959, + 0.9889762997627258, + 0.09071221947669983, + 0.05089019072106761 + ], + [ + 0.15846583247184753, + -0.10876592993736267, + 0.9813554883003235, + -0.0421044445126994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.098045215010643, + -0.16996802389621735, + 0.03248777616864596 + ], + [ + 0.11479306221008301, + 0.9891512989997864, + 0.09166397899389267, + 0.053288389035524464 + ], + [ + 0.15913687646389008, + -0.10939318686723709, + 0.9811771512031555, + -0.03723428293298452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.09745955467224121, + -0.1728684902191162, + 0.03659189914504433 + ], + [ + 0.11492407321929932, + 0.9889113903045654, + 0.09405716508626938, + 0.05251880815395942 + ], + [ + 0.16178485751152039, + -0.11205323785543442, + 0.9804436564445496, + -0.04017360214239511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.09616538882255554, + -0.1743066906929016, + 0.03563965365099602 + ], + [ + 0.11393052339553833, + 0.9889422655105591, + 0.09493681788444519, + 0.05350123657884761 + ], + [ + 0.16324961185455322, + -0.11289544403553009, + 0.9801041483879089, + -0.03841719050437976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035645, + -0.09488837420940399, + -0.17515265941619873, + 0.03436051598535135 + ], + [ + 0.11276309192180634, + 0.9890628457069397, + 0.0950743705034256, + 0.05446369269719491 + ], + [ + 0.16421553492546082, + -0.1129196435213089, + 0.9799399971961975, + -0.03782757761386724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.09463026374578476, + -0.17648129165172577, + 0.03356471284268759 + ], + [ + 0.1126355305314064, + 0.9890897274017334, + 0.09494620561599731, + 0.05591326014289999 + ], + [ + 0.16557104885578156, + -0.11290109157562256, + 0.979714035987854, + -0.036921417356556296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.09488288313150406, + -0.17737092077732086, + 0.03208328028583629 + ], + [ + 0.11293945461511612, + 0.9890859127044678, + 0.09462426602840424, + 0.057979465632611873 + ], + [ + 0.16645686328411102, + -0.11272227764129639, + 0.9795845150947571, + -0.037006638447443646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.0948750451207161, + -0.17863698303699493, + 0.03128841845079875 + ], + [ + 0.11332901567220688, + 0.988900363445282, + 0.09608621895313263, + 0.057379536798749214 + ], + [ + 0.16753800213336945, + -0.11434487998485565, + 0.9792120456695557, + -0.03683817950196755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860474, + -0.09527027606964111, + -0.1800309717655182, + 0.03068399905330605 + ], + [ + 0.114105224609375, + 0.9886906147003174, + 0.09731853753328323, + 0.05775562466846572 + ], + [ + 0.16872337460517883, + -0.11582087725400925, + 0.9788349866867065, + -0.03636667380730311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.09509126842021942, + -0.1814223676919937, + 0.030119571077008536 + ], + [ + 0.11435167491436005, + 0.9885132312774658, + 0.09881967306137085, + 0.05742237622029761 + ], + [ + 0.16994152963161469, + -0.11747035384178162, + 0.9784275889396667, + -0.036647510560404536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.0954979658126831, + -0.18299457430839539, + 0.02917276056340109 + ], + [ + 0.11483760178089142, + 0.9885226488113403, + 0.09815937280654907, + 0.06070708433787028 + ], + [ + 0.17152026295661926, + -0.11706013977527618, + 0.9782012701034546, + -0.03434532957199292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.09442396461963654, + -0.18489977717399597, + 0.029644261609412678 + ], + [ + 0.1141623705625534, + 0.9884998798370361, + 0.099171482026577, + 0.060174608307007035 + ], + [ + 0.17340925335884094, + -0.11811920255422592, + 0.9777408242225647, + -0.035314032161592415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.09225362539291382, + -0.18598614633083344, + 0.028552521510511394 + ], + [ + 0.11208336055278778, + 0.9887478947639465, + 0.0990702360868454, + 0.060651858316527474 + ], + [ + 0.1747538298368454, + -0.1177576333284378, + 0.9775450229644775, + -0.03641338182183412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.09108749777078629, + -0.18740954995155334, + 0.027851899369404874 + ], + [ + 0.11109723895788193, + 0.9888483881950378, + 0.09917785227298737, + 0.06088825415533323 + ], + [ + 0.1762857735157013, + -0.11782152950763702, + 0.9772621989250183, + -0.03629143908619881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.09031878411769867, + -0.1887170821428299, + 0.02803191927890493 + ], + [ + 0.11049221456050873, + 0.988909125328064, + 0.09924842417240143, + 0.06027981149844634 + ], + [ + 0.1776600331068039, + -0.11790375411510468, + 0.9770033955574036, + -0.03795847616389266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.09068617969751358, + -0.18996351957321167, + 0.02807271133184943 + ], + [ + 0.11101716011762619, + 0.9888496994972229, + 0.0992543026804924, + 0.05972887950384209 + ], + [ + 0.1788443922996521, + -0.11811961978673935, + 0.9767612218856812, + -0.039480182936048915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621643, + -0.09112417697906494, + -0.19134095311164856, + 0.02860103197968924 + ], + [ + 0.11153890192508698, + 0.988839864730835, + 0.09876619279384613, + 0.0595983603825936 + ], + [ + 0.1802055835723877, + -0.11786462366580963, + 0.9765418171882629, + -0.0413803899135345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.09132130444049835, + -0.19269326329231262, + 0.028832493531398294 + ], + [ + 0.11170653998851776, + 0.9889262914657593, + 0.09770605713129044, + 0.06024125002515622 + ], + [ + 0.181636780500412, + -0.11698395758867264, + 0.9763825535774231, + -0.04217720473041901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.09194756299257278, + -0.19426679611206055, + 0.02935495854825037 + ], + [ + 0.11235930770635605, + 0.9889426827430725, + 0.09678748995065689, + 0.06083603037728204 + ], + [ + 0.18321934342384338, + -0.11635323613882065, + 0.9761621952056885, + -0.04268636627711801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.09236060827970505, + -0.1952887624502182, + 0.02905869119060346 + ], + [ + 0.11276378482580185, + 0.9889675378799438, + 0.0960601419210434, + 0.0610283142576615 + ], + [ + 0.18426208198070526, + -0.11581338942050934, + 0.9760301113128662, + -0.043272203780137575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.09304553270339966, + -0.19625785946846008, + 0.029290278341907727 + ], + [ + 0.11348238587379456, + 0.988932192325592, + 0.09557624906301498, + 0.06074351427646784 + ], + [ + 0.1851927936077118, + -0.1155664399266243, + 0.9758831858634949, + -0.04488260282410515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.09423211216926575, + -0.19758786261081696, + 0.030288974526855687 + ], + [ + 0.11480601131916046, + 0.9887989163398743, + 0.09537453949451447, + 0.0606367493669192 + ], + [ + 0.1863873153924942, + -0.11574555933475494, + 0.9756345152854919, + -0.04579438260859913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9753864407539368, + -0.09552070498466492, + -0.19873878359794617, + 0.0312061925060474 + ], + [ + 0.11616867780685425, + 0.9886807799339294, + 0.09494808316230774, + 0.06101158106556306 + ], + [ + 0.18741971254348755, + -0.11569829285144806, + 0.9754423499107361, + -0.04667923633868878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335815, + -0.09635034203529358, + -0.1995343267917633, + 0.032117510039327495 + ], + [ + 0.1170622855424881, + 0.9885968565940857, + 0.09472435712814331, + 0.06095508896769621 + ], + [ + 0.18813228607177734, + -0.11572767794132233, + 0.9753016829490662, + -0.04836508717674475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.0967891588807106, + -0.2004728466272354, + 0.032790352248101166 + ], + [ + 0.11754768341779709, + 0.9885750412940979, + 0.09435015916824341, + 0.061126830893704014 + ], + [ + 0.18905039131641388, + -0.11554768681526184, + 0.9751454591751099, + -0.04940729784405129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.09714441001415253, + -0.2013595551252365, + 0.03357208990133727 + ], + [ + 0.11791388690471649, + 0.9885806441307068, + 0.09383318573236465, + 0.06105659420673664 + ], + [ + 0.189944788813591, + -0.1152011975646019, + 0.9750126600265503, + -0.05112395796638269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.09762518852949142, + -0.20222583413124084, + 0.03424421124415011 + ], + [ + 0.11839186400175095, + 0.9885784387588501, + 0.09325264394283295, + 0.06091273724396005 + ], + [ + 0.19081228971481323, + -0.1148129403591156, + 0.9748890399932861, + -0.05276030621722213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9741423726081848, + -0.09781992435455322, + -0.20366127789020538, + 0.03541934951566734 + ], + [ + 0.11860299110412598, + 0.9886284470558167, + 0.09245079755783081, + 0.06137930441361207 + ], + [ + 0.19230179488658905, + -0.11421507596969604, + 0.9746665954589844, + -0.05276245620642972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.09773191809654236, + -0.20458616316318512, + 0.03583629567844746 + ], + [ + 0.11847157776355743, + 0.988715648651123, + 0.09168357402086258, + 0.061548877316407666 + ], + [ + 0.19331713020801544, + -0.11353353410959244, + 0.9745453596115112, + -0.05348799606928459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.973677396774292, + -0.0979643389582634, + -0.20580418407917023, + 0.036781504075241916 + ], + [ + 0.11873745173215866, + 0.9887366890907288, + 0.09111108630895615, + 0.061276331674466784 + ], + [ + 0.19456051290035248, + -0.11314947158098221, + 0.9743425250053406, + -0.05370490262523676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.09835473448038101, + -0.2063547670841217, + 0.03658712413321194 + ], + [ + 0.11907441169023514, + 0.9887531995773315, + 0.090489462018013, + 0.06111492826006351 + ], + [ + 0.19513386487960815, + -0.11266501247882843, + 0.9742840528488159, + -0.054613304800457424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.09844247996807098, + -0.20692245662212372, + 0.036850806870139585 + ], + [ + 0.11909666657447815, + 0.9888111352920532, + 0.0898246318101883, + 0.0611934177004374 + ], + [ + 0.1957646757364273, + -0.11207835376262665, + 0.9742251634597778, + -0.0554282318514127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.09812191873788834, + -0.20800474286079407, + 0.037782859038083996 + ], + [ + 0.11871661990880966, + 0.9889377355575562, + 0.08892975747585297, + 0.061789629137159414 + ], + [ + 0.19697779417037964, + -0.11123950779438019, + 0.9740767478942871, + -0.054997399742277256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.09829660505056381, + -0.20870326459407806, + 0.03878285391972616 + ], + [ + 0.11887537688016891, + 0.9889628291130066, + 0.08843759447336197, + 0.06176860192711028 + ], + [ + 0.1977066546678543, + -0.11086181551218033, + 0.9739721417427063, + -0.05433327599595754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.09785573184490204, + -0.20849496126174927, + 0.03954468096295993 + ], + [ + 0.11828659474849701, + 0.9890846610069275, + 0.08786271512508392, + 0.06150250534216563 + ], + [ + 0.19762128591537476, + -0.11016274988651276, + 0.9740687608718872, + -0.05529132982095082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.09647294133901596, + -0.20772293210029602, + 0.03975813717095772 + ], + [ + 0.11665081232786179, + 0.9893409013748169, + 0.0871616005897522, + 0.061648373735638765 + ], + [ + 0.19710007309913635, + -0.10907578468322754, + 0.9742966890335083, + -0.05615113774935404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.09505336731672287, + -0.20731209218502045, + 0.040908953767174336 + ], + [ + 0.1150783821940422, + 0.989561140537262, + 0.08675079047679901, + 0.06204941694298361 + ], + [ + 0.1969020515680313, + -0.10832169651985168, + 0.9744208455085754, + -0.05643447078446037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.973919689655304, + -0.09286005795001984, + -0.20702049136161804, + 0.042330767090121915 + ], + [ + 0.11279778182506561, + 0.9898317456245422, + 0.08665876090526581, + 0.062237281600634256 + ], + [ + 0.19686833024024963, + -0.10775011777877808, + 0.9744910597801208, + -0.056553647495233096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.09080660343170166, + -0.20616234838962555, + 0.04320086295214984 + ], + [ + 0.11068245768547058, + 0.9900410175323486, + 0.0869951918721199, + 0.06198076133289908 + ], + [ + 0.19620944559574127, + -0.10757755488157272, + 0.9746429920196533, + -0.05797399484958404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.08831210434436798, + -0.20570972561836243, + 0.044009781877199824 + ], + [ + 0.10809850692749023, + 0.9903258681297302, + 0.08700229972600937, + 0.062404465968282814 + ], + [ + 0.19603630900382996, + -0.10703111439943314, + 0.9747379422187805, + -0.058632832345290056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129883, + -0.08584735542535782, + -0.20573335886001587, + 0.044242833841305534 + ], + [ + 0.10556920617818832, + 0.9906105995178223, + 0.08686628937721252, + 0.06321501880884171 + ], + [ + 0.19634440541267395, + -0.10639943182468414, + 0.9747450947761536, + -0.058744225364464976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777283, + -0.08371412754058838, + -0.2064916342496872, + 0.044956607546689176 + ], + [ + 0.1036105751991272, + 0.9907628893852234, + 0.08748546987771988, + 0.06292654576464596 + ], + [ + 0.19726048409938812, + -0.10668084770441055, + 0.9745293855667114, + -0.0600080996306024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.08187540620565414, + -0.20737075805664062, + 0.04455894434617627 + ], + [ + 0.10188858956098557, + 0.9909200668334961, + 0.08772731572389603, + 0.0632532736302441 + ], + [ + 0.1983051300048828, + -0.10664794594049454, + 0.9743209481239319, + -0.061504845639579316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530396, + -0.07997071743011475, + -0.20942778885364532, + 0.0446855566249444 + ], + [ + 0.10039535164833069, + 0.9909796714782715, + 0.08876939862966537, + 0.06230897599687943 + ], + [ + 0.20043973624706268, + -0.10753565281629562, + 0.9737864136695862, + -0.06362625354757676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.07701306790113449, + -0.21328267455101013, + 0.04487736408845483 + ], + [ + 0.09784286469221115, + 0.9912249445915222, + 0.08888120949268341, + 0.062417677395109436 + ], + [ + 0.204566091299057, + -0.10743407905101776, + 0.9729391932487488, + -0.06353200654952953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.07502195239067078, + -0.2183000147342682, + 0.04458711325294443 + ], + [ + 0.09627111256122589, + 0.9914239645004272, + 0.08837667852640152, + 0.06369598537810847 + ], + [ + 0.2097976803779602, + -0.10700594633817673, + 0.9718717336654663, + -0.06294096854762134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.07415057718753815, + -0.22328127920627594, + 0.04308512237591622 + ], + [ + 0.0962403267621994, + 0.9913062453269958, + 0.0897204726934433, + 0.061832287926704456 + ], + [ + 0.2146873027086258, + -0.10869064927101135, + 0.9706161618232727, + -0.06420304710284258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.07436057180166245, + -0.22939182817935944, + 0.04106603554553456 + ], + [ + 0.09724108129739761, + 0.991174578666687, + 0.0900953859090805, + 0.06133602315353023 + ], + [ + 0.2206677943468094, + -0.10974293947219849, + 0.9691554307937622, + -0.06485821430881818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.075393907725811, + -0.23730406165122986, + 0.03925702442279738 + ], + [ + 0.09924861043691635, + 0.9909639954566956, + 0.09022247046232224, + 0.061157069081424646 + ], + [ + 0.22835755348205566, + -0.11093304306268692, + 0.9672366380691528, + -0.06528852383295694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.07403167337179184, + -0.24615532159805298, + 0.03578874233823556 + ], + [ + 0.09895602613687515, + 0.9909713864326477, + 0.09046213328838348, + 0.061086917926485726 + ], + [ + 0.23723581433296204, + -0.1117810606956482, + 0.9649995565414429, + -0.06609508601518778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447266, + -0.07028083503246307, + -0.2563932538032532, + 0.03189049270163234 + ], + [ + 0.09669665992259979, + 0.9910615086555481, + 0.09190692752599716, + 0.06029159802402187 + ], + [ + 0.2476421743631363, + -0.1133919432759285, + 0.9621931314468384, + -0.06741447122687967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.06318016350269318, + -0.26793599128723145, + 0.026957796208369425 + ], + [ + 0.09126824140548706, + 0.99140864610672, + 0.09369607269763947, + 0.06022642768728427 + ], + [ + 0.2597143054008484, + -0.11452996730804443, + 0.9588698148727417, + -0.06813691508056771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.053399331867694855, + -0.28061285614967346, + 0.02083392943709325 + ], + [ + 0.08347515016794205, + 0.9918422698974609, + 0.09633699059486389, + 0.05977832096127363 + ], + [ + 0.27317938208580017, + -0.11574725806713104, + 0.9549741148948669, + -0.0694859164647567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.040249817073345184, + -0.2958751320838928, + 0.014512292181070044 + ], + [ + 0.07252354174852371, + 0.9924487471580505, + 0.09892350435256958, + 0.06069016063378917 + ], + [ + 0.2896592617034912, + -0.11586835980415344, + 0.9500905275344849, + -0.06951090349600865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.02490105852484703, + -0.3097083270549774, + 0.0038091029876317767 + ], + [ + 0.05914822593331337, + 0.9930567741394043, + 0.10168454796075821, + 0.06142710409740097 + ], + [ + 0.3050259053707123, + -0.11497042328119278, + 0.9453787803649902, + -0.07583606885029719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.012554572895169258, + -0.32818034291267395, + -0.004165031932867477 + ], + [ + 0.04996383190155029, + 0.9931305646896362, + 0.10580794513225555, + 0.06200136719987943 + ], + [ + 0.32459756731987, + -0.11633610725402832, + 0.9386705160140991, + -0.07378887010690494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0002573709934949875, + -0.3476983904838562, + -0.01100676449445577 + ], + [ + 0.0404190793633461, + 0.9931393265724182, + 0.1097295805811882, + 0.06221047169887103 + ], + [ + 0.34534120559692383, + -0.1169368103146553, + 0.9311633706092834, + -0.07272990342134084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192627, + 0.012436185963451862, + -0.3662859797477722, + -0.01829356060832993 + ], + [ + 0.03115358203649521, + 0.9931231737136841, + 0.11285322904586792, + 0.06291132346114033 + ], + [ + 0.36517053842544556, + -0.11641193926334381, + 0.9236334562301636, + -0.07175803120829101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.022697875276207924, + -0.38441959023475647, + -0.02409771428658411 + ], + [ + 0.023564675822854042, + 0.9930619597434998, + 0.11520680785179138, + 0.06312816289181893 + ], + [ + 0.384367436170578, + -0.11538071930408478, + 0.915941596031189, + -0.071969540646443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.029455576092004776, + -0.3999384641647339, + -0.0310542863021549 + ], + [ + 0.018857046961784363, + 0.9930316209793091, + 0.11632957309484482, + 0.0636720699377549 + ], + [ + 0.4005780816078186, + -0.11410752683877945, + 0.9091296195983887, + -0.07255873848230411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.03700459748506546, + -0.4142109751701355, + -0.03611061672369638 + ], + [ + 0.012702034786343575, + 0.993096649646759, + 0.11660902947187424, + 0.06485074408766296 + ], + [ + 0.4156665802001953, + -0.11130888015031815, + 0.9026802778244019, + -0.07441714008649189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.04418061673641205, + -0.42662155628204346, + -0.039139215304301325 + ], + [ + 0.00687362439930439, + 0.9930614829063416, + 0.1173952966928482, + 0.06508738621352957 + ], + [ + 0.4288480281829834, + -0.10898153483867645, + 0.8967788815498352, + -0.07506869286298751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.04922556132078171, + -0.4364371597766876, + -0.04062538307446699 + ], + [ + 0.0022470448166131973, + 0.9931711554527283, + 0.11664480715990067, + 0.06715559232820813 + ], + [ + 0.43919870257377625, + -0.10577289015054703, + 0.892141580581665, + -0.07310825462779427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.051780350506305695, + -0.4422224760055542, + -0.04075856252103788 + ], + [ + -0.00010766647756099701, + 0.99323970079422, + 0.116081602871418, + 0.06673225407432924 + ], + [ + 0.4452436566352844, + -0.10389294475317001, + 0.8893617391586304, + -0.07498119675960296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.05171838775277138, + -0.44711071252822876, + -0.034600941645793415 + ], + [ + 2.9165297746658325e-05, + 0.9933696985244751, + 0.11496375501155853, + 0.06645121539059358 + ], + [ + 0.4500919580459595, + -0.10267363488674164, + 0.8870599269866943, + -0.07473887541355231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.051662374287843704, + -0.44594472646713257, + -0.03217142596204056 + ], + [ + -0.0009096004068851471, + 0.9935625791549683, + 0.11328089237213135, + 0.06706987078914531 + ], + [ + 0.44892632961273193, + -0.10081858932971954, + 0.887863039970398, + -0.07546801972083556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.04776440188288689, + -0.4419002830982208, + -0.02781991469554411 + ], + [ + 0.0016431137919425964, + 0.9938464760780334, + 0.1107543483376503, + 0.0677396967752367 + ], + [ + 0.444471150636673, + -0.09993892163038254, + 0.8902009129524231, + -0.07534531636370553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.041424691677093506, + -0.4345242381095886, + -0.021927940616240857 + ], + [ + 0.006396599113941193, + 0.9941283464431763, + 0.10801819711923599, + 0.06742785403934809 + ], + [ + 0.43644750118255615, + -0.0999642089009285, + 0.8941592574119568, + -0.077532715178453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791626, + 0.0338175967335701, + -0.4252876937389374, + -0.01396706260931796 + ], + [ + 0.011889135465025902, + 0.9944684505462646, + 0.10436084866523743, + 0.06840842249843045 + ], + [ + 0.42646440863609314, + -0.0994429886341095, + 0.8990212678909302, + -0.07646004161518863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.02482655830681324, + -0.41355443000793457, + -0.003589929041699455 + ], + [ + 0.018159927800297737, + 0.9948529005050659, + 0.09968909621238708, + 0.06957150910320317 + ], + [ + 0.41390079259872437, + -0.09824123978614807, + 0.9050053954124451, + -0.07435305485358604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.009677340276539326, + -0.3984796106815338, + 0.006799616569127809 + ], + [ + 0.030192993581295013, + 0.9951463937759399, + 0.09365888684988022, + 0.07124110674246764 + ], + [ + 0.39745190739631653, + -0.09792830795049667, + 0.9123826026916504, + -0.06998297430765935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.005942344665527344, + -0.3809187710285187, + 0.01922662280436256 + ], + [ + 0.04245951399207115, + 0.9952561855316162, + 0.08753432333469391, + 0.07053065925167921 + ], + [ + 0.3785916268825531, + -0.09710693359375, + 0.9204556941986084, + -0.07094903180741856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.02467264048755169, + -0.3598748743534088, + 0.03139156101860553 + ], + [ + 0.057661354541778564, + 0.9950268268585205, + 0.08122081309556961, + 0.06833630050094719 + ], + [ + 0.3560812175273895, + -0.09650342911481857, + 0.9294586181640625, + -0.074250751046034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.04396728426218033, + -0.33740484714508057, + 0.04282416154940924 + ], + [ + 0.07322211563587189, + 0.9945314526557922, + 0.07446920871734619, + 0.06665829941630363 + ], + [ + 0.3322855234146118, + -0.09473130106925964, + 0.9384094476699829, + -0.0746347556511561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.06606294214725494, + -0.31522223353385925, + 0.054211197220362176 + ], + [ + 0.09117239713668823, + 0.9936740398406982, + 0.06557057797908783, + 0.06934209515651067 + ], + [ + 0.30889639258384705, + -0.09081625938415527, + 0.9467499256134033, + -0.07082416603707858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.0867420881986618, + -0.2908088266849518, + 0.06581046738717548 + ], + [ + 0.10839028656482697, + 0.9923473000526428, + 0.05914688482880592, + 0.06782416950306322 + ], + [ + 0.2834528386592865, + -0.08787843585014343, + 0.9549512267112732, + -0.07584323055214351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.957180917263031, + -0.10843473672866821, + -0.26841503381729126, + 0.08024043190615397 + ], + [ + 0.12702696025371552, + 0.9904906153678894, + 0.05284423381090164, + 0.06724237306759907 + ], + [ + 0.26013243198394775, + -0.08467743545770645, + 0.9618528485298157, + -0.08067644364558733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.128010556101799, + -0.24506095051765442, + 0.09013056975399329 + ], + [ + 0.14353950321674347, + 0.9885507822036743, + 0.04651626572012901, + 0.06799595969864446 + ], + [ + 0.23630061745643616, + -0.07987895607948303, + 0.9683911204338074, + -0.08267899160711174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.1475183516740799, + -0.2223912924528122, + 0.09954031275059934 + ], + [ + 0.1605565994977951, + 0.9861482381820679, + 0.041632238775491714, + 0.0679116524501234 + ], + [ + 0.21316926181316376, + -0.07582873106002808, + 0.9740682244300842, + -0.08547290675660484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.1638677418231964, + -0.20116622745990753, + 0.10863408328822027 + ], + [ + 0.1746748685836792, + 0.9839277863502502, + 0.037077896296978, + 0.06845767679504859 + ], + [ + 0.19185717403888702, + -0.07094679027795792, + 0.9788551330566406, + -0.08838017707069715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.17610272765159607, + -0.1806613802909851, + 0.11675022823306232 + ], + [ + 0.18486613035202026, + 0.9822182655334473, + 0.03273899108171463, + 0.06936600455361554 + ], + [ + 0.17168349027633667, + -0.06507810205221176, + 0.9830003380775452, + -0.0925754585199886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.18913325667381287, + -0.16122466325759888, + 0.1259928000278962 + ], + [ + 0.19656822085380554, + 0.979989230632782, + 0.031337715685367584, + 0.06702186851802036 + ], + [ + 0.15207141637802124, + -0.062046147882938385, + 0.9864200949668884, + -0.10283638460513872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.19852980971336365, + -0.1449819803237915, + 0.133045346595538 + ], + [ + 0.2046114206314087, + 0.9784380197525024, + 0.02816375158727169, + 0.06850617694166991 + ], + [ + 0.13626453280448914, + -0.056964434683322906, + 0.9890334010124207, + -0.10372270827109997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.20980796217918396, + -0.12796364724636078, + 0.1416030008122962 + ], + [ + 0.21499767899513245, + 0.9762121438980103, + 0.02803308144211769, + 0.06515077285022818 + ], + [ + 0.11903809756040573, + -0.05468526855111122, + 0.9913825988769531, + -0.12305056706516661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.970149576663971, + -0.21279112994670868, + -0.11631737649440765, + 0.14455786796971265 + ], + [ + 0.21684689819812775, + 0.9759286046028137, + 0.02325509488582611, + 0.07022273135490907 + ], + [ + 0.10856898128986359, + -0.047783978283405304, + 0.992939829826355, + -0.10746614038944244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897217, + -0.21740037202835083, + -0.10408660769462585, + 0.14837171102945623 + ], + [ + 0.22077131271362305, + 0.9750796556472778, + 0.021900998428463936, + 0.0699053507584792 + ], + [ + 0.09673145413398743, + -0.04423462599515915, + 0.9943270683288574, + -0.11101644577888342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.22146070003509521, + -0.09397425502538681, + 0.1557333199514283 + ], + [ + 0.22446614503860474, + 0.9742201566696167, + 0.02258334681391716, + 0.06686220632659065 + ], + [ + 0.0865502879023552, + -0.043014127761125565, + 0.9953184723854065, + -0.12567100558016034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9713939428329468, + -0.2210748940706253, + -0.08671591430902481, + 0.1594501985061882 + ], + [ + 0.2237585335969925, + 0.9743863940238953, + 0.022433090955018997, + 0.06599110462981411 + ], + [ + 0.07953541725873947, + -0.041194792836904526, + 0.9959805011749268, + -0.12822287915927222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.21781934797763824, + -0.08145803958177567, + 0.16127892583608627 + ], + [ + 0.22027860581874847, + 0.9751792550086975, + 0.02242249622941017, + 0.06488943931001884 + ], + [ + 0.07455214112997055, + -0.03975122049450874, + 0.9964244961738586, + -0.1291258185146711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.2119612991809845, + -0.0784216895699501, + 0.16180455610792863 + ], + [ + 0.21434932947158813, + 0.9764789938926697, + 0.023304712027311325, + 0.06293970018497899 + ], + [ + 0.07163744419813156, + -0.03951137140393257, + 0.996647834777832, + -0.13058970166513553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.20344486832618713, + -0.07777990400791168, + 0.16110320549744828 + ], + [ + 0.2058640420436859, + 0.9782768487930298, + 0.024379855021834373, + 0.0607796645954124 + ], + [ + 0.07113032042980194, + -0.03980662673711777, + 0.9966723918914795, + -0.13113376982191688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751465, + -0.19288700819015503, + -0.07931981980800629, + 0.1599670845346573 + ], + [ + 0.1953589916229248, + 0.9804229736328125, + 0.024610796943306923, + 0.05910150009470108 + ], + [ + 0.07301986217498779, + -0.03956543654203415, + 0.9965453743934631, + -0.13080425369433868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.18199658393859863, + -0.08247476816177368, + 0.1577832703661715 + ], + [ + 0.18456736207008362, + 0.982511043548584, + 0.024634940549731255, + 0.05700264418354402 + ], + [ + 0.07654890418052673, + -0.03936030715703964, + 0.9962886571884155, + -0.13112005476768201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1702432483434677, + -0.08704868704080582, + 0.15480001964884946 + ], + [ + 0.17297138273715973, + 0.9846154451370239, + 0.024766409769654274, + 0.05464480839606024 + ], + [ + 0.08149316161870956, + -0.03936639428138733, + 0.9958961606025696, + -0.13111892875888917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.15885408222675323, + -0.09249308705329895, + 0.15140539883421017 + ], + [ + 0.1617366224527359, + 0.9865297079086304, + 0.024503173306584358, + 0.05205343801241655 + ], + [ + 0.08735474944114685, + -0.03904515877366066, + 0.9954118132591248, + -0.13157969185939203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916687, + -0.14746220409870148, + -0.09873469173908234, + 0.14814527530191293 + ], + [ + 0.15045319497585297, + 0.9883372187614441, + 0.023524729534983635, + 0.050323618852939365 + ], + [ + 0.09411415457725525, + -0.03800627589225769, + 0.9948356747627258, + -0.1308467283844948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.13747529685497284, + -0.10522107034921646, + 0.14548837280808352 + ], + [ + 0.14056672155857086, + 0.9898151755332947, + 0.022515583783388138, + 0.04800139051726741 + ], + [ + 0.10105407983064651, + -0.036966193467378616, + 0.9941939115524292, + -0.13055978167133453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.12813040614128113, + -0.11093787103891373, + 0.14281579980101344 + ], + [ + 0.13122212886810303, + 0.991130530834198, + 0.021000951528549194, + 0.045896183775785644 + ], + [ + 0.10726305097341537, + -0.03525463491678238, + 0.9936054348945618, + -0.13054176879425844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.11832474917173386, + -0.11610306054353714, + 0.1400536577989403 + ], + [ + 0.12137790769338608, + 0.9924135804176331, + 0.01956387795507908, + 0.04361256046427621 + ], + [ + 0.11290735751390457, + -0.033385537564754486, + 0.9930444955825806, + -0.1302078743903046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.10830871760845184, + -0.12030729651451111, + 0.13722658099399673 + ], + [ + 0.11122792959213257, + 0.9936354756355286, + 0.0178004652261734, + 0.0413903310481045 + ], + [ + 0.11761365830898285, + -0.03094721958041191, + 0.992577075958252, + -0.13157912567257882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.09908399730920792, + -0.12443291395902634, + 0.13418396054170073 + ], + [ + 0.10182847827672958, + 0.9946752786636353, + 0.015877142548561096, + 0.039708149146575195 + ], + [ + 0.12219717353582382, + -0.02834581583738327, + 0.9921010136604309, + -0.13143593915379964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.09001149982213974, + -0.1283700168132782, + 0.13154294447511689 + ], + [ + 0.09270647913217545, + 0.9955779910087585, + 0.015163253992795944, + 0.03720877137767453 + ], + [ + 0.1264374852180481, + -0.026876460760831833, + 0.9916104078292847, + -0.13320513828697367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614136, + -0.08049169927835464, + -0.13254374265670776, + 0.12945381395964545 + ], + [ + 0.08308481425046921, + 0.9964421391487122, + 0.01414218358695507, + 0.03613803132922731 + ], + [ + 0.13093385100364685, + -0.02498348243534565, + 0.9910762310028076, + -0.13410696866165878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773499, + -0.0703352764248848, + -0.13583122193813324, + 0.1270344091149477 + ], + [ + 0.07289371639490128, + 0.9972421526908875, + 0.013948282226920128, + 0.03441598123082748 + ], + [ + 0.13447557389736176, + -0.023685382679104805, + 0.9906337857246399, + -0.13297607491795832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.060889843851327896, + -0.13881294429302216, + 0.12483788379428225 + ], + [ + 0.06331786513328552, + 0.9979069232940674, + 0.013138719834387302, + 0.03363669260890566 + ], + [ + 0.13772238790988922, + -0.021776240319013596, + 0.990231454372406, + -0.13359385169724114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.05374547094106674, + -0.1416022777557373, + 0.12312229736111105 + ], + [ + 0.05623587220907211, + 0.9983243346214294, + 0.013641752302646637, + 0.03167098431696749 + ], + [ + 0.14063182473182678, + -0.021447502076625824, + 0.9898296594619751, + -0.13317361567010227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.045408640056848526, + -0.14387789368629456, + 0.12095196809715186 + ], + [ + 0.0478987880051136, + 0.9987556338310242, + 0.013889262452721596, + 0.03057503608556894 + ], + [ + 0.14306816458702087, + -0.020621849223971367, + 0.9894979596138, + -0.1325324045541959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.038164395838975906, + -0.1461172252893448, + 0.11913436847683202 + ], + [ + 0.04070153459906578, + 0.9990674257278442, + 0.014412548393011093, + 0.029159038932596006 + ], + [ + 0.14543090760707855, + -0.020194444805383682, + 0.989162266254425, + -0.1330906862950223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.03220750764012337, + -0.14786958694458008, + 0.1164160338509032 + ], + [ + 0.0347265787422657, + 0.9992918968200684, + 0.014485127292573452, + 0.0278685734503799 + ], + [ + 0.14729833602905273, + -0.019453296437859535, + 0.9889007806777954, + -0.1328993153113585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.988215982913971, + -0.029091212898492813, + -0.1502760350704193, + 0.11476491848245646 + ], + [ + 0.031473349779844284, + 0.9994134306907654, + 0.01349729299545288, + 0.02799514237409219 + ], + [ + 0.14979523420333862, + -0.01806792989373207, + 0.988551914691925, + -0.13184696634610493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.987951397895813, + -0.02778010256588459, + -0.1522507518529892, + 0.1128545514172596 + ], + [ + 0.03019012324512005, + 0.9994524717330933, + 0.013540053740143776, + 0.026689417173083013 + ], + [ + 0.15179122984409332, + -0.017973383888602257, + 0.9882491230964661, + -0.13176120433033023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.027334081009030342, + -0.1539868861436844, + 0.10994914696894142 + ], + [ + 0.02979983203113079, + 0.9994616508483887, + 0.01372696366161108, + 0.025728494421634666 + ], + [ + 0.15352876484394073, + -0.018146833404898643, + 0.9879775643348694, + -0.13231564986272754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.02814178727567196, + -0.15723510086536407, + 0.10841497834771872 + ], + [ + 0.030611323192715645, + 0.9994428157806396, + 0.013306012377142906, + 0.02643126603215933 + ], + [ + 0.15677304565906525, + -0.017948338761925697, + 0.9874715805053711, + -0.13092864900827408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/orbit_left/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7aad13cd7790f66aba2cc505e43c7e958f78eb34 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/orbit_left/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999975750687584, + -0.0010043199872598052, + 0.006890430081153427, + 0.0015097561429478629 + ], + [ + 0.001189638051724634, + 0.9996362328529358, + -0.026943833558627242, + 0.0011736978495349656 + ], + [ + -0.006860863809093083, + 0.026951376348733902, + 0.9996132084852777, + 0.004961387433751652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998655978271166, + -0.005417153239250184, + 0.015473587533708467, + 0.003443761767378817 + ], + [ + 0.0060918657704723735, + 0.9990175962448122, + -0.043895153001081065, + -0.0018228984028680988 + ], + [ + -0.01522059984474766, + 0.043983515352010734, + 0.9989163019166671, + 0.004203880991125399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994893346841784, + -0.023633664473891265, + 0.021505490462691502, + 0.006039162771317005 + ], + [ + 0.024660181060473414, + 0.9985045790672304, + -0.04879061709352118, + -0.005326703107180526 + ], + [ + -0.02032022844977574, + 0.04929602891206743, + 0.9985774823898066, + -2.5715410971897403e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987252720011622, + -0.04377982020378113, + 0.025121800240535674, + 0.007776822158371782 + ], + [ + 0.04505604499064791, + 0.9975928664207458, + -0.05271032413880603, + -0.010698441545013468 + ], + [ + -0.022753682672573036, + 0.05377501994371414, + 0.9982937778019755, + 3.4557838667459645e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.997969210982411, + -0.056863486766815186, + 0.0287045064227339, + 0.00929086145112077 + ], + [ + 0.058504500329902565, + 0.9964825510978699, + -0.05999815612274977, + -0.015162811836375321 + ], + [ + -0.02519183569372408, + 0.0615556538105011, + 0.9977856656682187, + -0.0017964565212088203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9971764358572092, + -0.0669407993555069, + 0.03402980680046342, + 0.008572110241836631 + ], + [ + 0.06926475619042927, + 0.9949638843536377, + -0.07245158094054115, + -0.01535825051106168 + ], + [ + -0.029008463857105874, + 0.07460407167673111, + 0.9967912327767369, + -0.0021165369969278966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9961998209492232, + -0.07772161066532135, + 0.039309895694082, + 0.007427840710383554 + ], + [ + 0.08086844310877127, + 0.9930015206336975, + -0.08607106700596386, + -0.01565022294705029 + ], + [ + -0.032345207048338355, + 0.08892291784286499, + 0.9955131602708622, + -0.00607183418088181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9953029102110658, + -0.08712751418352127, + 0.042200989988700595, + 0.006253977188141392 + ], + [ + 0.09088392697220186, + 0.9910994172096252, + -0.09727282260878245, + -0.0187491758721895 + ], + [ + -0.033350239816436894, + 0.10065130889415741, + 0.9943626710640356, + -0.009397686156833923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9950553516423161, + -0.08894763141870499, + 0.044194132580363955, + 0.0040647278226286065 + ], + [ + 0.09323862742588039, + 0.9898726940155029, + -0.10704506652348561, + -0.022002599704649087 + ], + [ + -0.0342251597407828, + 0.11063636839389801, + 0.993271476741598, + -0.015945739290969284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9954389198616276, + -0.08436749130487442, + 0.044536250754147945, + 0.004133939039559489 + ], + [ + 0.08910121200427013, + 0.9890100955963135, + -0.11798285607561383, + -0.02351585600058045 + ], + [ + -0.034092887605385175, + 0.1214129626750946, + 0.9920163986631593, + -0.019285463990106534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9957526901293186, + -0.079302579164505, + 0.04677288703186994, + 0.003094311597067679 + ], + [ + 0.0847896543400658, + 0.9878548979759216, + -0.1302054977426448, + -0.025566188767240747 + ], + [ + -0.03587919323267052, + 0.1336183398962021, + 0.9903831690872067, + -0.021599594630642947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9956853537034894, + -0.07875555753707886, + 0.04907363816635653, + 0.005630198597358879 + ], + [ + 0.08503594718592017, + 0.9860875010490417, + -0.142829755957058, + -0.03116059641454423 + ], + [ + -0.037142261852599785, + 0.1463865339756012, + 0.9885299099981217, + -0.026664692558776983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9944940431872037, + -0.09256604313850404, + 0.049123155713149604, + 0.025997401810384825 + ], + [ + 0.09882076767264583, + 0.9843844771385195, + -0.14567671007377367, + -0.04926036111403814 + ], + [ + -0.03487135373978118, + 0.1497290134429932, + 0.9881119474810194, + -0.09255516749492068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9941943280412515, + -0.09307864308357239, + 0.05398187611085939, + 0.027327606889212937 + ], + [ + 0.10061121422269503, + 0.9820225238800049, + -0.15971600405787464, + -0.051347681314187696 + ], + [ + -0.03814526830276298, + 0.164219930768013, + 0.9856859404699967, + -0.094349931142238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9944585637298937, + -0.08639077842235565, + 0.05990667894235059, + 0.0262542363660657 + ], + [ + 0.0954987394557083, + 0.9806010127067566, + -0.1711772218237402, + -0.05015550492692103 + ], + [ + -0.043956414809414514, + 0.17594967782497406, + 0.9834172555657137, + -0.10162518307554598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9950850204443004, + -0.07420744001865387, + 0.0655670607210383, + 0.024047855148229293 + ], + [ + 0.08488734393235936, + 0.9801908135414124, + -0.17894150259783864, + -0.05081775372503722 + ], + [ + -0.05098944331245298, + 0.18362782895565033, + 0.9816725298695514, + -0.1049804735693529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995393066206706, + -0.06434112787246704, + 0.07108315662586558, + 0.02157554527628826 + ], + [ + 0.07658580630504579, + 0.9796071648597717, + -0.1857536969638107, + -0.05049150113441605 + ], + [ + -0.057681967259007774, + 0.19034191966056824, + 0.9800218250574652, + -0.1028850281262002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9954867378706473, + -0.05821879208087921, + 0.07494457790480238, + 0.022931722602505186 + ], + [ + 0.07143137838781422, + 0.9795976877212524, + -0.18784547729101236, + -0.055170552443990405 + ], + [ + -0.06247939938482767, + 0.1923510879278183, + 0.9793351508204877, + -0.0968122972384926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9954561107402222, + -0.051942091435194016, + 0.07980706251116902, + 0.02307942584887509 + ], + [ + 0.06630319913610558, + 0.9796562790870667, + -0.18941338768565333, + -0.058967220815300696 + ], + [ + -0.06834496363796794, + 0.19384418427944183, + 0.9786487806550056, + -0.09317396366788473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9949990921319642, + -0.05063077434897423, + 0.08610086570117227, + 0.019433098120102014 + ], + [ + 0.0664947489145191, + 0.9789945483207703, + -0.19273860464684378, + -0.058768568432581395 + ], + [ + -0.07453377490140183, + 0.19749997556209564, + 0.9774653349042666, + -0.0949385229179993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9948560991275162, + -0.04961514472961426, + 0.08831570221491755, + 0.018695393811945824 + ], + [ + 0.06612092733415187, + 0.9785534739494324, + -0.19509255024654062, + -0.06117407161853195 + ], + [ + -0.0767420899889579, + 0.19992852210998535, + 0.976800483423622, + -0.09053447478176062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9950201350563291, + -0.04558997601270676, + 0.08863700953374051, + 0.018540977436629934 + ], + [ + 0.06249894285204988, + 0.9781025052070618, + -0.19851788132681558, + -0.06283825986075907 + ], + [ + -0.07764565577551073, + 0.20306901633739471, + 0.9760810067705512, + -0.0875763142189488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9948092631710096, + -0.03938813880085946, + 0.09382511772184884, + 0.011798202364143737 + ], + [ + 0.05779089504041034, + 0.9776083230972292, + -0.20234180839839133, + -0.06459747320711579 + ], + [ + -0.08375434659031986, + 0.20671373605728155, + 0.9748100675864372, + -0.09622944022057353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9948349378464378, + -0.04150507599115372, + 0.09263242883424863, + 0.01409765877906579 + ], + [ + 0.06005599314569734, + 0.9763911962509155, + -0.20749332405602985, + -0.06118625267653292 + ], + [ + -0.08183346648289912, + 0.21198473870754242, + 0.9738407072624935, + -0.07747991445081753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9946309726018248, + -0.03953487426042557, + 0.09563611918304603, + 0.010079606181140146 + ], + [ + 0.05913241258443232, + 0.9755423069000244, + -0.21170858822719482, + -0.06020194964768513 + ], + [ + -0.08492720767905661, + 0.21622709929943085, + 0.972642360530047, + -0.0671627733395312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9941547121947271, + -0.034961801022291183, + 0.10214711504015778, + 0.0007461167254105318 + ], + [ + 0.05643776092969098, + 0.9748436808586121, + -0.21562600272359198, + -0.06041149541161298 + ], + [ + -0.09203879688198405, + 0.2201305627822876, + 0.971118647111512, + -0.06339666413122091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9939058695253415, + -0.03524046018719673, + 0.10444750671628429, + -0.0027762271389562797 + ], + [ + 0.05740331902802054, + 0.974373459815979, + -0.2174884287175822, + -0.06078836112014814 + ], + [ + -0.0941064870054428, + 0.22215865552425385, + 0.9704583894441775, + -0.05388125568453678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9936774705439458, + -0.03681790083646774, + 0.10606378276857699, + -0.004897655751345022 + ], + [ + 0.059601747249563596, + 0.9735798835754395, + -0.22043104107036113, + -0.05932328971887663 + ], + [ + -0.09514575674066955, + 0.22535893321037292, + 0.9696187835993352, + -0.04631364425100851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9934146819659005, + -0.037574045360088355, + 0.10823802466392296, + -0.009030307196063368 + ], + [ + 0.060843514843413056, + 0.97349089384079, + -0.22048488667945212, + -0.0633734909015465 + ], + [ + -0.09708422343657495, + 0.2256185114383698, + 0.9693662377314136, + -0.04100004463951875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9939222039800084, + -0.039605412632226944, + 0.1027136457315931, + 0.0030125005289973264 + ], + [ + 0.061860312894334114, + 0.972733736038208, + -0.22352257040304896, + -0.06160739749118291 + ], + [ + -0.09106032771911866, + 0.22851794958114624, + 0.9692716868355034, + -0.031003836488648143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9934735375394007, + -0.034720625728368766, + 0.10864987770241813, + -0.010189822955817829 + ], + [ + 0.05870339508228164, + 0.972346365451813, + -0.2260453496810089, + -0.06353988149226375 + ], + [ + -0.09779687568076294, + 0.2309481799602509, + 0.9680385823596863, + -0.030337722691486303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9931335741510784, + -0.04096035286784172, + 0.10958058107526901, + -0.010843920104953858 + ], + [ + 0.06544804816388626, + 0.9709324836730957, + -0.23023165127077308, + -0.05993734966419441 + ], + [ + -0.09696498429986908, + 0.2358226180076599, + 0.9669464774506578, + -0.026938761491131148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932721742025206, + -0.030447332188487053, + 0.11172892309708485, + -0.019825627697964858 + ], + [ + 0.05560615248499897, + 0.9717099070549011, + -0.22953833920931463, + -0.07021156264525252 + ], + [ + -0.10157926608187766, + 0.23420687019824982, + 0.9668654434674848, + -0.029432486071628863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9931109492471998, + -0.03605753555893899, + 0.11149201403704108, + -0.018213651812263476 + ], + [ + 0.061944074419576056, + 0.9692109823226931, + -0.2383128483989629, + -0.05881103367387653 + ], + [ + -0.09946630995165158, + 0.24357736110687261, + 0.9647676214101484, + -0.028025694267615767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9935993436656682, + -0.027423828840255737, + 0.10958203594167716, + -0.016677624353848577 + ], + [ + 0.05363679739851307, + 0.9682877659797668, + -0.2440119908511538, + -0.05842444173715204 + ], + [ + -0.09941520113717801, + 0.24832779169082642, + 0.9635610584612263, + -0.01666062919733228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9934988779126879, + -0.02494669333100319, + 0.11107480449556506, + -0.023000210418362255 + ], + [ + 0.05201060842402731, + 0.9673789739608765, + -0.24793724630184466, + -0.06078645228239564 + ], + [ + -0.10126621438040208, + 0.25210243463516235, + 0.9623873921258808, + -0.015125576799658865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9933328424477874, + -0.022420700639486313, + 0.11308021449329779, + -0.02718215194855489 + ], + [ + 0.05067223100975412, + 0.9659827947616577, + -0.2535932850768453, + -0.05618355611594543 + ], + [ + -0.10354780521055142, + 0.2576325833797455, + 0.9606785612899449, + -0.024128674419495472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9930757166991473, + -0.01810865476727486, + 0.1160719709396138, + -0.03521607876981116 + ], + [ + 0.04737893388262028, + 0.965866029262543, + -0.25467245845965686, + -0.06063713604409007 + ], + [ + -0.1074982038493259, + 0.2584084272384644, + 0.960036070697141, + -0.031650624623811505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9933519029225077, + -0.019618939608335495, + 0.11343296895089482, + -0.030270270530162458 + ], + [ + 0.048293092592519994, + 0.9654900431632996, + -0.25592334115624704, + -0.06533107988083472 + ], + [ + -0.1044974594785391, + 0.2597000002861023, + 0.9600188304457191, + -0.026621584412964187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9935152740091896, + -0.02203492261469364, + 0.11154300594914562, + -0.029484932164456683 + ], + [ + 0.05039587377707758, + 0.9647510647773743, + -0.2582937089769235, + -0.06175903830478121 + ], + [ + -0.10191974997722543, + 0.26224005222320557, + 0.9596053731891208, + -0.031709258918821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9936637901449937, + -0.025051329284906387, + 0.10956603631269152, + -0.028651689664986574 + ], + [ + 0.05255137293035223, + 0.9652762413024902, + -0.2558908052638301, + -0.06582966254501921 + ], + [ + -0.09935108958326061, + 0.26002728939056396, + 0.9604765101003027, + -0.045554195670757594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9936793795721697, + -0.028435396030545235, + 0.10859408979505208, + -0.03232178880327058 + ], + [ + 0.05560121586738248, + 0.9650570750236511, + -0.2560728964889426, + -0.0637180152533155 + ], + [ + -0.09751795841104594, + 0.26049235463142395, + 0.9605383613869609, + -0.05469104812397532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9938250686367986, + -0.026608727872371674, + 0.10772035928651143, + -0.036976640420926146 + ], + [ + 0.05360714928092439, + 0.9651437401771545, + -0.2561714373327846, + -0.060770422702203626 + ], + [ + -0.09714923409711011, + 0.2603641748428345, + 0.9606105118325492, + -0.058190999714527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9942046656014139, + -0.03089982084929943, + 0.10296734787173296, + -0.03973823950250866 + ], + [ + 0.05629699316447799, + 0.9656163454055786, + -0.25380242730856034, + -0.06104133064817039 + ], + [ + -0.09158451220086415, + 0.2581283152103424, + 0.9617598802304334, + -0.05747156068136429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9946495239930284, + -0.03488101065158844, + 0.0972400000941739, + -0.04405406055992731 + ], + [ + 0.0583110976669996, + 0.9665557742118835, + -0.2497394635131887, + -0.060513505175393056 + ], + [ + -0.08527671452219214, + 0.2540734112262726, + 0.9634181677440843, + -0.05445911738030518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952477511308114, + -0.03776445984840393, + 0.08975360829900508, + -0.048396992648670485 + ], + [ + 0.05889986611208991, + 0.9674650430679321, + -0.24605328287865125, + -0.0572316828093837 + ], + [ + -0.07754140807662109, + 0.2501704692840576, + 0.9650917311759998, + -0.05211355549881482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9957754954618144, + -0.04203120619058609, + 0.08163631225752316, + -0.054957795480203894 + ], + [ + 0.06061403629080755, + 0.9687319993972778, + -0.2405914486100715, + -0.05479354808157353 + ], + [ + -0.06897136388469689, + 0.24452337622642517, + 0.9671873204866429, + -0.04887318477161267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9963579008458633, + -0.044213823974132545, + 0.07291114366618179, + -0.06203884873387854 + ], + [ + 0.060297894445804405, + 0.9699230194091799, + -0.23582515776547902, + -0.0509196142640582 + ], + [ + -0.06029146828609374, + 0.23936264216899877, + 0.9690564851438119, + -0.04584814444765449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9969092442052071, + -0.04726714268326759, + 0.06275179608904889, + -0.06698634971942764 + ], + [ + 0.060533325337380324, + 0.9712949395179749, + -0.23004756784084632, + -0.0492717341064761 + ], + [ + -0.050076810596111916, + 0.2331351339817047, + 0.9711541251934053, + -0.04221042499118245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9973989467860169, + -0.048086944967508316, + 0.05369312852489641, + -0.07108390114339723 + ], + [ + 0.05899079411230239, + 0.9726343154907227, + -0.22472790437783444, + -0.04700650003995627 + ], + [ + -0.04141729818834488, + 0.22731077671051025, + 0.9729410880498607, + -0.0422495872258681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9979429473663509, + -0.0468520037829876, + 0.043758653027139376, + -0.06863541928781486 + ], + [ + 0.05532491747188901, + 0.9742439985275271, + -0.21860416114101644, + -0.04752489995907123 + ], + [ + -0.032389561887171445, + 0.2205754071474076, + 0.9748319965534084, + -0.049219245321135786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9981841855104286, + -0.04715019091963768, + 0.03748524047731049, + -0.0730939281029841 + ], + [ + 0.054097525127874455, + 0.9754133224487305, + -0.21364068828870625, + -0.04684929947917567 + ], + [ + -0.02649040627371018, + 0.21528062224388123, + 0.9761928934578418, + -0.04821295932496504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9984527408566506, + -0.046040020883083344, + 0.031184780195284274, + -0.07234558442462394 + ], + [ + 0.05152997864825107, + 0.9768373966217041, + -0.20768573199560894, + -0.047757042905392566 + ], + [ + -0.020900605501874715, + 0.2089713215827942, + 0.9776984056353101, + -0.054451235118156215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.998580301317725, + -0.04606097564101219, + 0.026752920933810778, + -0.07351346707749752 + ], + [ + 0.05052850778201413, + 0.978065550327301, + -0.20207579961289418, + -0.04719410247649865 + ], + [ + -0.01685830121242138, + 0.20314070582389832, + 0.9790044003679549, + -0.05820243245752062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9986120320941341, + -0.04786644130945207, + 0.021974105970304268, + -0.07433049770462169 + ], + [ + 0.05125404127875716, + 0.979229271411896, + -0.1961710159681417, + -0.044405636738811684 + ], + [ + -0.012127684432186512, + 0.1970249861478806, + 0.9803234805796142, + -0.05911389543046722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9984937121771034, + -0.051808409392833724, + 0.018062143186898794, + -0.07554897266935248 + ], + [ + 0.05428690763223119, + 0.9806056618690493, + -0.18832277176945206, + -0.04076127114694161 + ], + [ + -0.007955135655451456, + 0.18901965022087103, + 0.9819410886511126, + -0.06081407017929576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9982770113968772, + -0.056758083403110504, + 0.01488292947095842, + -0.07639749218377262 + ], + [ + 0.05850596832807265, + 0.982166051864624, + -0.17868109918657665, + -0.035758975440959434 + ], + [ + -0.004475909360976567, + 0.17924398183822632, + 0.9837944614834914, + -0.06441130428537191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980587948445623, + -0.06116416305303575, + 0.01173028694212224, + -0.07735040593128417 + ], + [ + 0.06226195584882458, + 0.9843155145645144, + -0.16506489266520177, + -0.034853200869488024 + ], + [ + -0.0014502449878355595, + 0.16547481715679171, + 0.9862129412642158, + -0.06609933081489762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9977424481757221, + -0.06664244085550308, + 0.008296857817929675, + -0.07712159487482338 + ], + [ + 0.06712730510231142, + 0.9859931468963623, + -0.15268074612395138, + -0.028262562625080246 + ], + [ + 0.0019943726539943603, + 0.15289300680160522, + 0.9882407281881431, + -0.0649107530858654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9975791779095239, + -0.06931956112384796, + 0.0055266171079844575, + -0.07710329029839029 + ], + [ + 0.06941211577798911, + 0.9877932071685791, + -0.1394509137726498, + -0.022229222304081954 + ], + [ + 0.00420751702925445, + 0.13949695229530334, + 0.9902135483554548, + -0.06522851797683792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9975723801741313, + -0.0695200189948082, + 0.004036155050473118, + -0.07906794187715813 + ], + [ + 0.06948156263462497, + 0.9897998571395874, + -0.1243728334988574, + -0.02044230553211822 + ], + [ + 0.004651421950236111, + 0.12435134500265121, + 0.9922273176290196, + -0.06488191039584484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.997612288223281, + -0.06904090940952301, + 0.001748502194957463, + -0.07921435682681226 + ], + [ + 0.06880374288246571, + 0.9913562536239624, + -0.11170879170645988, + -0.015487055874279142 + ], + [ + 0.005979089596001042, + 0.11156237125396729, + 0.9937394535679506, + -0.06229536322834901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9976246959104618, + -0.06888131052255632, + 0.000547480777549013, + -0.07957491091325129 + ], + [ + 0.06859043552873537, + 0.9926167726516726, + -0.10003630049555265, + -0.009976397630724174 + ], + [ + 0.006347183360455728, + 0.09983623772859576, + 0.9949836377543942, + -0.06093800045973975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9976734108328786, + -0.06817160546779633, + 0.0006281083813369793, + -0.08130367627529 + ], + [ + 0.06794684988495027, + 0.9935474991798401, + -0.0908108542370775, + -0.0034311620350850267 + ], + [ + 0.005566667120193748, + 0.09064225107431412, + 0.9958679760236544, + -0.057329812133319794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9977385020107068, + -0.0672144666314125, + -0.00023631140859414816, + -0.08144510043078172 + ], + [ + 0.0669593659533794, + 0.9942457675933838, + -0.0836171295193274, + 0.003109387659044046 + ], + [ + 0.0058552373128862995, + 0.08341220766305923, + 0.9964979177640907, + -0.050605856123663515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.99776419965207, + -0.06683296710252762, + -3.912569245179668e-06, + -0.08187510670047693 + ], + [ + 0.06663826935251085, + 0.994861900806427, + -0.07621761956232664, + 0.007150459240747673 + ], + [ + 0.005097747056727196, + 0.07604695111513138, + 0.9970912015159532, + -0.046698415079268855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9976928931478743, + -0.0678880587220192, + 0.00023895723000440382, + -0.08202098862727016 + ], + [ + 0.0677457051270033, + 0.9953603148460388, + -0.06832535214333216, + 0.00911315312316702 + ], + [ + 0.004400625669101058, + 0.06818390637636185, + 0.9976630871805908, + -0.043857956696707626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9976029074319301, + -0.069198839366436, + -9.686421340867142e-05, + -0.08219705698001929 + ], + [ + 0.0690592142593342, + 0.9956768751144409, + -0.062116106354558075, + 0.013193672172272856 + ], + [ + 0.004394812479736281, + 0.06196051836013794, + 0.9980689060472598, + -0.03988208444907683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975062539543136, + -0.0705689936876297, + -0.0011501181917155324, + -0.08142496129285962 + ], + [ + 0.07039732342631326, + 0.9959818124771118, + -0.055357884181932396, + 0.015963765915813027 + ], + [ + 0.0050520487713827805, + 0.05513886734843254, + 0.9984659208123923, + -0.03681691428711271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974257632096317, + -0.07169889658689499, + -0.0010585364667165173, + -0.08227004069276668 + ], + [ + 0.07156066356145098, + 0.996227502822876, + -0.049090331418100215, + 0.017634712799945544 + ], + [ + 0.004574263893282338, + 0.04888821020722389, + 0.998793811040464, + -0.032503856113969345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9971836678231921, + -0.07499485462903976, + -0.0007288835365513472, + -0.08249708504403681 + ], + [ + 0.07489356093774566, + 0.996256411075592, + -0.043175226087901135, + 0.019279747090651278 + ], + [ + 0.003964075824297278, + 0.04299904406070709, + 0.9990672725508243, + -0.02908582104051816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9969036387143716, + -0.07863131165504457, + 0.0004868215697653669, + -0.08367782246219069 + ], + [ + 0.07859344976213925, + 0.9961895346641543, + -0.037808775799478896, + 0.02018590006078065 + ], + [ + 0.002487981035814401, + 0.03772997111082078, + 0.9992848768002064, + -0.02557121291566767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.996552278942064, + -0.08295077830553056, + 0.0016464687052639283, + -0.0842624326901352 + ], + [ + 0.08295969973971799, + 0.9960015416145327, + -0.03314570027715246, + 0.021351323340263413 + ], + [ + 0.0011095800996053125, + 0.0331680178642273, + 0.9994491987606094, + -0.022656236646318818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9962543546839582, + -0.08643079549074173, + 0.0026453625346623062, + -0.0860547235006742 + ], + [ + 0.08647119338723874, + 0.9958269000053406, + -0.02917994949410788, + 0.022709123778175487 + ], + [ + -0.00011227532999397891, + 0.029299400746822357, + 0.9995706995609546, + -0.018888984117907494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9959612007277285, + -0.0897357687354088, + 0.0029663711452107004, + -0.08705047617112509 + ], + [ + 0.0897817510128231, + 0.9956555962562563, + -0.024680584075401333, + 0.02345961218875914 + ], + [ + -0.0007387553701142713, + 0.02484723180532456, + 0.9996909895387734, + -0.017235486433103193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9957827216925282, + -0.09170776605606079, + 0.0025490042800164043, + -0.08824138304959864 + ], + [ + 0.09174071589887277, + 0.995575487613678, + -0.02032414696080939, + 0.023890935408285116 + ], + [ + -0.0006738477897355277, + 0.02047228068113327, + 0.999790221006747, + -0.01564872726885705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9955663292289779, + -0.09405223280191424, + 0.0013728079697836314, + -0.08921802842419316 + ], + [ + 0.09406221973614322, + 0.995449483394623, + -0.015252562157523094, + 0.024238764052424897 + ], + [ + 6.797147524908887e-05, + 0.01531406678259373, + 0.9998827404431017, + -0.012993961399028298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9954704576730715, + -0.09507060796022418, + -0.0004470530243739185, + -0.09016340207418241 + ], + [ + 0.09505879981856197, + 0.9954021573066714, + -0.011765320435183966, + 0.027899570845845927 + ], + [ + 0.001563530765161572, + 0.011669533327221872, + 0.9999306911191829, + -0.009953955578699686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9954345639946608, + -0.09544503688812256, + -0.0005279808465642367, + -0.09313506056481043 + ], + [ + 0.09543862880574248, + 0.995408296585083, + -0.00733666710217149, + 0.029947263011183622 + ], + [ + 0.0012257968515663362, + 0.007252783980220556, + 0.9999729587855216, + -0.008175751282826712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9954386255101157, + -0.09536831825971603, + -0.0026153601157626986, + -0.0927670488264103 + ], + [ + 0.09535996785462986, + 0.9954378604888916, + -0.0031507211692518348, + 0.031618494564904336 + ], + [ + 0.002903912296141464, + 0.0028869500383734703, + 0.999991614577175, + -0.006610884282221957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9953299785948105, + -0.09652624279260635, + -0.0009821436156619667, + -0.0972244144893089 + ], + [ + 0.09652779337558408, + 0.9953289031982422, + 0.0016766090456220004, + 0.03231172233103426 + ], + [ + 0.0008157148970943334, + -0.0017635824624449015, + 0.9999981359512955, + -0.004015915118765535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9953343493580504, + -0.09647815674543381, + -0.0012329488908993432, + -0.09870396998159954 + ], + [ + 0.09648381176338333, + 0.9953168630599976, + 0.005930758495811457, + 0.033148955753601494 + ], + [ + 0.0006549946800688915, + -0.0060220458544790745, + 0.9999816376871851, + -0.0019813089744246176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9953434299914363, + -0.09635921567678452, + -0.0025331036799260513, + -0.09964037945914035 + ], + [ + 0.09638049227216555, + 0.9952905178070068, + 0.010374906320351858, + 0.033388460660814745 + ], + [ + 0.0015214545952628026, + -0.010570736601948738, + 0.999942980197801, + 0.0019579647325673227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9954878167285299, + -0.0948014110326767, + -0.0040819927007535416, + -0.10027138301147152 + ], + [ + 0.09485273189158878, + 0.9953769445419312, + 0.01509162171825771, + 0.0318566157307779 + ], + [ + 0.002632415042613154, + -0.015410713851451874, + 0.9998778066703417, + 0.005424727701910704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9954156122330011, + -0.09554288536310196, + -0.004394543185570578, + -0.1033042574002883 + ], + [ + 0.0956068793010648, + 0.9952577352523804, + 0.017926454967318036, + 0.0341044056911009 + ], + [ + 0.0026609550773822577, + -0.018264420330524445, + 0.9998296265188547, + 0.00841396510722023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9954073755553681, + -0.09555571526288986, + -0.005766192130467249, + -0.10452349866267314 + ], + [ + 0.09565970747080706, + 0.9951754212379456, + 0.021795820512718767, + 0.033930083556410584 + ], + [ + 0.0036556625390745897, + -0.022247314453125, + 0.9997458181823516, + 0.011165763673393241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9953973001407375, + -0.09563429653644562, + -0.006187349648095875, + -0.10760414486958489 + ], + [ + 0.09575684729085217, + 0.9951125979423523, + 0.02411506550589291, + 0.035625026067307594 + ], + [ + 0.0038508840770993956, + -0.024596549570560455, + 0.9996900518802782, + 0.013478790605611007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.995425335912006, + -0.09531968086957932, + -0.006519861432698734, + -0.11101392962987124 + ], + [ + 0.09545978259473965, + 0.9950834512710571, + 0.02638784778783507, + 0.03658704499226899 + ], + [ + 0.003972520557567166, + -0.026889516040682793, + 0.9996304898257931, + 0.016076110330653204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9955234320517987, + -0.09422576427459717, + -0.007386777096479859, + -0.11350099965291369 + ], + [ + 0.09439774544127415, + 0.9951380491256714, + 0.028094664712097053, + 0.03773813398552461 + ], + [ + 0.004703619771683961, + -0.028666192665696144, + 0.9995779764191451, + 0.01756565835337657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9956519842672881, + -0.09278821945190431, + -0.008210907298336092, + -0.11614795687307757 + ], + [ + 0.0929954187102291, + 0.9952113032341006, + 0.030104111609095995, + 0.03856202359291329 + ], + [ + 0.005378281557403479, + -0.030736794695258148, + 0.9995130507237983, + 0.0183145561156502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9957412209117741, + -0.09173221886157991, + -0.00919617088999224, + -0.11916219510228088 + ], + [ + 0.09198062675491676, + 0.9952543377876284, + 0.031754543220953016, + 0.040670018147969146 + ], + [ + 0.006239604697287277, + -0.03246517479419709, + 0.9994534042908404, + 0.018614078486424216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9958682569422522, + -0.09037180989980699, + -0.008908041668776248, + -0.12378288963491164 + ], + [ + 0.09062579862368, + 0.9952984452247622, + 0.034175802086224526, + 0.04215664612639918 + ], + [ + 0.0057776259500339185, + -0.0348418951034546, + 0.9993761207558756, + 0.018560656373807896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.995810031584531, + -0.09128565341234207, + -0.005408498399332677, + -0.12804575327340928 + ], + [ + 0.09142914254436699, + 0.9950129389762878, + 0.039874200692415665, + 0.03780121804901966 + ], + [ + 0.0017415780971098565, + -0.04020162671804428, + 0.9991900973634064, + -0.0002940337334143635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.995819040427534, + -0.09110806137323381, + -0.006610889531481941, + -0.1304334452652917 + ], + [ + 0.0913072678802131, + 0.9949195981025698, + 0.04240236191837862, + 0.04076733505856471 + ], + [ + 0.0027141000711502702, + -0.04282870143651963, + 0.9990787152504462, + 0.0037294596129077385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9958645234726111, + -0.09012183547019958, + -0.011486541006432602, + -0.1307037015132791 + ], + [ + 0.0905513151350645, + 0.9948744773864746, + 0.04500302688496192, + 0.04507135158959225 + ], + [ + 0.007371914790765504, + -0.045857034623622894, + 0.9989208125549884, + 0.02262515114973428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9959095031480446, + -0.09003256261348724, + -0.0076446962361180456, + -0.13500165026490554 + ], + [ + 0.09030535574614236, + 0.9946237802505493, + 0.050679774623010536, + 0.0409976968367839 + ], + [ + 0.0030407676779649583, + -0.05116282403469086, + 0.9986857244754695, + 0.005518992327218326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9956079825036355, + -0.09317120909690857, + -0.009157008917487, + -0.1380691069631082 + ], + [ + 0.09352991246131927, + 0.9941719770431519, + 0.05361174398797903, + 0.045488038810514234 + ], + [ + 0.004108561189781948, + -0.05423273518681526, + 0.9985198838443254, + 0.013550723772129165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9956485349612002, + -0.09257038682699205, + -0.010711589266344468, + -0.13895387078674976 + ], + [ + 0.09303729568895623, + 0.9939848184585574, + 0.057777491774218336, + 0.0440163133238311 + ], + [ + 0.005298677891483443, + -0.05852265283465387, + 0.9982720459317413, + 0.019714420974059826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9958102880790303, + -0.09110705554485322, + -0.007830944794209536, + -0.1442026750024213 + ], + [ + 0.09141280916874199, + 0.9940243959426882, + 0.05965895429619438, + 0.04550788866067683 + ], + [ + 0.0023487974076149745, + -0.06012485176324846, + 0.9981880952223107, + 0.01123982296578404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9958626472946603, + -0.09047552943229675, + -0.0084749975801239, + -0.14377497941641215 + ], + [ + 0.09083260605335469, + 0.9938284158706665, + 0.06367554136151002, + 0.04257794172344234 + ], + [ + 0.002661609158918737, + -0.06418189406394958, + 0.9979346925137695, + 0.005313830383597276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9955477435233369, + -0.09348472207784653, + -0.012056311712816825, + -0.1443799602060702 + ], + [ + 0.09407718333636225, + 0.9934059977531433, + 0.06552880132647182, + 0.0461276753367084 + ], + [ + 0.005850865133713438, + -0.06637126952409744, + 0.9977778699303225, + 0.021180364757437817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9955823192820944, + -0.09305234998464584, + -0.01253630253753562, + -0.1460187879350423 + ], + [ + 0.09368665672190139, + 0.9933472275733948, + 0.0669637463568162, + 0.04695815644266592 + ], + [ + 0.006221770575592404, + -0.06784240901470184, + 0.9976766542390537, + 0.026350943549223606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9957661320427267, + -0.09121833741664886, + -0.011358699850740792, + -0.14752211708984256 + ], + [ + 0.09178353035294799, + 0.9934374094009399, + 0.0682491133935801, + 0.04655175508256033 + ], + [ + 0.005058588980956979, + -0.06900269538164139, + 0.9976036300509058, + 0.024759914157314045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9958508689018806, + -0.09039635956287385, + -0.010465737074718791, + -0.14954451498340607 + ], + [ + 0.09090189608446289, + 0.9935184121131899, + 0.06824933002076956, + 0.04873943370039256 + ], + [ + 0.004228417243320906, + -0.06891750544309617, + 0.997613403138729, + 0.028197678065177093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9958721428123941, + -0.09025000780820848, + -0.009673868268134852, + -0.14938161086840165 + ], + [ + 0.09070707077143292, + 0.9934183955192568, + 0.06994380124491913, + 0.047466357665356874 + ], + [ + 0.0032977752997358075, + -0.07053257524967195, + 0.997503999442025, + 0.025261314419838966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9958024573006062, + -0.0910235345363617, + -0.009601575088292878, + -0.14711595292712715 + ], + [ + 0.09148073020190192, + 0.9931811690330505, + 0.07226619926576337, + 0.04459500345039931 + ], + [ + 0.0029581821567941273, + -0.07284121960401535, + 0.9973391824078462, + 0.018511579539330858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9943938246639064, + -0.1056254431605339, + -0.004920273563942742, + -0.1588665220393818 + ], + [ + 0.10573409930240683, + 0.9927705526351929, + 0.056806041333967355, + 0.07943016627202247 + ], + [ + -0.0011154579306469697, + -0.057007815688848495, + 0.9983731142102952, + 0.02281339504026666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9935857618576386, + -0.11250335723161697, + -0.011415769574361636, + -0.14904568826171888 + ], + [ + 0.11298056367385605, + 0.9918863773345947, + 0.05828258999282796, + 0.08054071672855194 + ], + [ + 0.004766151535541707, + -0.05919851362705231, + 0.9982348271982513, + 0.022021628087147815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9937555935867337, + -0.11088694632053378, + -0.012407527305762483, + -0.1464271191898655 + ], + [ + 0.11146914700696683, + 0.991552531719208, + 0.06631924811577512, + 0.06603590214271765 + ], + [ + 0.004948782898447738, + -0.06728817522525789, + 0.9977213022458772, + 0.006870341978447465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942172630772965, + -0.10610239207744598, + -0.016561547672384498, + -0.14028193646901854 + ], + [ + 0.10704895848625638, + 0.9914590716362, + 0.07449428701336189, + 0.04926643894302085 + ], + [ + 0.008516058389777982, + -0.07583639770746231, + 0.9970839374609572, + -0.005618800990294145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9944802774278898, + -0.10311172902584076, + -0.019416445085839232, + -0.13685541081877012 + ], + [ + 0.10437292817735815, + 0.9911117553710938, + 0.08248537188186167, + 0.03435720763904683 + ], + [ + 0.010738655205200844, + -0.08405661582946777, + 0.9964031002544486, + -0.01484694039238644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9941754288195499, + -0.10613180696964264, + -0.018742266798793365, + -0.14396872090593055 + ], + [ + 0.10731654347721857, + 0.9908770322799683, + 0.08152189540821793, + 0.04030018994145928 + ], + [ + 0.009919206773682973, + -0.0830584242939949, + 0.9964953080211636, + -0.02448820085105299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9943361078382756, + -0.10455378890037537, + -0.019085293224515614, + -0.15033132311161648 + ], + [ + 0.10577099184560361, + 0.9910532236099243, + 0.08140011575351577, + 0.04353288036646969 + ], + [ + 0.010403861592765545, + -0.08295774459838867, + 0.9964987326906412, + -0.028497555883714356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9942651719196655, + -0.10444070398807526, + -0.022997870941294053, + -0.14146339505546024 + ], + [ + 0.10607037063087801, + 0.9904941916465759, + 0.08758040058555695, + 0.033956887531457244 + ], + [ + 0.013632285902077396, + -0.08951753377914429, + 0.995891979661967, + -0.043785964465189994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9942062387303173, + -0.10444523394107821, + -0.025399611538600594, + -0.14042030142831832 + ], + [ + 0.10632236844466104, + 0.9902874231338503, + 0.08959015532644542, + 0.03323089878858505 + ], + [ + 0.015795660203843622, + -0.09177164733409883, + 0.995654811453685, + -0.048421399455220775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9942248983766444, + -0.10379937291145325, + -0.02724963088472436, + -0.14156507618899627 + ], + [ + 0.10584695012407377, + 0.9903490543365479, + 0.0894714086444477, + 0.0360859822596529 + ], + [ + 0.017699564593585494, + -0.09183898568153381, + 0.9956165308733017, + -0.05047581721733952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9943211430841336, + -0.10240726172924045, + -0.028951211211511726, + -0.14072301870852183 + ], + [ + 0.1046315830474245, + 0.990409314632416, + 0.09023097231464022, + 0.03674653715769506 + ], + [ + 0.01943323998793702, + -0.09274777024984361, + 0.9954999508926855, + -0.05178444497953516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9942926534622647, + -0.10228833556175232, + -0.03031866439197195, + -0.13837811734108085 + ], + [ + 0.10473573998369139, + 0.9899656176567078, + 0.09486013018310611, + 0.03133818846091944 + ], + [ + 0.020311356911239236, + -0.09749417752027512, + 0.9950288059090829, + -0.05732157636729098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9942732336652508, + -0.10206608474254608, + -0.03167509739328425, + -0.14024682926235035 + ], + [ + 0.10470821067461253, + 0.9896928071975708, + 0.09769488219507029, + 0.030058868066409374 + ], + [ + 0.0213772847765663, + -0.10045203566551208, + 0.9947122293128888, + -0.055999324677750206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9942734278676906, + -0.10184565931558609, + -0.03236987248835972, + -0.14279950069642544 + ], + [ + 0.1046180684482029, + 0.9894329309463501, + 0.1003869071125115, + 0.029789076342650964 + ], + [ + 0.021803858682288606, + -0.10319850593805313, + 0.9944217525691099, + -0.05585635204137512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9942414429037029, + -0.10170579701662064, + -0.03376226921448176, + -0.14506774269450035 + ], + [ + 0.10468935285952553, + 0.9891297817230225, + 0.10325899761063752, + 0.030101105004215173 + ], + [ + 0.02289322238504197, + -0.10619892925024033, + 0.9940813343983362, + -0.05365134158948331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9943420529855737, + -0.10047782957553864, + -0.034468542110910334, + -0.14777048978364188 + ], + [ + 0.10360292028774788, + 0.9889762997627258, + 0.10579346159451723, + 0.03060726010618505 + ], + [ + 0.023458667783343178, + -0.10876592993736267, + 0.9937905742076611, + -0.054315748442721454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9946061477505663, + -0.098045215010643, + -0.033849368309638965, + -0.15549992873539445 + ], + [ + 0.10113351261322964, + 0.9891512989997864, + 0.10654456721518235, + 0.03327904201556204 + ], + [ + 0.023035963836411252, + -0.10939318686723709, + 0.9937315995096216, + -0.04967543928997394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9946000401628657, + -0.09745955467224121, + -0.03567123854474152, + -0.15289120365823244 + ], + [ + 0.1008130536386986, + 0.9889113903045654, + 0.10904595877620356, + 0.03236508495860987 + ], + [ + 0.024648134395849543, + -0.11205323785543442, + 0.9933964833102568, + -0.053232646573961165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9947141448133789, + -0.09616538882255554, + -0.03600030525737662, + -0.15537339337583994 + ], + [ + 0.09958452124300156, + 0.9889422655105591, + 0.10989124933318298, + 0.03339143530285413 + ], + [ + 0.025034485839270443, + -0.11289544403553009, + 0.9932914234889043, + -0.051868489025765206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9948465762048011, + -0.09488837420940402, + -0.03572867453908284, + -0.15819106676746653 + ], + [ + 0.09828633510581804, + 0.9890628457069399, + 0.10997475691200793, + 0.03442109650862615 + ], + [ + 0.024902580240091697, + -0.11291964352130893, + 0.9932920021389102, + -0.051576124551975126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9948627813059351, + -0.09463026374578476, + -0.035961086081149805, + -0.16049806088721807 + ], + [ + 0.09805510732025209, + 0.9890897274017334, + 0.10993971360423163, + 0.035734067318836736 + ], + [ + 0.025165121140943145, + -0.11290109157562256, + 0.993287511855845, + -0.05104723626047216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.994846120696069, + -0.09488288313150406, + -0.03575495451520889, + -0.16348779128258908 + ], + [ + 0.09827880471078214, + 0.9890859127044678, + 0.10977408015917983, + 0.03757572760513881 + ], + [ + 0.024949046412940497, + -0.11272227764129639, + 0.9933132711440539, + -0.051419963467608035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9948406767696346, + -0.0948750451207161, + -0.03592777584443432, + -0.16578897667272885 + ], + [ + 0.09833117369673473, + 0.988900363445282, + 0.11138674762000747, + 0.03676679732678522 + ], + [ + 0.02496118011024077, + -0.11434487998485565, + 0.993127460113102, + -0.05158496588396288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9947916531713095, + -0.09527027606964114, + -0.036236566614977234, + -0.16788896253189897 + ], + [ + 0.09879590381838592, + 0.9886906147003176, + 0.11282849560054066, + 0.036851691900498126 + ], + [ + 0.025077557660766196, + -0.11582087725400927, + 0.9929534855177737, + -0.05147121091375023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9947979049177884, + -0.09509126842021942, + -0.03653501538824738, + -0.16995932026488914 + ], + [ + 0.0986941935144148, + 0.9885132312774658, + 0.11445999085363821, + 0.03633677292054161 + ], + [ + 0.02523121592881902, + -0.11747035384178162, + 0.992755788718744, + -0.05212070754378876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9947407630310079, + -0.0954979658126831, + -0.03702600959730112, + -0.17239639813630814 + ], + [ + 0.09914387152045824, + 0.9885226488113403, + 0.11398872747994226, + 0.03934947356773274 + ], + [ + 0.025715354782975767, + -0.11706013977527618, + 0.9927918442277339, + -0.050260545297569896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9948128464568138, + -0.09442396461963654, + -0.037834871895934326, + -0.1734370373328733 + ], + [ + 0.09819846194572569, + 0.9884998798370361, + 0.11500039900497439, + 0.03881250838111755 + ], + [ + 0.026540980965709393, + -0.11811920255422592, + 0.9926446820646696, + -0.05174398369053708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9950179905432371, + -0.09225362539291382, + -0.037795856487611294, + -0.17607714728430224 + ], + [ + 0.0960291698701676, + 0.9887478947639465, + 0.11469956375311985, + 0.039554355461095106 + ], + [ + 0.026789132014360895, + -0.1177576333284378, + 0.9926809736119573, + -0.05324696771610964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9951132520061992, + -0.09108749777078629, + -0.03811424374029136, + -0.17829921475185598 + ], + [ + 0.09490969640935051, + 0.9888483881950378, + 0.1147649441817149, + 0.039839560792006186 + ], + [ + 0.027235561320073973, + -0.11782152950763702, + 0.9926612229715491, + -0.05357333773471709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9951754105655526, + -0.09031878411769867, + -0.03832061383827744, + -0.17963457011956607 + ], + [ + 0.0941725070883971, + 0.988909125328064, + 0.11484911008743695, + 0.03920277393060617 + ], + [ + 0.027522563301282, + -0.11790375411510468, + 0.9926435567732931, + -0.05566010830986986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9951357582902148, + -0.09068617969751358, + -0.038481063646604904, + -0.18108774086136403 + ], + [ + 0.09456184862231869, + 0.9888496994972229, + 0.11504035477302363, + 0.03838670157467044 + ], + [ + 0.027619424139537618, + -0.11811961978673935, + 0.9926152168120541, + -0.05756561295742757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9950842851256314, + -0.09112417697906496, + -0.038776311123146195, + -0.18204834425794453 + ], + [ + 0.09502368025992683, + 0.9888398647308352, + 0.11474400930551691, + 0.037980185125621124 + ], + [ + 0.027887608506948585, + -0.11786462366580966, + 0.9926380278630187, + -0.05989028267785944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9950557944500379, + -0.09132130444049835, + -0.039042985639767866, + -0.18331013716040687 + ], + [ + 0.0952250616423381, + 0.9889262914657593, + 0.11382887292581886, + 0.03840923234248625 + ], + [ + 0.028215620429404547, + -0.11698395758867264, + 0.9927329397802352, + -0.06112950271335491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9949784631004066, + -0.09194756299257278, + -0.03954173922690604, + -0.18426644340472378 + ], + [ + 0.09588571647005999, + 0.9889426827430725, + 0.11312984405639115, + 0.03868808676380693 + ], + [ + 0.0287024964148528, + -0.11635323613882065, + 0.9927930931735013, + -0.062119245550211935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9949428138702223, + -0.09236060827970505, + -0.03947595656608203, + -0.1860570583168891 + ], + [ + 0.09627280601308878, + 0.9889675378799438, + 0.11258227594296057, + 0.03861978463395868 + ], + [ + 0.028642281999079866, + -0.11581338942050934, + 0.99285795193832, + -0.06307205330593744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9948835375082151, + -0.09304553270339966, + -0.039360719761563925, + -0.18731467037600436 + ], + [ + 0.09693289309680418, + 0.988932192325592, + 0.11232580079593384, + 0.038009581514412624 + ], + [ + 0.02847368889111639, + -0.1155664399266243, + 0.9928915410538277, + -0.06502857256556072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.994761526142517, + -0.09423211216926575, + -0.03962152137457585, + -0.18778525107523533 + ], + [ + 0.09814601755490465, + 0.9887989163398743, + 0.11244590813772748, + 0.03744827592249833 + ], + [ + 0.028581705062553156, + -0.11574555933475494, + 0.9928675767146871, + -0.06634933618290609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9946353853526922, + -0.09552070498466494, + -0.039702180254061276, + -0.18833786356330012 + ], + [ + 0.09943358030449967, + 0.9886807799339297, + 0.11235329682487222, + 0.037351115488772055 + ], + [ + 0.028520719737486818, + -0.11569829285144809, + 0.9928748638146292, + -0.06760992570015664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9945667979458536, + -0.0963503420352936, + -0.03941387748943279, + -0.18891368467134662 + ], + [ + 0.10022582718540472, + 0.9885968565940859, + 0.1123880157969365, + 0.03692690144255579 + ], + [ + 0.02813581038222579, + -0.11572767794132235, + 0.9928824230491794, + -0.06960253589469152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.994530059692058, + -0.0967891588807106, + -0.03926553208735324, + -0.18973231872517085 + ], + [ + 0.10063981324241571, + 0.9885750412940979, + 0.11220979637489413, + 0.036816306126585 + ], + [ + 0.02795624459858711, + -0.11554768681526184, + 0.9929084375684745, + -0.0710000771063674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9945033918987537, + -0.09714441001415253, + -0.039063277206942554, + -0.1904445285961208 + ], + [ + 0.100960112520335, + 0.9885806441307068, + 0.11187228052356854, + 0.03648594623729905 + ], + [ + 0.02774943165775384, + -0.1152011975646019, + 0.9929545201328009, + -0.07306908351527155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9944649780187175, + -0.09762518852949142, + -0.03884251255438201, + -0.19126339366876752 + ], + [ + 0.10140201504111311, + 0.9885784387588501, + 0.11149134679310203, + 0.03605395595146006 + ], + [ + 0.0275145077809461, + -0.1148129403591156, + 0.9930060030366449, + -0.07505425781366942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9944318846392692, + -0.09781992435455325, + -0.03919827847452292, + -0.19157032325542206 + ], + [ + 0.10161846596029749, + 0.9886284470558169, + 0.11084902725689688, + 0.03628692281399991 + ], + [ + 0.027909282048704142, + -0.11421507596969607, + 0.9930639579582663, + -0.07555218929100423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9944471905268853, + -0.09773191809654236, + -0.03902847808571837, + -0.1926544442402597 + ], + [ + 0.1014929692901256, + 0.988715648651123, + 0.11018425326560616, + 0.036301559125841786 + ], + [ + 0.027819545608120954, + -0.11353353410959244, + 0.9931446237353098, + -0.07666686798634531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944190495795865, + -0.09796433895826342, + -0.03916361840901757, + -0.19319446511855592 + ], + [ + 0.10172797654266416, + 0.988736689090729, + 0.10977810018751437, + 0.035786548195620334 + ], + [ + 0.027968182879563402, + -0.11314947158098224, + 0.9931842376720679, + -0.07733066010980849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9944017472203428, + -0.09835473448038101, + -0.03862006689982238, + -0.19488770811240808 + ], + [ + 0.10204239560681543, + 0.9887531995773315, + 0.10933621428651714, + 0.03536404114999659 + ], + [ + 0.02743196744513251, + -0.11266501247882843, + 0.9932543118559599, + -0.07853045478511998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9944135237909265, + -0.09844247996807098, + -0.038088940780393384, + -0.19612917457456647 + ], + [ + 0.10205518432473033, + 0.9888111352920532, + 0.10879898814526553, + 0.03525308365641608 + ], + [ + 0.02695231969150037, + -0.11207835376262665, + 0.9933338058516213, + -0.0796520396016982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9944456984656379, + -0.09812191873788834, + -0.038076626434360224, + -0.19669730870194851 + ], + [ + 0.10171239740620872, + 0.9889377355575562, + 0.10796631799393862, + 0.0357494294229162 + ], + [ + 0.027061562186072106, + -0.11123950779438019, + 0.9934251023789304, + -0.07966933413989871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9944435201524398, + -0.09829660505056381, + -0.03768090927322215, + -0.19719594045304717 + ], + [ + 0.1018328377001445, + 0.9889628291130066, + 0.10762265797950286, + 0.0355104683990729 + ], + [ + 0.026686078701108715, + -0.11086181551218033, + 0.9934774820771666, + -0.07934101381263509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9945366388799866, + -0.09785573184490204, + -0.036347689371614776, + -0.1979731413926391 + ], + [ + 0.10123235521939354, + 0.9890846610069275, + 0.10706813467638884, + 0.03520274963670007 + ], + [ + 0.025473709282015193, + -0.11016274988651276, + 0.9935870438410294, + -0.08043779178078171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9947401961957544, + -0.09647294133901596, + -0.03442186375342616, + -0.19933755305133297 + ], + [ + 0.09962441124212022, + 0.9893409013748169, + 0.10620514732713492, + 0.035557809416970856 + ], + [ + 0.02380904433063644, + -0.10907578468322754, + 0.99374826112321, + -0.08132810418687567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9949295102641125, + -0.09505336731672287, + -0.03286453292969877, + -0.19975523563886002 + ], + [ + 0.09802984149008477, + 0.989561140537262, + 0.10563561839728296, + 0.036164186662497946 + ], + [ + 0.02248045451723967, + -0.10832169651985168, + 0.9938616761089266, + -0.08172096699156753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.995183442212898, + -0.09286005795001985, + -0.031415952749791545, + -0.19991659467078834 + ], + [ + 0.09568326875269838, + 0.9898317456245425, + 0.10525109266458962, + 0.03674212987436379 + ], + [ + 0.021322893656449658, + -0.1077501177787781, + 0.9939493444079951, + -0.0819903374529629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9954347396471372, + -0.09080660343170166, + -0.029391219363579007, + -0.20064221806150584 + ], + [ + 0.09342402821187397, + 0.9900410175323486, + 0.10531249119088354, + 0.036852088172944025 + ], + [ + 0.01953544094710741, + -0.10757755488157272, + 0.9940047660756021, + -0.0834054692376449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9957055584451241, + -0.08831210434436798, + -0.02777400008372599, + -0.20142691946733401 + ], + [ + 0.09076272774567419, + 0.9903258681297302, + 0.10496101471371001, + 0.03775683040872245 + ], + [ + 0.018235989463725125, + -0.10703111439943314, + 0.9940883960378105, + -0.08417828349510578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9959519756992475, + -0.08584735542535783, + -0.026644436163208097, + -0.2027723431272449 + ], + [ + 0.0881818864810303, + 0.9906105995178225, + 0.1044727927256908, + 0.03903939554168561 + ], + [ + 0.017425551863811842, + -0.10639943182468417, + 0.9941707476431154, + -0.08452471039546881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9961434741989016, + -0.08371412754058839, + -0.02627127675975642, + -0.2036076543011387 + ], + [ + 0.08602650312511591, + 0.9907628893852236, + 0.10482508999702243, + 0.03910593992318662 + ], + [ + 0.01725327011301669, + -0.10668084770441058, + 0.9941436247296286, + -0.08618181416154133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9963026973690424, + -0.08187540620565414, + -0.026026698585433675, + -0.2055435864468433 + ], + [ + 0.08417196423179353, + 0.9909200668334961, + 0.10484487133002159, + 0.039725349607410344 + ], + [ + 0.017206152016678064, + -0.10664794594049454, + 0.9941479682985577, + -0.0881068203776829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9964318662735178, + -0.07997071743011476, + -0.026985804813930044, + -0.20692014143590443 + ], + [ + 0.08239546421995697, + 0.9909796714782717, + 0.10568926266013123, + 0.03904043604029609 + ], + [ + 0.018290342556807414, + -0.10753565281629565, + 0.9940329625738884, + -0.09094336257222704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9965855291595767, + -0.07701306790113449, + -0.029770000320853945, + -0.2081941759322421 + ], + [ + 0.07974792818383829, + 0.9912249445915222, + 0.10541993892260602, + 0.03966054620633829 + ], + [ + 0.021390045751941335, + -0.10743407905101776, + 0.9939821051767632, + -0.09208550371300084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9966101422955614, + -0.07502195239067078, + -0.03376273452199372, + -0.20988596965215778 + ], + [ + 0.07817925568275888, + 0.9914239645004272, + 0.10472138464528132, + 0.04119198859973188 + ], + [ + 0.025616789524160445, + -0.10700594633817673, + 0.9939283241181764, + -0.09303213978295087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9965326802669934, + -0.07415057718753815, + -0.03774007369247158, + -0.21275947834861694 + ], + [ + 0.07778070780403601, + 0.9913062453269958, + 0.10612316056890218, + 0.039234341440521306 + ], + [ + 0.029542879274194037, + -0.10869064927101135, + 0.9936365481508, + -0.09576475425592838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9963083323835115, + -0.07436057180166245, + -0.04289744817445111, + -0.2160786252246437 + ], + [ + 0.07857438165880301, + 0.991174578666687, + 0.10676644136117862, + 0.03835344874375013 + ], + [ + 0.03457963580704459, + -0.10974293947219849, + 0.9933583307580305, + -0.0981935630731708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9959031234522974, + -0.075393907725811, + -0.049927416557091285, + -0.21908783089773262 + ], + [ + 0.08040218431798234, + 0.9909639954566956, + 0.10735860285454812, + 0.03751832534678426 + ], + [ + 0.041382085986210716, + -0.11093304306268692, + 0.9929659657888871, + -0.10087319267795539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9955734881562796, + -0.07403167337179184, + -0.05790346345706752, + -0.223743868993523 + ], + [ + 0.07994920313033933, + 0.9909713864326477, + 0.10762814495619125, + 0.037391810123746025 + ], + [ + 0.04941278767688818, + -0.1117810606956482, + 0.9925035778985402, + -0.1042727841308661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9952547545502475, + -0.07028083503246309, + -0.06729464456459956, + -0.2287872608926179 + ], + [ + 0.07733476211704177, + 0.9910615086555483, + 0.10870355070445667, + 0.037090010429770934 + ], + [ + 0.05905334339515715, + -0.11339194327592853, + 0.9917938149437255, + -0.10863037008143399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9949479735704516, + -0.06318016350269318, + -0.07801825195797572, + -0.2348230052529794 + ], + [ + 0.07154190639872783, + 0.99140864610672, + 0.10950160527155421, + 0.03837507347281541 + ], + [ + 0.07042962408991431, + -0.11452996730804443, + 0.9909200322702557, + -0.11287866482231544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9945156534977653, + -0.053399331867694855, + -0.08992830636202108, + -0.24197321819783932 + ], + [ + 0.06326259132336444, + 0.9918422698974609, + 0.11066508478959544, + 0.03994687892790828 + ], + [ + 0.08328527715402133, + -0.11574725806713104, + 0.9897808330763898, + -0.11817766833909576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9937041785100466, + -0.040249817073345184, + -0.1045559096483962, + -0.2491325308930096 + ], + [ + 0.05189318509991845, + 0.9924487471580505, + 0.11114234639114075, + 0.04374949404364156 + ], + [ + 0.09929293809475738, + -0.11586835980415344, + 0.9882891332226, + -0.1230292763691486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9927289303478719, + -0.02490105852484703, + -0.1177676307756563, + -0.26065160291747413 + ], + [ + 0.03811178772489624, + 0.9930567741394043, + 0.11129129148974086, + 0.04807013842371623 + ], + [ + 0.11417867728612834, + -0.11497042328119278, + 0.9867852202808923, + -0.1339281807429823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9906371114355583, + -0.012554572895169258, + -0.13594316402568696, + -0.2689830745297195 + ], + [ + 0.028171131625374136, + 0.9931305646896362, + 0.11356977192168091, + 0.05116756318887312 + ], + [ + 0.13358351021314088, + -0.11633610725402832, + 0.9841856350014911, + -0.13769598098858488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9878614830107442, + 0.0002573709934949875, + -0.15533709069023205, + -0.2759366141779449 + ], + [ + 0.017912115976373082, + 0.9931393265724182, + 0.11555708084039207, + 0.054022326658440506 + ], + [ + 0.1543011352356941, + -0.1169368103146553, + 0.9810794721695867, + -0.14285458502242226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9846887302506213, + 0.012436185963451866, + -0.17387761075889874, + -0.28322352292674535 + ], + [ + 0.008081118490411784, + 0.9931231737136843, + 0.11679508766950643, + 0.05730180155120762 + ], + [ + 0.17413434794489693, + -0.11641193926334384, + 0.9778167069893074, + -0.14791572084315968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9811224022323608, + 0.022697875276207924, + -0.19205112914354652, + -0.28890193288945154 + ], + [ + 4.412742136080772e-05, + 0.9930619597434998, + 0.11759209401488889, + 0.05964364158913964 + ], + [ + 0.19338776770490934, + -0.11538071930408478, + 0.9743143766929734, + -0.15405292784874772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9777861654615486, + 0.029455576092004776, + -0.2075249026981651, + -0.2958483263916486 + ], + [ + -0.004924681578216568, + 0.9930316209793091, + 0.11774508613059383, + 0.061504375647028084 + ], + [ + 0.20954702103506767, + -0.11410752683877945, + 0.9711176605700464, + -0.15977691775884204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9744008714835269, + 0.03700459748506546, + -0.2217512391847909, + -0.3008927036447373 + ], + [ + -0.011140776206452095, + 0.993096649646759, + 0.11676853406463433, + 0.06439622968045751 + ], + [ + 0.2245413527267597, + -0.11130888015031815, + 0.9680865512876944, + -0.166499029594837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9712206496868115, + 0.04418061673641205, + -0.23404802494903065, + -0.30400131770225974 + ], + [ + -0.01713794524182725, + 0.9930614829063416, + 0.11634084936458347, + 0.06628686549211173 + ], + [ + 0.2375640849728908, + -0.10898153483867645, + 0.965238985537364, + -0.1715126963907576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9686297461865602, + 0.04922556132078171, + -0.2435841782798915, + -0.305797414906251 + ], + [ + -0.021643582869131525, + 0.9931711554527283, + 0.1146412472383536, + 0.06964689960217844 + ], + [ + 0.24756405683758273, + -0.10577289015054703, + 0.9630805459084707, + -0.17312394875275094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9671764497381461, + 0.051780350506305695, + -0.2487740803912386, + -0.306682886895787 + ], + [ + -0.023960542808570424, + 0.99323970079422, + 0.1135818757794863, + 0.0698899174694452 + ], + [ + 0.25297360682246167, + -0.10389294475317001, + 0.9618786675586778, + -0.17733018352959348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9660892191325595, + 0.05171838775277138, + -0.25297608367305524, + -0.30140281074346115 + ], + [ + -0.023722778087124977, + 0.9933696985244751, + 0.11248953558798822, + 0.0695566442810437 + ], + [ + 0.2571165519787683, + -0.10267363488674164, + 0.9609105907741025, + -0.17908625256885857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9667027895546851, + 0.051662374287843704, + -0.2506327762983629, + -0.3005440248271463 + ], + [ + -0.024417393189629363, + 0.9935625791549683, + 0.11062178293333394, + 0.07041536052864539 + ], + [ + 0.2547343120935529, + -0.10081858932971954, + 0.9617411592560964, + -0.18002029307366618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9683124785990245, + 0.04776440188288689, + -0.24513156442226924, + -0.29815788215142836 + ], + [ + -0.02151717661085722, + 0.9938464760780334, + 0.10865650744123904, + 0.07029800911687585 + ], + [ + 0.24881304659556192, + -0.09993892163038254, + 0.9633817192647215, + -0.17910834380251656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9708661373370817, + 0.041424691677093506, + -0.2360145551729037, + -0.2946355935838835 + ], + [ + -0.01641685112750898, + 0.9941283464431763, + 0.10695482405282991, + 0.06854683841469057 + ], + [ + 0.239059339121875, + -0.0999642089009285, + 0.9658456560354826, + -0.17941335720682536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9737939382492926, + 0.033817596733570106, + -0.22490391373838262, + -0.2892370151007981 + ], + [ + -0.010395985883450249, + 0.9944684505462649, + 0.10452014998910704, + 0.0678318954717768 + ], + [ + 0.2271944508915614, + -0.09944298863410952, + 0.9687589036688284, + -0.1758366550970884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9771413718544545, + 0.02482655830681324, + -0.21113600563973586, + -0.28165605801904015 + ], + [ + -0.0033940236487261426, + 0.9948529005050659, + 0.10127279735855271, + 0.0670254102362702 + ], + [ + 0.212563562143364, + -0.09824123978614807, + 0.9721961550471244, + -0.1704066088618502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9809883705925332, + 0.009677340276539326, + -0.1938252940769524, + -0.27435747321069553 + ], + [ + 0.009534592648016654, + 0.9951463937759399, + 0.09794230694850502, + 0.06497036053074948 + ], + [ + 0.1938323585967977, + -0.09792830795049667, + 0.9761347494829609, + -0.16149036351067436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.984732024323839, + -0.005942344665527344, + -0.1739755750289952, + -0.2651100303697662 + ], + [ + 0.022718889799361028, + 0.9952561855316162, + 0.09459873221343991, + 0.06042486374849487 + ], + [ + 0.17258813629268602, + -0.09710693359375, + 0.9801957152218315, + -0.15712445459853955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9882895096256361, + -0.02467264048755169, + -0.15058253301611885, + -0.25622897279664514 + ], + [ + 0.03881780331293649, + 0.9950268268585205, + 0.09173238486737557, + 0.05347750880933333 + ], + [ + 0.14757037032816223, + -0.09650342911481857, + 0.9843323331865339, + -0.15392189839516718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9910704383770947, + -0.04396728426218033, + -0.12588184646972383, + -0.24793077762476587 + ], + [ + 0.05536837234311736, + 0.9945314526557922, + 0.08855215756408527, + 0.04687828870055412 + ], + [ + 0.1213000511638832, + -0.09473130106925964, + 0.9880851472089055, + -0.14734712871876932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9926157886859445, + -0.06606294214725494, + -0.10173294918265821, + -0.2393202162845105 + ], + [ + 0.07472543076099826, + 0.9936740398406982, + 0.08383326722575525, + 0.04381173051412566 + ], + [ + 0.09555114917813098, + -0.09081625938415527, + 0.9912731111510275, + -0.13664179291952208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9933687932854588, + -0.0867420881986618, + -0.07546037589246686, + -0.23036857968367636 + ], + [ + 0.0928373383163314, + 0.9923473000526428, + 0.08141275588564957, + 0.036778048881669495 + ], + [ + 0.06782099875325384, + -0.08787843585014343, + 0.993819736808182, + -0.13407533856169343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9927661641741363, + -0.10843473672866824, + -0.05154883143784173, + -0.21811406004211595 + ], + [ + 0.11231225287776606, + 0.9904906153678896, + 0.0794626927046963, + 0.03019854547081266 + ], + [ + 0.042442128384664, + -0.08467743545770647, + 0.995504118591673, + -0.13192470732210185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9914102758797391, + -0.128010556101799, + -0.026812868220448073, + -0.21022534597075843 + ], + [ + 0.12972551066323393, + 0.9885507822036743, + 0.07706259691587311, + 0.025542877955576415 + ], + [ + 0.016641049261601277, + -0.07987895607948303, + 0.9966656507700117, + -0.1267243544120637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9890547578312503, + -0.1475183516740799, + -0.002997131277422105, + -0.20249677228002302 + ], + [ + 0.14731582529269988, + 0.9861482381820679, + 0.07622147050592548, + 0.019884146825597235 + ], + [ + -0.008288457360077701, + -0.07582873106002808, + 0.9970864262945998, + -0.12248027520402294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9862944446699079, + -0.1638677418231964, + 0.01925067653475202, + -0.19491479040937515 + ], + [ + 0.1620088085503274, + 0.9839277863502502, + 0.0750947805152823, + 0.015705251817534356 + ], + [ + -0.03124689094063361, + -0.07094679027795792, + 0.9969905609122213, + -0.1188637409884817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9835274297753904, + -0.17610272765159607, + 0.0407628872987643, + -0.1882936390238832 + ], + [ + 0.17282905634617196, + 0.9822182655334473, + 0.07333106416022099, + 0.013066762127610619 + ], + [ + -0.052951845278739855, + -0.06507810205221176, + 0.9964742784315154, + -0.1168399590164816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.980053648017579, + -0.18913325667381287, + 0.06102012381282837, + -0.18028982426457635 + ], + [ + 0.18446400659597254, + 0.979989230632782, + 0.07479403816193109, + 0.006759831121147392 + ], + [ + -0.07394512168117111, + -0.062046147882938385, + 0.9953303162333897, + -0.1210150092251886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9769786670256898, + -0.19852980971336365, + 0.07809342120174823, + -0.17447839040113897 + ], + [ + 0.192932966381167, + 0.9784380197525024, + 0.07372856189860415, + 0.0053369509893810285 + ], + [ + -0.09104690199281976, + -0.056964434683322906, + 0.9942160493857115, + -0.11696859707694772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.973041556668653, + -0.20980796217918396, + 0.09576375944269258, + -0.16692663144667083 + ], + [ + 0.202994343616709, + 0.9762121438980103, + 0.07617842271966446, + -0.0015969273500451645 + ], + [ + -0.10946859540577827, + -0.05468526855111122, + 0.9924848374895752, + -0.13087612984255995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9710686382862342, + -0.21279112994670873, + 0.10837727119992877, + -0.1653854739904366 + ], + [ + 0.205800784842518, + 0.9759286046028139, + 0.07217626794522969, + 0.0024219700163153543 + ], + [ + -0.1211269469525322, + -0.04778397828340532, + 0.9914862541033377, + -0.1119761441215975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.968497021486215, + -0.21740037202835089, + 0.12145218587635434, + -0.16282414483600682 + ], + [ + 0.2098503485762215, + 0.975079655647278, + 0.07198928706341147, + 0.0004889683220225816 + ], + [ + -0.13407604744532298, + -0.044234625995159156, + 0.9899832859860695, + -0.11174909729028283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9661391837245656, + -0.22146070003509521, + 0.13240167846614787, + -0.15669590487819932 + ], + [ + 0.2132075528588711, + 0.9742201566696167, + 0.073740065268084, + -0.004047321618551092 + ], + [ + -0.14531892248460224, + -0.043014127761125565, + 0.9884494041555765, + -0.12312988303145976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9650511256473392, + -0.22107489407062536, + 0.1407201721637386, + -0.1545047963813842 + ], + [ + 0.21247137925375317, + 0.9743863940238955, + 0.07366843235253735, + -0.005037129442982423 + ], + [ + -0.1534020739515078, + -0.04119479283690453, + 0.9873048389563157, + -0.12340124010517446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9648262866796852, + -0.21781934797763824, + 0.1471902028516431, + -0.15440062759609005 + ], + [ + 0.2090069707019541, + 0.9751792550086975, + 0.07308569433618321, + -0.005358370530226031 + ], + [ + -0.15945630153666424, + -0.03975122049450874, + 0.9864043218795423, + -0.12266283223608662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9654507648298895, + -0.2119612991809845, + 0.15158250133938234, + -0.15578407872519967 + ], + [ + 0.20295390855702572, + 0.9764789938926697, + 0.07279049147396786, + -0.005697096587413547 + ], + [ + -0.16344588483680325, + -0.03951137140393257, + 0.9857607583529056, + -0.12314602551364853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9669430485994255, + -0.20344486832618713, + 0.1537247053557199, + -0.15857722248644218 + ], + [ + 0.1943719936727327, + 0.9782768487930298, + 0.07206878112704075, + -0.0053908042134074435 + ], + [ + -0.16504734824271272, + -0.03980662673711777, + 0.9854819897294815, + -0.12348919970796242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9690946181104609, + -0.19288700819015508, + 0.1537863120502156, + -0.16192804061780236 + ], + [ + 0.18402855297820386, + 0.9804229736328127, + 0.07003084051229942, + -0.003942799035868347 + ], + [ + -0.16428367707057193, + -0.039565436542034156, + 0.9856193265887363, + -0.1237447209829019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9714426397281922, + -0.18199658393859863, + 0.1522381665088089, + -0.166320143541878 + ], + [ + 0.17346056476499386, + 0.982511043548584, + 0.0677009889795379, + -0.0027956038740872685 + ], + [ + -0.16189703150298035, + -0.03936030715703964, + 0.9860224005386788, + -0.12519343627670956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.97402738163859, + -0.1702432483434677, + 0.14929135440241886, + -0.17152664137280377 + ], + [ + 0.1620912735034138, + 0.9846154451370239, + 0.06526019730988358, + -0.0016057439909117274 + ], + [ + -0.15810468133825767, + -0.03936639428138733, + 0.9866373233526493, + -0.1268069472499046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9765320574475257, + -0.15885408222675323, + 0.14543233017523793, + -0.17707744149561463 + ], + [ + 0.15117285695159222, + 0.9865297079086304, + 0.06249726286490296, + -0.0007458743348572883 + ], + [ + -0.1534012601466053, + -0.03904515877366066, + 0.9873923149443578, + -0.12920434977391881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.979002178395868, + -0.1474622040987015, + 0.14074681547508575, + -0.18244392520138872 + ], + [ + 0.14038553638785659, + 0.9883372187614443, + 0.059004050295127716, + 0.001003519411912332 + ], + [ + -0.1478061792958796, + -0.0380062758922577, + 0.9882858024045241, + -0.13072779335558368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9811609020305887, + -0.13747529685497284, + 0.13573437349025033, + -0.18708869158012495 + ], + [ + 0.13096925868900777, + 0.9898151755332947, + 0.05579433664166398, + 0.0017268687994194398 + ], + [ + -0.14202227313213772, + -0.036966193467378616, + 0.9891729549238185, + -0.132780579704253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9830088037524577, + -0.12813040614128113, + 0.13143938775994082, + -0.1916815688336506 + ], + [ + 0.12220866437977304, + 0.991130530834198, + 0.0522046877233597, + 0.0024991728763053486 + ], + [ + -0.13696259437014266, + -0.03525463491678238, + 0.989948670436774, + -0.13487660363467993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9847315760399676, + -0.11832474917173386, + 0.1276833076591167, + -0.19634940576918072 + ], + [ + 0.11295280903403562, + 0.9924135804176331, + 0.048548993068714255, + 0.0032923124684641897 + ], + [ + -0.1324591927850694, + -0.033385537564754486, + 0.9906260666035204, + -0.13648458679998413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9862441089258074, + -0.10830871760845184, + 0.1248668477344474, + -0.20106004484458948 + ], + [ + 0.10348870927763043, + 0.9936354756355286, + 0.04448141112499351, + 0.004269732337417523 + ], + [ + -0.12888985274563838, + -0.03094721958041191, + 0.9911758825747644, + -0.13949430381601247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9875615836670929, + -0.09908399730920792, + 0.12208366528570315, + -0.20592253238333422 + ], + [ + 0.09480067037387582, + 0.9946752786636353, + 0.04042221592547175, + 0.005557152157553612 + ], + [ + -0.12543880772607308, + -0.02834581583738327, + 0.991696362826072, + -0.14096263354435074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9887499256409503, + -0.09001149982213974, + 0.11946332576467376, + -0.21034812366933137 + ], + [ + 0.0860920921942076, + 0.9955779910087585, + 0.03758413503539204, + 0.006000040533578589 + ], + [ + -0.12231808061760643, + -0.026876460760831833, + 0.9921269705726427, + -0.14424065773107178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.989912698119616, + -0.08049169927835466, + 0.1165931869384821, + -0.21419942397051167 + ], + [ + 0.07698211730243139, + 0.9964421391487124, + 0.03430512106489071, + 0.008060942311550842 + ], + [ + -0.11893961867623902, + -0.024983482435345657, + 0.9925870924541216, + -0.14675383226908637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9909188386630855, + -0.07033527642488481, + 0.11459863880581297, + -0.2183741190932797 + ], + [ + 0.06712208129030511, + 0.9972421526908877, + 0.031665038610426334, + 0.009723310539266651 + ], + [ + -0.11650974885577857, + -0.023685382679104812, + 0.992907073101869, + -0.146915853107156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9917418881345915, + -0.060889843851327896, + 0.11287351019974406, + -0.2222776412532952 + ], + [ + 0.0580177612112621, + 0.9979069232940674, + 0.028560766585587795, + 0.012126162422683544 + ], + [ + -0.1143763152216297, + -0.021776240319013596, + 0.9931987957485726, + -0.14873401388141994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9923338524068992, + -0.05374547094106674, + 0.11128782782501791, + -0.2256278320834874 + ], + [ + 0.051004561068049035, + 0.9983243346214294, + 0.02733323031142699, + 0.012547038974844243 + ], + [ + -0.11257037421719938, + -0.021447502076625824, + 0.9934122888945016, + -0.14940678272662788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9928695560279932, + -0.045408640056848526, + 0.11021859161820817, + -0.22944135707687363 + ], + [ + 0.042844186413188386, + 0.9987556338310242, + 0.025526088506298027, + 0.014289861090255535 + ], + [ + -0.11124053300929831, + -0.020621849223971367, + 0.9935795165028211, + -0.14969988557699837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9932915878531794, + -0.038164395838975906, + 0.10915747512846653, + -0.2328626354893486 + ], + [ + 0.03572066970429703, + 0.9990674257278442, + 0.02425634403153848, + 0.015347216995674293 + ], + [ + -0.10998139247662923, + -0.020194444805383682, + 0.9937284494155888, + -0.15117433921884543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9935678275102319, + -0.03220750764012337, + 0.10856167513488146, + -0.23715963184802863 + ], + [ + 0.02989681150388349, + 0.9992918968200684, + 0.02284589341054747, + 0.016106148285898753 + ], + [ + -0.1092206188990056, + -0.019453296437859535, + 0.9938271530952448, + -0.15172930846499982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9938033070998714, + -0.02909121289849282, + 0.10727862042583629, + -0.24033464593064746 + ], + [ + 0.026978512844426088, + 0.9994134306907656, + 0.021092854460045527, + 0.017300702989245065 + ], + [ + -0.10782930940751902, + -0.018067929893732074, + 0.9940052013263321, + -0.15165501223121136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9939337646142493, + -0.027780102565884597, + 0.10641394459297916, + -0.24375482558243655 + ], + [ + 0.0257036807086619, + 0.9994524717330935, + 0.02083500407652184, + 0.01640663678049542 + ], + [ + -0.10693448705175973, + -0.01797338388860226, + 0.9941035772179345, + -0.15237530839420604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9940135683376863, + -0.027334081009030342, + 0.10578226255864313, + -0.24816454387407771 + ], + [ + 0.025255075436952823, + 0.9994616508483887, + 0.020943750502825945, + 0.015547178726224067 + ], + [ + -0.10629780069364356, + -0.018146833404898643, + 0.9941687617458425, + -0.15364861770823823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9942189185956232, + -0.02814178727567196, + 0.1036184016871531, + -0.2511545388284404 + ], + [ + 0.026124418231151126, + 0.9994428157806396, + 0.02077541443806764, + 0.015900731651963027 + ], + [ + -0.10414531786419066, + -0.017948338761925697, + 0.9944001523119158, + -0.15353452538072548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/orbit_right/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0824e1c8b80223ae8d4f0e1c0168b76289478173 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/orbit_right/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999988665343407, + -0.0010043199872598052, + 0.004652867353808381, + 0.003721846759863712 + ], + [ + 0.0011293455586410643, + 0.9996362328529358, + -0.02694642804043416, + 0.0011762627961130912 + ], + [ + -0.0046241123801019695, + 0.026951376348733902, + 0.9996260578912167, + 0.0049486843037059485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999248326852698, + -0.005417153239250184, + 0.010998845788349414, + 0.007867566428645983 + ], + [ + 0.005895365694397041, + 0.9990175962448122, + -0.043921975694213654, + -0.0017963810390379344 + ], + [ + -0.01075010891065826, + 0.043983515352010734, + 0.9989744141132509, + 0.004146430299945153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996111764759685, + -0.023633664473891265, + 0.014795679497499693, + 0.012672601229963991 + ], + [ + 0.024332106017530886, + 0.9985045790672304, + -0.048955055541318404, + -0.005164136333040838 + ], + [ + -0.01361656522997453, + 0.04929602891206743, + 0.9986913883535561, + -0.00013832487262811983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989101157598214, + -0.04377982020378113, + 0.01618191625924735, + 0.016614963370712194 + ], + [ + 0.04458246776327338, + 0.9975928664207458, + -0.0531114773768719, + -0.010301853739932932 + ], + [ + -0.013817755542220733, + 0.05377501994371414, + 0.9984574435122808, + -0.0001272452297308278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9982278925191423, + -0.056863486766815186, + 0.01753765533417844, + 0.020330645896920935 + ], + [ + 0.05782959297083384, + 0.9964825510978699, + -0.060648936295776126, + -0.014519436835236946 + ], + [ + -0.014027257909657377, + 0.0615556538105011, + 0.9980050597237099, + -0.002013354110520774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9975434253566836, + -0.0669407993555069, + 0.0206394405790978, + 0.021810139010883498 + ], + [ + 0.0682858364802891, + 0.9949638843536377, + -0.07337494509088652, + -0.014445391147508592 + ], + [ + -0.015623721600756344, + 0.07460407167673111, + 0.9970908444265537, + -0.0024127400711566036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966933155390484, + -0.07772161066532135, + 0.023702023511148574, + 0.022858189509295836 + ], + [ + 0.07951042915435431, + 0.9930015206336975, + -0.08732711676261903, + -0.014408459455728844 + ], + [ + -0.01674894406449361, + 0.08892291784286499, + 0.9958976541614122, + -0.006451954851572857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9958988391638826, + -0.08712751418352127, + 0.024378449144161988, + 0.02387386022380165 + ], + [ + 0.08912819638038301, + 0.9910994172096252, + -0.0988840472985813, + -0.017156272210132637 + ], + [ + -0.01554594714336682, + 0.10065130889415741, + 0.9948003234965462, + -0.009830362100088775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9957435228603239, + -0.08894763141870499, + 0.024147688673154186, + 0.023883296493991263 + ], + [ + 0.09106414912836004, + 0.9898726940155029, + -0.10890091209355136, + -0.020167850207728887 + ], + [ + -0.014216659236210362, + 0.11063636839389801, + 0.993759263940658, + -0.016427981635114223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9961861897511657, + -0.08436749130487442, + 0.022253003293367307, + 0.0261639720254285 + ], + [ + 0.0864391410799284, + 0.9890100955963135, + -0.11994688490224802, + -0.021574145309079966 + ], + [ + -0.01188883045768547, + 0.1214129626750946, + 0.9925308639595274, + -0.019794083187960148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9966022105621013, + -0.079302579164505, + 0.022252118186897762, + 0.027336546220195445 + ], + [ + 0.08155946682015469, + 0.9878548979759216, + -0.13225282793774132, + -0.023542114430325327 + ], + [ + -0.011493874078886962, + 0.1336183398962021, + 0.9909662098058161, + -0.02217601252294991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9966439653696285, + -0.07875555753707886, + 0.02232379526039416, + 0.032076313869859395 + ], + [ + 0.08117060181898172, + 0.9860875010490417, + -0.1450613142809056, + -0.02895437603122274 + ], + [ + -0.010588829178801287, + 0.1463865339756012, + 0.9891707674982333, + -0.027298273525243867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9955020557316724, + -0.09256604313850404, + 0.0201777946283636, + 0.05461425578654462 + ], + [ + 0.09454199541508754, + 0.9843844771385195, + -0.14848925578728894, + -0.04647973558481492 + ], + [ + -0.00611764333725449, + 0.1497290134429932, + 0.9887081503185741, + -0.09314460389865033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9953973267290583, + -0.09307864308357239, + 0.022815932996219614, + 0.05814001459346824 + ], + [ + 0.09555933838990907, + 0.9820225238800049, + -0.16278891616465452, + -0.04830962723300166 + ], + [ + -0.007253588890178696, + 0.164219930768013, + 0.9863970905179739, + -0.09505301415617318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9959087975034122, + -0.08639077842235565, + 0.02650117380291667, + 0.05928100111084039 + ], + [ + 0.0897006350377611, + 0.9806010127067566, + -0.17428553176539238, + -0.04708243595914756 + ], + [ + -0.010930414317330009, + 0.17594967782497406, + 0.9843384534753019, + -0.1025359367527126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.996794266191337, + -0.07420744001865387, + 0.029906993367834898, + 0.05930384864905329 + ], + [ + 0.07842791908540911, + 0.9801908135414124, + -0.18186529086055833, + -0.04792709569662575 + ], + [ + -0.015818803831322927, + 0.18362782895565033, + 0.9828685795543295, + -0.1061629704921864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9973762910151732, + -0.06434112787246704, + 0.033176882450006856, + 0.05905255123666782 + ], + [ + 0.06946618063770586, + 0.9796071648597717, + -0.1885318843345253, + -0.04774477524496866 + ], + [ + -0.020369956694469518, + 0.19034191966056824, + 0.9815065215270347, + -0.10435291120490306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9976971101914962, + -0.05821879208087921, + 0.03479958834827412, + 0.06262238150764271 + ], + [ + 0.06380967267090998, + 0.9795976877212524, + -0.19056938586956368, + -0.05247747100408063 + ], + [ + -0.022994877947704533, + 0.1923510879278183, + 0.9810566999762279, + -0.09851436320198466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979485441154103, + -0.051942091435194016, + 0.037426446994657386, + 0.06498073302944268 + ], + [ + 0.05819291076420166, + 0.9796562790870667, + -0.19206022697848543, + -0.05635031624902924 + ], + [ + -0.026689044129740595, + 0.19384418427944183, + 0.9806692433515213, + -0.09517157571437791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9978547966668976, + -0.05063077434897423, + 0.0415012913870023, + 0.06352862731206281 + ], + [ + 0.05780560861691473, + 0.9789945483207703, + -0.1955204157290112, + -0.056018196177542626 + ], + [ + -0.030730190993810292, + 0.19749997556209564, + 0.9798211162768675, + -0.09726768026720745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.997906362780107, + -0.04961514472961426, + 0.04148749633214423, + 0.06499476356992517 + ], + [ + 0.05688398818053427, + 0.9785534739494324, + -0.1979830600882409, + -0.05831620462518658 + ], + [ + -0.030774773749841805, + 0.19992852210998535, + 0.9793270373542952, + -0.09303249605856433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9981763448994477, + -0.04558997601270676, + 0.03956732376316072, + 0.06705694903481746 + ], + [ + 0.0526546906946756, + 0.9781025052070618, + -0.20135280135115943, + -0.060035329757899866 + ], + [ + -0.029521229521496137, + 0.20306901633739471, + 0.9787193043189457, + -0.09018484058131282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9983186764736246, + -0.03938813880085946, + 0.042525792294985286, + 0.0625191300059044 + ], + [ + 0.04730548673061358, + 0.9776083230972292, + -0.20504678954005298, + -0.06192299061661566 + ], + [ + -0.03349715613720828, + 0.20671373605728155, + 0.9778278984419319, + -0.09921324515724558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.998372951097255, + -0.04150507599115372, + 0.039099500623614905, + 0.0670275244291926 + ], + [ + 0.048831872336953484, + 0.9763911962509155, + -0.2104177988778614, + -0.05829472283516744 + ], + [ + -0.029443005915224165, + 0.21198473870754242, + 0.9768293345107923, + -0.08043487402464004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9984222335169928, + -0.03953487426042557, + 0.039875839429220655, + 0.06521229528217248 + ], + [ + 0.04720310433091457, + 0.9755423069000244, + -0.21468357060737614, + -0.057260451158586655 + ], + [ + -0.03041308160596316, + 0.21622709929943085, + 0.9758692722741364, + -0.07035336568822088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9984120862955294, + -0.034961801022291183, + 0.04416934263735752, + 0.05807195020213232 + ], + [ + 0.04380474013366088, + 0.9748436808586121, + -0.21854276160773178, + -0.057527534418384624 + ], + [ + -0.035417554216685215, + 0.2201305627822876, + 0.9748272481586082, + -0.06706356331079621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9983989256742993, + -0.03524046018719673, + 0.04424640492263993, + 0.05674859338974329 + ], + [ + 0.044166965252350726, + 0.974373459815979, + -0.2205575590222951, + -0.05775370851207054 + ], + [ + -0.035339975457176154, + 0.22215865552425385, + 0.9743698490171885, + -0.05774877508454421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983686792011429, + -0.03681790083646774, + 0.04363968230818665, + 0.05682589919871833 + ], + [ + 0.04568320750471037, + 0.9735798835754395, + -0.22373032135731105, + -0.05606103513154092 + ], + [ + -0.034249437192516635, + 0.22535893321037292, + 0.9736735985875373, + -0.05032295465982165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983425810301, + -0.037574045360088355, + 0.04359232995284239, + 0.0548906706321917 + ], + [ + 0.046418136729787264, + 0.97349089384079, + -0.22396623659624737, + -0.05993116899846511 + ], + [ + -0.034021422887189276, + 0.2256185114383698, + 0.9736214829586338, + -0.045207586023961646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985734405624505, + -0.039605412632226944, + 0.03581234964677269, + 0.06916460738073868 + ], + [ + 0.046727621040538576, + 0.972733736038208, + -0.2271685876675354, + -0.058002209882294035 + ], + [ + -0.025838776343629993, + 0.22851794958114624, + 0.9731967652136536, + -0.03488496016588838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9986149273904942, + -0.034720625728368766, + 0.03953090574069141, + 0.058155995108256864 + ], + [ + 0.04289501181048971, + 0.972346365451813, + -0.229570483007668, + -0.060054179749927945 + ], + [ + -0.03046690104187587, + 0.2309481799602509, + 0.972488917042644, + -0.03473827663395646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9984283739695098, + -0.04096035286784172, + 0.03824894648862846, + 0.05969073719797398 + ], + [ + 0.04880909130563651, + 0.9709324836730957, + -0.23432399121995018, + -0.05589073279420406 + ], + [ + -0.02753915555527942, + 0.2358226180076599, + 0.9714058334938139, + -0.03134829384123757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9988081739613353, + -0.030447332188487053, + 0.0381470304146937, + 0.05293513265050293 + ], + [ + 0.03852071751795342, + 0.9717099070549011, + -0.2330151232925824, + -0.06677357750727914 + ], + [ + -0.02997315523356135, + 0.23420687019824982, + 0.9717246230463926, + -0.03423743995283948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987122664064135, + -0.03605753555893899, + 0.03568803214068937, + 0.05674544832112352 + ], + [ + 0.04365190822814548, + 0.9692109823226931, + -0.24233157651401235, + -0.05483709674274354 + ], + [ + -0.02585135032602957, + 0.24357736110687261, + 0.9695369089535036, + -0.03274182518295604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9991270900647137, + -0.027423828840255737, + 0.031510890701268536, + 0.060524481606358996 + ], + [ + 0.03438186554061641, + 0.9682877659797668, + -0.24746039084318056, + -0.055014427182378554 + ], + [ + -0.02372529460368258, + 0.24832779169082642, + 0.9683854635402335, + -0.021431332008947954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9992150755712481, + -0.02494669333100319, + 0.030771177400981717, + 0.05641070314745715 + ], + [ + 0.03189129458017276, + 0.9673789739608765, + -0.25131837740678603, + -0.057442908290130414 + ], + [ + -0.023497828030143587, + 0.25210243463516235, + 0.9674152111558186, + -0.02009750293620455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9992818017429368, + -0.022420700639486313, + 0.03054752855209201, + 0.05443428370636272 + ], + [ + 0.029527335850679463, + 0.9659827947616577, + -0.25691509428045134, + -0.05289862452754227 + ], + [ + -0.023748171708055, + 0.2576325833797455, + 0.9659510704101764, + -0.0293426499062243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999345535665509, + -0.01810865476727486, + 0.031314244055196734, + 0.04860200776604824 + ], + [ + 0.02557933924854336, + 0.965866029262543, + -0.25777610804212886, + -0.05756789411367147 + ], + [ + -0.025577391565526464, + 0.2584084272384644, + 0.9656971149957636, + -0.03724890950410732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994582336917357, + -0.019618939608335495, + 0.026424999348676197, + 0.055774494458334795 + ], + [ + 0.025804133910187144, + 0.9654900431632996, + -0.2591584959322608, + -0.06213173924944017 + ], + [ + -0.020428660877342898, + 0.2597000002861023, + 0.9654732226543592, + -0.032015594845493094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995086437275819, + -0.02203492261469364, + 0.022291545024422304, + 0.05877994288071387 + ], + [ + 0.027106666066119573, + 0.9647510647773743, + -0.2617644224213647, + -0.05832669013571792 + ], + [ + -0.015737832415302255, + 0.26224005222320557, + 0.9648743070056948, + -0.036919949927379646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995227964857843, + -0.025051329284906387, + 0.01807272707217847, + 0.061831781499117125 + ], + [ + 0.028887446089112975, + 0.9652762413024902, + -0.25962909404357015, + -0.06213263433812035 + ], + [ + -0.010941124663681396, + 0.26002728939056396, + 0.9655392572272407, + -0.05056106379558657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9994850459916198, + -0.028435396030545235, + 0.014867029443627852, + 0.06037238416863758 + ], + [ + 0.031325724741766384, + 0.9650570750236511, + -0.26016057059356834, + -0.05967538797911856 + ], + [ + -0.0069497607713062985, + 0.26049235463142395, + 0.9654508774317976, + -0.05954942744665995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995768875634596, + -0.026608727872371674, + 0.011746859354718378, + 0.05794089938018469 + ], + [ + 0.028749200942265404, + 0.9651437401771545, + -0.2601365318527049, + -0.05684895461802235 + ], + [ + -0.004415500495813077, + 0.2603641748428345, + 0.9655004052221929, + -0.06302709145614892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995112290572454, + -0.03089982084929943, + 0.004742870421192314, + 0.057407274603888565 + ], + [ + 0.031076728238146153, + 0.9656163454055786, + -0.2581070717920971, + -0.056783971258205626 + ], + [ + 0.0033956652049910727, + 0.2581283152103424, + 0.9661046835378365, + -0.061768637763819544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999386220111639, + -0.03488101065158844, + -0.0032367033913721613, + 0.05532078501611438 + ], + [ + 0.03291143013142327, + 0.9665557742118835, + -0.2543360405323833, + -0.05596733560956374 + ], + [ + 0.011999954323661513, + 0.2540734112262726, + 0.9671104823520931, + -0.05811094094995298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9992023247959746, + -0.03776445984840393, + -0.012981157727584658, + 0.05321308218791606 + ], + [ + 0.033306645589032076, + 0.9674650430679321, + -0.2508028700054892, + -0.052534091895749056 + ], + [ + 0.022030252465019617, + 0.2501704692840576, + 0.9679511286873531, + -0.05494164969081368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988435041300924, + -0.04203120619058609, + -0.0233447873913643, + 0.0488760360753169 + ], + [ + 0.03502341316717967, + 0.9687319993972778, + -0.24562505383180488, + -0.04981495175844014 + ], + [ + 0.03293876074023939, + 0.24452337622642517, + 0.969083794099945, + -0.05074893309556527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9984324917111279, + -0.044213823974132545, + -0.034317064912285436, + 0.04401963693303946 + ], + [ + 0.034670334019971084, + 0.9699230194091799, + -0.24093009162131257, + -0.045870368721703664 + ], + [ + 0.043937350469077485, + 0.23936264216899877, + 0.9699355864082571, + -0.04671765583920866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.997789571436288, + -0.04726714268326759, + -0.0467097444564572, + 0.041283296472364825 + ], + [ + 0.03499736014793826, + 0.9712949395179749, + -0.23528993120948763, + -0.04408645328269995 + ], + [ + 0.05649041957255898, + 0.2331351339817047, + 0.9708021705456593, + -0.04186230267354368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9971578253103119, + -0.048086944967508316, + -0.05799898725888389, + 0.039394314395385197 + ], + [ + 0.03353182412915, + 0.9726343154907227, + -0.22990902889322312, + -0.04188168539276607 + ], + [ + 0.06746742625876967, + 0.22731077671051025, + 0.9714823208884897, + -0.040806674342143835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9964347724315644, + -0.0468520037829876, + -0.07016188568051272, + 0.04404937487926729 + ], + [ + 0.03007257492317687, + 0.9742439985275271, + -0.22348213798630245, + -0.04269983660352089 + ], + [ + 0.07882538064790404, + 0.2205754071474076, + 0.9721795433916824, + -0.04659556444710191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9957865919440531, + -0.04715019091963768, + -0.07865033223837938, + 0.04178434165487228 + ], + [ + 0.028929566936757665, + 0.9754133224487305, + -0.21847646572179077, + -0.04206587497403449 + ], + [ + 0.08701779012664446, + 0.21528062224388123, + 0.9726675747980985, + -0.0447258063492974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.995129340593965, + -0.046040020883083344, + -0.08716628780099861, + 0.044726760328375824 + ], + [ + 0.026595680546668873, + 0.9768373966217041, + -0.2123237427851644, + -0.043169143469284195 + ], + [ + 0.09492267638810595, + 0.2089713215827942, + 0.9733040086219162, + -0.05010431733495757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994524234894109, + -0.04606097564101219, + -0.0938076924701612, + 0.04574721283980558 + ], + [ + 0.025802552024859846, + 0.978065550327301, + -0.20669297810247939, + -0.04262670828016705 + ], + [ + 0.10127055515991774, + 0.20314070582389832, + 0.9738983996892024, + -0.05315148675134893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9937566957312816, + -0.04786644130945207, + -0.10077937123049999, + 0.04710216363217429 + ], + [ + 0.026784894772647564, + 0.979229271411896, + -0.2009791373884256, + -0.03964925025258267 + ], + [ + 0.10830626123818869, + 0.1970249861478806, + 0.9743977427529381, + -0.05325191798521507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9929224023947936, + -0.051808409392833724, + -0.10686925234260658, + 0.04804103544335007 + ], + [ + 0.03032506216307501, + 0.9806056618690493, + -0.19363089968288935, + -0.035510136561399876 + ], + [ + 0.11482830165466244, + 0.18901965022087103, + 0.9752364056492839, + -0.054181375306425264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.992061456559698, + -0.056758083403110504, + -0.11221657400655653, + 0.049340309813074294 + ], + [ + 0.035302907944707564, + 0.982166051864624, + -0.18467156854041228, + -0.029832685967971718 + ], + [ + 0.1206969136590075, + 0.17924398183822632, + 0.9763727931704111, + -0.05706914923909798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9911834906520236, + -0.06116416305303575, + -0.11753401829765936, + 0.05053207373262375 + ], + [ + 0.040376166191760536, + 0.9843155145645144, + -0.17173449024686596, + -0.028254900777893 + ], + [ + 0.12619455448370084, + 0.16547481715679171, + 0.9781068464877446, + -0.05807988957407818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9901524607108406, + -0.06664244085550308, + -0.12311350571566669, + 0.05288717606334668 + ], + [ + 0.04644499539490799, + 0.9859931468963623, + -0.16018847564675892, + -0.020834908811864214 + ], + [ + 0.13206442190415973, + 0.15289300680160522, + 0.9793787330952385, + -0.05614327798642954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9893418967456623, + -0.06931956112384796, + -0.12805221996902375, + 0.05505410757205535 + ], + [ + 0.0501215460903383, + 0.9877932071685791, + -0.14748704955458994, + -0.014278600655365811 + ], + [ + 0.13671284574383394, + 0.13949695229530334, + 0.9807396047651358, + -0.055855388521113276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9888433483023101, + -0.0695200189948082, + -0.13174132514951092, + 0.055268094941466755 + ], + [ + 0.0519118829928593, + 0.9897998571395874, + -0.1326704400490912, + -0.012232788185081733 + ], + [ + 0.1396207965443315, + 0.12435134500265121, + 0.9823658782489164, + -0.05512516220977611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9882692610714201, + -0.06904090940952301, + -0.13622482334496047, + 0.05729771774126875 + ], + [ + 0.05269485101235478, + 0.9913562536239624, + -0.12015016377824635, + -0.007135084874006057 + ], + [ + 0.14334260868763699, + 0.11156237125396729, + 0.9833650124061507, + -0.052030795929273156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9878055085109205, + -0.06888131052255632, + -0.13962668434480863, + 0.05911831242750683 + ], + [ + 0.05385469355547876, + 0.9926167726516726, + -0.10868109883923507, + -0.001422931688055061 + ], + [ + 0.14608188048038825, + 0.09983623772859576, + 0.9842219314417315, + -0.05028999170686497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9875503301992943, + -0.06817160546779633, + -0.14176379836302797, + 0.05958759229047514 + ], + [ + 0.05429100921203471, + 0.9935474991798401, + -0.09957847144485833, + 0.005244055109952312 + ], + [ + 0.14763749362166095, + 0.09064225107431412, + 0.9848792737840466, + -0.046456917501679636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9871697692529477, + -0.0672144666314125, + -0.14483791254617367, + 0.061636426904729355 + ], + [ + 0.05413359871608183, + 0.9942457675933838, + -0.092438815050696, + 0.011838338303932643 + ], + [ + 0.15021771161849204, + 0.08341220766305923, + 0.9851279221645595, + -0.03935538362971692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9869028230235771, + -0.06683296710252762, + -0.1468203529172236, + 0.06340194878362074 + ], + [ + 0.05469782508456923, + 0.994861900806427, + -0.08519349978175103, + 0.01603222647039354 + ], + [ + 0.15175971168622734, + 0.07604695111513138, + 0.9854876158909835, + -0.03521649419453868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9865375951615805, + -0.0678880587220192, + -0.14877748307838504, + 0.0654370924786729 + ], + [ + 0.05678084901950316, + 0.9953603148460388, + -0.07767734221309076, + 0.018367343515546176 + ], + [ + 0.15336057262435876, + 0.06818390637636185, + 0.9858151630976851, + -0.03213393385239192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9860623743004995, + -0.069198839366436, + -0.15130288922613971, + 0.06743192659118148 + ], + [ + 0.05884636783447769, + 0.9956768751144409, + -0.07186578278608498, + 0.022841661890107404 + ], + [ + 0.15562181257854352, + 0.06196051836013794, + 0.9858715469293526, + -0.02781194076987019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9854638753545812, + -0.0705689936876297, + -0.15453478514869276, + 0.07036428142637843 + ], + [ + 0.06104689762985939, + 0.9959818124771118, + -0.06552522244493843, + 0.026025349032493754 + ], + [ + 0.158537880917719, + 0.05513886734843254, + 0.9858120807408712, + -0.024294692607123847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.985050401980152, + -0.07169889658689499, + -0.1566364554390475, + 0.0716941074211712 + ], + [ + 0.06302691523875935, + 0.996227502822876, + -0.0596523022487845, + 0.028087126947738423 + ], + [ + 0.16032254932440312, + 0.04888821020722389, + 0.9858532756151008, + -0.019697549627387376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9845105515082037, + -0.07499485462903976, + -0.15847641027464265, + 0.07361876007066141 + ], + [ + 0.06711998777904174, + 0.996256411075592, + -0.05447983900690686, + 0.03046742930690095 + ], + [ + 0.1619688514225869, + 0.04299904406070709, + 0.9858586207708141, + -0.016013794631598684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9840720900892667, + -0.07863131165504457, + -0.15943407221963948, + 0.07459363279072243 + ], + [ + 0.07151073107568087, + 0.9961895346641543, + -0.049926438026268394, + 0.03217857962535856 + ], + [ + 0.162752329364149, + 0.03772997111082078, + 0.9859452998710333, + -0.012369221587263238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9835547753649294, + -0.08295077830553056, + -0.16043428368232915, + 0.07615145872647863 + ], + [ + 0.07646527388412165, + 0.9960015416145327, + -0.04619535818232446, + 0.03426677675090824 + ], + [ + 0.16362474198321697, + 0.0331680178642273, + 0.9859649465788057, + -0.009310658386949444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9830641205760418, + -0.08643079549074173, + -0.16160034655205238, + 0.07650684735155949 + ], + [ + 0.08047884340694203, + 0.9958269000053406, + -0.04303362060265011, + 0.0364207424864964 + ], + [ + 0.16464541035613783, + 0.029299400746822357, + 0.9859175852347826, + -0.0053758657282157035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.982464646339295, + -0.0897357687354088, + -0.16343418065445836, + 0.07764896397949238 + ], + [ + 0.08439794297301745, + 0.9956555962562563, + -0.03933041147960198, + 0.03795967451234946 + ], + [ + 0.16625350080223836, + 0.02484723180532456, + 0.9857699497324459, + -0.003456761316993597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9818499472030008, + -0.09170776605606079, + -0.16601327483566936, + 0.07860294335974546 + ], + [ + 0.08697771288804786, + 0.995575487613678, + -0.03555710005169966, + 0.03896863731768115 + ], + [ + 0.16853960832608667, + 0.02047228068113327, + 0.9854822882816581, + -0.001486618104508848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9810611774661885, + -0.09405223280191424, + -0.1693315285611019, + 0.0797519198410272 + ], + [ + 0.09005455735583805, + 0.995449483394623, + -0.031153146446284904, + 0.03997779540487534 + ], + [ + 0.17149099899627035, + 0.01531406678259373, + 0.9850666660279342, + 0.001671578904756242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.980269394668049, + -0.09507060796022418, + -0.173301892180605, + 0.08094073480905095 + ], + [ + 0.09157161660011812, + 0.9954021573066714, + -0.02809336614094095, + 0.04406224341614303 + ], + [ + 0.17517591952568454, + 0.011669533327221872, + 0.9844679928209303, + 0.005352133965123077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9798295947599963, + -0.09544503688812256, + -0.17556826362266068, + 0.08013806348498585 + ], + [ + 0.09266122031953562, + 0.995408296585083, + -0.024005349432634052, + 0.04644766289277765 + ], + [ + 0.17705328821828362, + 0.007252783980220556, + 0.9841745546453053, + 0.0074631564986358465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9790666214660388, + -0.09536831825971603, + -0.17981503829513246, + 0.08264949158332079 + ], + [ + 0.09327519288004019, + 0.9954378604888916, + -0.020079564395516957, + 0.048376985000108015 + ], + [ + 0.1809096559089655, + 0.0028869500383734703, + 0.983495479567745, + 0.009719252223764952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9788493445925502, + -0.09652624279260635, + -0.18037929894076768, + 0.08037345836452171 + ], + [ + 0.09524887636482283, + 0.9953289031982422, + -0.015750475011567334, + 0.049564019631919046 + ], + [ + 0.1810570552209113, + -0.0017635824624449015, + 0.9834710367121092, + 0.012345423855670709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.978401814025861, + -0.09647815674543381, + -0.18281651316521047, + 0.08106449930635352 + ], + [ + 0.09594634442622776, + 0.9953168630599976, + -0.011772800005576437, + 0.05067555088055082 + ], + [ + 0.1830961839072512, + -0.0060220458544790745, + 0.9830765444095275, + 0.01475480232419308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.977759138726459, + -0.09635921567678452, + -0.18628480044883838, + 0.08228081541590919 + ], + [ + 0.09663885330851546, + 0.9952905178070068, + -0.007600658063369842, + 0.051184955652382555 + ], + [ + 0.18613987878880123, + -0.010570736601948738, + 0.9824663984052766, + 0.019260447909231343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.977192288153574, + -0.0948014110326767, + -0.1900207564781457, + 0.08382150900770353 + ], + [ + 0.09600208716539928, + 0.9953769445419312, + -0.0028977669457168303, + 0.049667418155886316 + ], + [ + 0.18941699535688306, + -0.015410713851451874, + 0.9817758194979239, + 0.023347010835157826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9766346608449177, + -0.09554288536310196, + -0.19250010993072939, + 0.0829404972271895 + ], + [ + 0.09727184026169093, + 0.9952577352523804, + -0.00047143343935301295, + 0.05232029515813792 + ], + [ + 0.1916322593286544, + -0.018264420330524445, + 0.9812968154087486, + 0.026763442570772934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9759310675771746, + -0.09555571526288986, + -0.1960297008603215, + 0.08386457528082931 + ], + [ + 0.09806240440384946, + 0.9951754212379456, + 0.0030987526133781826, + 0.05244285373216092 + ], + [ + 0.19478784773527183, + -0.022247314453125, + 0.9805930650460261, + 0.030129727379070454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9753986328581912, + -0.09563429653644562, + -0.19862420658496935, + 0.08294273572777738 + ], + [ + 0.09861304189891158, + 0.9951125979423523, + 0.005135966791228139, + 0.05441772573094374 + ], + [ + 0.19716228127819205, + -0.024596549570560455, + 0.9800622755609705, + 0.03291379702921792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9749141912976724, + -0.09531968086957932, + -0.20113783228183804, + 0.08169968357723291 + ], + [ + 0.09877760777374976, + 0.9950834512710571, + 0.007202277862188048, + 0.05558488206598412 + ], + [ + 0.19946240810617002, + -0.026889516040682793, + 0.9795364438658843, + 0.035973533903553095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9743863376887547, + -0.09422576427459717, + -0.2041879848707102, + 0.08138168800753129 + ], + [ + 0.09809009388671382, + 0.9951380491256714, + 0.008864423894219776, + 0.05678090845490083 + ], + [ + 0.2023599799871201, + -0.028666192665696144, + 0.978891563698841, + 0.0380504092071972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9738881144435433, + -0.09278821945190431, + -0.2072009491282549, + 0.080909590429028 + ], + [ + 0.09713763774515996, + 0.9952113032341006, + 0.010894253997122051, + 0.05758532440850774 + ], + [ + 0.2051978814032337, + -0.030736794695258148, + 0.9782377491935839, + 0.0393832422624683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9733101990532015, + -0.09173221886157991, + -0.21036255608098575, + 0.08005808754980948 + ], + [ + 0.09650169083719919, + 0.9952543377876284, + 0.01249841505793064, + 0.05973986071525482 + ], + [ + 0.2082177394184972, + -0.03246517479419709, + 0.9775435606696918, + 0.04031196421879536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9730203050357319, + -0.09037180989980699, + -0.21228382976511373, + 0.07763311670397018 + ], + [ + 0.09569811957846819, + 0.9952984452247622, + 0.014929525563854677, + 0.061217460544451964 + ], + [ + 0.20993654758464084, + -0.0348418951034546, + 0.9770939861072335, + 0.04062807460310458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.973208893334845, + -0.09128565341234207, + -0.2110244554389053, + 0.07559670011585166 + ], + [ + 0.09769457812528029, + 0.9950129389762878, + 0.020124845146751415, + 0.05736101911738636 + ], + [ + 0.2081349615932318, + -0.04020162671804428, + 0.9772736165096988, + 0.021412092556428085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9724920352624165, + -0.09110806137323381, + -0.21437935182655804, + 0.07534888725974842 + ], + [ + 0.0981480236426194, + 0.9949195981025698, + 0.022404082642544922, + 0.06057444394510796 + ], + [ + 0.21124902126155407, + -0.04282870143651963, + 0.9764934698305534, + 0.026098804949618973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9710257249562411, + -0.09012183547019958, + -0.22133036666673142, + 0.07714235638940527 + ], + [ + 0.09800764683746878, + 0.9948744773864746, + 0.02488602545366296, + 0.06499683393896029 + ], + [ + 0.21795315469628385, + -0.045857034623622894, + 0.9748813041807389, + 0.04643579715651665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9713909248168485, + -0.09003256261348724, + -0.21975861990965298, + 0.07510127175690415 + ], + [ + 0.09903284434666786, + 0.9946237802505493, + 0.030265369201202978, + 0.06121855813705877 + ], + [ + 0.215852287268074, + -0.05116282403469086, + 0.9750847207398472, + 0.028896240560737255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9702766426485339, + -0.09317120909690857, + -0.2233435523312985, + 0.0740953337422141 + ], + [ + 0.10288061030514416, + 0.9941719770431519, + 0.032212476491193846, + 0.06668527906471335 + ], + [ + 0.21904062335615512, + -0.05423273518681526, + 0.9742073927184511, + 0.03763368435246983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.969475870915205, + -0.09257038682699205, + -0.2270402586067054, + 0.07534119678774605 + ], + [ + 0.10337779362488127, + 0.9939848184585574, + 0.03615534165355926, + 0.0654352040115114 + ], + [ + 0.22232766585958422, + -0.05852265283465387, + 0.9732140374396434, + 0.044536871181285215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9697561406698696, + -0.09110705554485322, + -0.22643427561544455, + 0.07235457815203035 + ], + [ + 0.10228703133114005, + 0.9940243959426882, + 0.03811634464765244, + 0.06684886436192014 + ], + [ + 0.22160853014918813, + -0.06012485176324846, + 0.973280355117642, + 0.035914432264226054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9691551838078285, + -0.09047552943229675, + -0.22924324975694815, + 0.07493601907731176 + ], + [ + 0.10269759678999196, + 0.9938284158706665, + 0.041932570916717406, + 0.06411829786301654 + ], + [ + 0.22403457112799302, + -0.06418189406394958, + 0.9724655498398711, + 0.03054563599904349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9675304100718025, + -0.09348472207784653, + -0.23483093891737117, + 0.07632797912750278 + ], + [ + 0.10636851536564179, + 0.9934059977531433, + 0.04278176208031822, + 0.06866368951820058 + ], + [ + 0.22928301473826065, + -0.06637126952409744, + 0.9710943360446702, + 0.04761635458240236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9669276071468541, + -0.09305234998464584, + -0.23747066321060772, + 0.07683829479955111 + ], + [ + 0.10640824761370239, + 0.9933472275733948, + 0.044029737833064644, + 0.06968036846807585 + ], + [ + 0.23179374703130384, + -0.06784240901470184, + 0.9703963497869907, + 0.05337931328387094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9668417838988923, + -0.09121833741664886, + -0.23852919044184095, + 0.07756007913248378 + ], + [ + 0.10494732406585656, + 0.9934374094009399, + 0.045477654892005635, + 0.06911388398135994 + ], + [ + 0.2328154185871225, + -0.06900269538164139, + 0.9700698804113679, + 0.0520405562115583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9665940147789878, + -0.09039635956287385, + -0.23984264703881503, + 0.07773364120653653 + ], + [ + 0.10419100238129472, + 0.9935184121131899, + 0.04544624057956218, + 0.07133387934203621 + ], + [ + 0.2341799233384517, + -0.06891750544309617, + 0.9697474646213914, + 0.05580864870609354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.966259953755933, + -0.09025000780820848, + -0.24123973620571063, + 0.08007548832305839 + ], + [ + 0.10449741960571873, + 0.9934183955192568, + 0.046906260949566646, + 0.07029410519032007 + ], + [ + 0.23541870152245875, + -0.07053257524967195, + 0.9693312845453005, + 0.053177472764440376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9656669888825083, + -0.0910235345363617, + -0.2433145922313152, + 0.08447894607611249 + ], + [ + 0.10589980428606727, + 0.9931811690330505, + 0.04874791284521664, + 0.06790014594899889 + ], + [ + 0.23721827526786377, + -0.07284121960401535, + 0.9687216759660972, + 0.04686972832847429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9648618149959793, + -0.1056254431605339, + -0.2405929458324168, + 0.07468065940928761 + ], + [ + 0.11618914723224612, + 0.9927705526351929, + 0.030111594988825686, + 0.10588386005090253 + ], + [ + 0.23567304292219265, + -0.057007815688848495, + 0.9701589231997778, + 0.0507731271718489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9619819929076622, + -0.11250335723161697, + -0.24886468468346765, + 0.08627228110529656 + ], + [ + 0.12364549056784659, + 0.9918863773345947, + 0.029550985204742242, + 0.10901447451464791 + ], + [ + 0.24352088661997173, + -0.05919851362705231, + 0.9680873226170278, + 0.051898578909502835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.961348033233359, + -0.11088694632053378, + -0.25202001015220404, + 0.09104576215299469 + ], + [ + 0.12418537332614504, + 0.991552531719208, + 0.03743803489699359, + 0.09465922275718205 + ], + [ + 0.24573968517665373, + -0.06728817522525789, + 0.9669975669755659, + 0.0373197319834408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9602172999236622, + -0.10610239207744598, + -0.25831180381377605, + 0.09932058666821486 + ], + [ + 0.12197378184243178, + 0.9914590716362, + 0.04616573246116908, + 0.07734331983602939 + ], + [ + 0.25120728596864994, + -0.07583639770746231, + 0.9649579270980725, + 0.026221798743251062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9591900273917393, + -0.10311172902584076, + -0.26329168593986896, + 0.10486437402607128 + ], + [ + 0.12144729682666618, + 0.9911117553710938, + 0.05429639771016687, + 0.062297037643591 + ], + [ + 0.25535287090844827, + -0.08405661582946777, + 0.9631870889038673, + 0.01807549605072928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.958470352993894, + -0.10613180696964264, + -0.26470859121882173, + 0.0998350195436475 + ], + [ + 0.1241812074607389, + 0.9908770322799683, + 0.05236112726478582, + 0.06920457091521806 + ], + [ + 0.2567364763440367, + -0.0830584242939949, + 0.9629058475706026, + 0.00880593450198601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9579453990227601, + -0.10455378890037537, + -0.2672249169885956, + 0.09563816619143456 + ], + [ + 0.12277118630088606, + 0.9910532236099243, + 0.05235186123684277, + 0.07232708993375846 + ], + [ + 0.25936053278193427, + -0.08295774459838867, + 0.9622110364286862, + 0.005490273270687851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9562891603651019, + -0.10444070398807526, + -0.27313581956323985, + 0.10649869751473141 + ], + [ + 0.12473717905629811, + 0.9904941916465759, + 0.057981775184755086, + 0.0632980456085014 + ], + [ + 0.264483782339293, + -0.08951753377914429, + 0.9602265374657426, + -0.008430762553051516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.955007376965252, + -0.10444523394107821, + -0.27758259192273876, + 0.10958099025345533 + ], + [ + 0.12562177745706005, + 0.9902874231338503, + 0.05958196867868457, + 0.06297947821904622 + ], + [ + 0.2686635089870925, + -0.09177164733409883, + 0.9588524002112582, + -0.011937373714880836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9539270815397178, + -0.10379937291145325, + -0.2815116588003401, + 0.11050943772459983 + ], + [ + 0.1252648133820145, + 0.9903490543365479, + 0.059307978752938424, + 0.0659899045645299 + ], + [ + 0.2726386677374601, + -0.09183898568153381, + 0.9577231896478927, + -0.012908486978287483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9529473468899078, + -0.10240726172924045, + -0.2853139713898312, + 0.11344652251787939 + ], + [ + 0.12441984240416394, + 0.990409314632416, + 0.06007578007798539, + 0.0666437475444659 + ], + [ + 0.27642541508247304, + -0.09274777024984361, + 0.9565494200198181, + -0.013167141297848885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9519221628998664, + -0.10228833556175232, + -0.28875819974432687, + 0.11786300850115844 + ], + [ + 0.12586262025471948, + 0.9899656176567078, + 0.06423877606947012, + 0.061699062783782496 + ], + [ + 0.2792898236456989, + -0.09749417752027512, + 0.9552445080796778, + -0.01787570268255933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.950897988523994, + -0.10206608474254608, + -0.2921910169718616, + 0.11806580445720014 + ], + [ + 0.1267254209611212, + 0.9896928071975708, + 0.06669907849449143, + 0.06079252803276604 + ], + [ + 0.28237163794483644, + -0.10045203566551208, + 0.9540312707314083, + -0.015662421004389047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9500576668057721, + -0.10184565931558609, + -0.29498794509649556, + 0.11761050653068278 + ], + [ + 0.12750162419416772, + 0.9894329309463501, + 0.0690348259453017, + 0.06087755247932737 + ], + [ + 0.28483989683541827, + -0.10319850593805313, + 0.9530038108039471, + -0.014786648013458796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9489920016207237, + -0.10170579701662064, + -0.2984461734880189, + 0.11740393893467738 + ], + [ + 0.12849261694419278, + 0.9891297817230225, + 0.07149775227608791, + 0.06159689050154879 + ], + [ + 0.2879302575088604, + -0.10619892925024033, + 0.9517446957252922, + -0.011668551674321376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9482282894564799, + -0.10047782957553864, + -0.301276135472518, + 0.11682056069815566 + ], + [ + 0.12828939223847882, + 0.9889762997627258, + 0.0739435828681689, + 0.06219254133354832 + ], + [ + 0.2905252755168747, + -0.10876592993736267, + 0.9506655977598044, + -0.011549039007745107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9479742043693684, + -0.098045215010643, + -0.30287303730845055, + 0.11130244049504415 + ], + [ + 0.1262821810542331, + 0.9891512989997864, + 0.07505026931828208, + 0.06451329485068834 + ], + [ + 0.2922289350376783, + -0.10939318686723709, + 0.9500712589172288, + -0.006375597477505858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.946789208827089, + -0.09745955467224121, + -0.30674398315185397, + 0.1159571929622894 + ], + [ + 0.12682676643367302, + 0.9889113903045654, + 0.0772610136185072, + 0.06388921164535338 + ], + [ + 0.2958127997034833, + -0.11205323785543442, + 0.9486510902929316, + -0.008854421878967948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9461192940657652, + -0.09616538882255554, + -0.3092095297155868, + 0.11560804605891839 + ], + [ + 0.12605189594450453, + 0.9889422655105591, + 0.0781286316276013, + 0.06489505632129819 + ], + [ + 0.29827709413329134, + -0.11289544403553009, + 0.9477791686744599, + -0.006727347301884207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9456278135198117, + -0.09488837420940402, + -0.3111017304170374, + 0.11495088101776157 + ], + [ + 0.1250027029578958, + 0.9890628457069399, + 0.07828777094545777, + 0.06585135041909812 + ], + [ + 0.30027056111054484, + -0.11291964352130893, + 0.9471466254736368, + -0.0058046236930748285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9448797199231064, + -0.09463026374578476, + -0.31344452175456644, + 0.11475171504094644 + ], + [ + 0.12494578779383116, + 0.9890897274017334, + 0.07803905952499389, + 0.06737793054967274 + ], + [ + 0.3026398967394646, + -0.11290109157562256, + 0.9463944512899154, + -0.004531650989468082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9442182440737652, + -0.09488288313150406, + -0.315355558369688, + 0.113876885127173 + ], + [ + 0.12528788627255888, + 0.9890859127044678, + 0.07753720193254618, + 0.06955481196521685 + ], + [ + 0.3045567958342758, + -0.11272227764129639, + 0.9458006490053679, + -0.004287293211521104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9434558269377354, + -0.0948750451207161, + -0.3176316732472165, + 0.1136771774372437 + ], + [ + 0.12597033244136716, + 0.988900363445282, + 0.07878770596071506, + 0.06910688521405792 + ], + [ + 0.30663109562765994, + -0.11434487998485565, + 0.9449352272708313, + -0.0037755528990054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9426072062295754, + -0.09527027606964114, + -0.320023712783011, + 0.11365912547863236 + ], + [ + 0.12700501699790756, + 0.9886906147003176, + 0.0797535308819252, + 0.06966569776117267 + ], + [ + 0.3088063068117432, + -0.11582087725400927, + 0.9440467007375304, + -0.00295029680065325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9418085109710093, + -0.09509126842021942, + -0.32241961423091337, + 0.11368513758710702 + ], + [ + 0.12755719785151443, + 0.9885132312774658, + 0.08106043804437095, + 0.06947461276023664 + ], + [ + 0.3110079126961235, + -0.11747035384178162, + 0.943119689399083, + -0.0028735478912278387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9408871174384914, + -0.0954979658126831, + -0.3249792966644151, + 0.11331623645529965 + ], + [ + 0.12803128577678946, + 0.9885226488113403, + 0.0801930615134735, + 0.07288216513519248 + ], + [ + 0.3135911276980868, + -0.11706013977527618, + 0.9423149845278709, + -0.00017646146004987595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9399893225520128, + -0.09442396461963654, + -0.3278782555996933, + 0.11436536402685926 + ], + [ + 0.12760320325291652, + 0.9884998798370361, + 0.08115079925302232, + 0.07240057361906752 + ], + [ + 0.3164450482865877, + -0.11811920255422592, + 0.9412281444563747, + -0.0007247092485306722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9394608242949677, + -0.09225362539291382, + -0.33000407253146685, + 0.11388953527161483 + ], + [ + 0.12562310299431287, + 0.9887478947639465, + 0.08121839314582487, + 0.07277869152024594 + ], + [ + 0.31879814681162205, + -0.1177576333284378, + 0.940479087781723, + -0.0014455233135881249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.938716282321377, + -0.09108749777078629, + -0.3324376952136754, + 0.11378289279744505 + ], + [ + 0.12475518896558022, + 0.9888483881950378, + 0.08133256243171975, + 0.07301734690808953 + ], + [ + 0.32132210398102407, + -0.11782152950763702, + 0.9396117202786473, + -0.0009278197733789476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9379675359126756, + -0.09031878411769867, + -0.3347528473563178, + 0.11455691801152806 + ], + [ + 0.12425876819990099, + 0.988909125328064, + 0.08135439573024734, + 0.07244430014495373 + ], + [ + 0.3236922960771484, + -0.11790375411510468, + 0.9387875264161272, + -0.0022111782540101266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9371299218496892, + -0.09068617969751358, + -0.33699180889334696, + 0.1151834467869981 + ], + [ + 0.12486939851525582, + 0.9888496994972229, + 0.08114098690311625, + 0.07203174162522052 + ], + [ + 0.3258759094133472, + -0.11811961978673935, + 0.9380046337309133, + -0.003364742250929191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9362347571951102, + -0.09112417697906496, + -0.33935352691274756, + 0.1162909527530751 + ], + [ + 0.12540057410774386, + 0.9888398647308352, + 0.08043869401658384, + 0.0720300834858672 + ], + [ + 0.3282364047858562, + -0.11786462366580966, + 0.9372133351810971, + -0.004878249219705533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.935364340298931, + -0.09132130444049835, + -0.34169275627880796, + 0.11710367121057372 + ], + [ + 0.12549190403158383, + 0.9889262914657593, + 0.07922503833307411, + 0.07275741543311297 + ], + [ + 0.33067401173494304, + -0.11698395758867264, + 0.9364665017628997, + -0.005278758493173892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9343701604987629, + -0.09194756299257278, + -0.3442355216189226, + 0.11819390842952546 + ], + [ + 0.12608194967297517, + 0.9889426827430725, + 0.0780754391973652, + 0.0734855399437344 + ], + [ + 0.33325033937811094, + -0.11635323613882065, + 0.9356314287462917, + -0.005376580838264963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9335840823803505, + -0.09236060827970505, + -0.34625180886869306, + 0.11848798367593324 + ], + [ + 0.12645441186209289, + 0.9889675378799438, + 0.07715247082720633, + 0.07379195156231066 + ], + [ + 0.33530595672712316, + -0.11581338942050934, + 0.9349637471199506, + -0.005598843125889208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9327866653077742, + -0.09304553270339966, + -0.34821194191039845, + 0.119308782401507 + ], + [ + 0.12717364951561824, + 0.988932192325592, + 0.07641946190233852, + 0.07365692502030326 + ], + [ + 0.337247531830452, + -0.1155664399266243, + 0.9342957056144384, + -0.006855393726235101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9318073190211466, + -0.09423211216926575, + -0.3505074593614929, + 0.12087662353960457 + ], + [ + 0.12853365591541133, + 0.9887989163398743, + 0.07586713594056749, + 0.07376536530452026 + ], + [ + 0.33943226307996754, + -0.11574555933475494, + 0.9334820177893035, + -0.007388618751774427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9308754996865728, + -0.09552070498466494, + -0.35262815683932297, + 0.12236808991593723 + ], + [ + 0.1298950675746095, + 0.9886807799339297, + 0.0750837640197723, + 0.07435624319436271 + ], + [ + 0.34146463324165627, + -0.11569829285144809, + 0.932746391520441, + -0.007908029043055882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9301110276778227, + -0.0963503420352936, + -0.35441507516910864, + 0.12387165794286992 + ], + [ + 0.13082472963997002, + 0.9885968565940859, + 0.07457327030779735, + 0.07447564160867273 + ], + [ + 0.3431884743972473, + -0.11572767794132235, + 0.9321098652341172, + -0.009257478613174476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9293284704499575, + -0.0967891588807106, + -0.3563431150623427, + 0.1251339512227426 + ], + [ + 0.13132616516743925, + 0.9885750412940979, + 0.07397870473574124, + 0.07478077244903217 + ], + [ + 0.3451115838384161, + -0.11554768681526184, + 0.9314218763306266, + -0.009942325854326965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9285688865852059, + -0.09714441001415253, + -0.3582216618103708, + 0.12650743939575906 + ], + [ + 0.13168547183794863, + 0.9885806441307068, + 0.07326177704969729, + 0.07482952626389551 + ], + [ + 0.34701402962189537, + -0.1152011975646019, + 0.9307577414424569, + -0.011302285713124215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9278004591708421, + -0.09762518852949142, + -0.3600772712206093, + 0.12777026324053922 + ], + [ + 0.13214310539906765, + 0.9885784387588501, + 0.07246301649551147, + 0.07481486398520726 + ], + [ + 0.3488904044878029, + -0.1148129403591156, + 0.9301040027123731, + -0.012583262228742925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9268447285903294, + -0.09781992435455325, + -0.3624777611204498, + 0.12951397761791816 + ], + [ + 0.1322992440940704, + 0.9886284470558169, + 0.07148936620268768, + 0.0753793178796155 + ], + [ + 0.35136273361002063, + -0.11421507596969607, + 0.9292465668757164, + -0.01216814081508013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9261017077612529, + -0.09773191809654236, + -0.36439547709898085, + 0.1305233940054167 + ], + [ + 0.13212142446642386, + 0.988715648651123, + 0.0706068104363076, + 0.07561271377783277 + ], + [ + 0.3533829759488551, + -0.11353353410959244, + 0.9285637528364562, + -0.012520515367886058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9252126711612064, + -0.09796433895826342, + -0.3665849810022237, + 0.1320443756055945 + ], + [ + 0.13236616956784425, + 0.988736689090729, + 0.06984990798978531, + 0.07544858747048201 + ], + [ + 0.35561321009970925, + -0.11314947158098224, + 0.9277588016378024, + -0.012341336257736604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9245550998541447, + -0.09835473448038101, + -0.36813613212493795, + 0.1324526031918833 + ], + [ + 0.13267113093112506, + 0.9887531995773315, + 0.06903208872069053, + 0.07540204354769989 + ], + [ + 0.3572061502053513, + -0.11266501247882843, + 0.9272056983829636, + -0.012917952157373971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9239184385623892, + -0.09844247996807098, + -0.369707644757985, + 0.13332089467520147 + ], + [ + 0.13265696229726276, + 0.9888111352920532, + 0.06822470830315742, + 0.07556202625648498 + ], + [ + 0.358854845164126, + -0.11207835376262665, + 0.926639993463832, + -0.013394374258512462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9231233110438052, + -0.09812191873788834, + -0.3717733574167926, + 0.134838472963778 + ], + [ + 0.13220536852209913, + 0.9889377355575562, + 0.0672597810078413, + 0.07619235950154818 + ], + [ + 0.36106105775723746, + -0.11123950779438019, + 0.925883726369442, + -0.012565341768863716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.922421582340144, + -0.09829660505056381, + -0.3734651123330496, + 0.13643534451531575 + ], + [ + 0.1323519910148657, + 0.9889628291130066, + 0.06659965329517813, + 0.07627044948625904 + ], + [ + 0.3627965902445491, + -0.11086181551218033, + 0.9252503922170243, + -0.011551369593917803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9221270987283066, + -0.09785573184490204, + -0.37430721925748656, + 0.13784135426778604 + ], + [ + 0.13174675595207247, + 0.9890846610069275, + 0.06598763143538246, + 0.0760225143050132 + ], + [ + 0.3637642397773915, + -0.11016274988651276, + 0.9249538915062289, + -0.01224025509738235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.922141084411633, + -0.09647294133901596, + -0.3746314763497118, + 0.13873486392668474 + ], + [ + 0.13008736841549112, + 0.9893409013748169, + 0.06543571817325615, + 0.07607112515688108 + ], + [ + 0.3643254886290948, + -0.10907578468322754, + 0.924861835850368, + -0.01287442320108579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9220172883132256, + -0.09505336731672287, + -0.3752984518627812, + 0.1405499234539446 + ], + [ + 0.12854032847129856, + 0.989561140537262, + 0.06516224100841073, + 0.07638595900986529 + ], + [ + 0.36518689393653064, + -0.10832169651985168, + 0.9246106935193513, + -0.012900487055163293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9219178119653109, + -0.09286005795001985, + -0.37609120399576423, + 0.14263866421141277 + ], + [ + 0.12635225563626643, + 0.9898317456245425, + 0.06533137012124206, + 0.07641631837762623 + ], + [ + 0.36620035576582055, + -0.1077501177787781, + 0.9242766168631303, + -0.012746145608947955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9220188269722358, + -0.09080660343170166, + -0.37634485167301573, + 0.14420040547160368 + ], + [ + 0.12440364917326018, + 0.9900410175323486, + 0.06589766248160363, + 0.07602710083311996 + ], + [ + 0.3666129036857898, + -0.10757755488157272, + 0.924133154521081, + -0.013958985341323879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.921997932738651, + -0.08831210434436798, + -0.37698907971560836, + 0.14568668622788924 + ], + [ + 0.12193642614292034, + 0.9903258681297302, + 0.06622835749933076, + 0.07625640585091888 + ], + [ + 0.3674932702801383, + -0.10703111439943314, + 0.9238468416071774, + -0.014359422139645715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9217830269374595, + -0.08584735542535783, + -0.3780824184324162, + 0.14657437940938578 + ], + [ + 0.11949805903391657, + 0.9906105995178225, + 0.06641403022242409, + 0.07687168634436692 + ], + [ + 0.3688309796994014, + -0.10639943182468417, + 0.9233866111986946, + -0.014161780598365065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9212467285485683, + -0.08371412754058839, + -0.3798637470333359, + 0.14790462062778809 + ], + [ + 0.11775842780739353, + 0.9907628893852236, + 0.06724441547928212, + 0.0764655261804212 + ], + [ + 0.37072560222361534, + -0.10668084770441058, + 0.9225951169262143, + -0.015054228423391498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9206308124899701, + -0.08187540620565414, + -0.381753010358981, + 0.1481141556857398 + ], + [ + 0.11618463274118614, + 0.9909200668334961, + 0.06766459725471519, + 0.07668941817963923 + ], + [ + 0.37274665016909714, + -0.10664794594049454, + 0.9217842314376439, + -0.016163882946619815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9195486461956174, + -0.07997071743011476, + -0.38475314822180273, + 0.1487912325846915 + ], + [ + 0.11498367635925846, + 0.9909796714782717, + 0.06883303666535222, + 0.07568486161848584 + ], + [ + 0.37577793081257693, + -0.10753565281629565, + 0.9204493544071205, + -0.017782614816236685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9178180546851797, + -0.07701306790113449, + -0.38945986743602906, + 0.1494534260955983 + ], + [ + 0.11257266847137658, + 0.9912249445915222, + 0.069285567655134, + 0.07558975193638715 + ], + [ + 0.38070644700530387, + -0.10743407905101776, + 0.9184337541039626, + -0.016966104840158244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9155096948426144, + -0.07502195239067078, + -0.39523878430382425, + 0.14956270142218864 + ], + [ + 0.11101199818908039, + 0.9914239645004272, + 0.06895578785861821, + 0.07675699005115906 + ], + [ + 0.3866760068727511, + -0.10700594633817673, + 0.9159865714620691, + -0.015527532132312977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9130907802823787, + -0.07415057718753815, + -0.4009575076809859, + 0.14844611233093222 + ], + [ + 0.11130992590808667, + 0.9913062453269958, + 0.07015742376944922, + 0.07500086581193241 + ], + [ + 0.3922694678454036, + -0.10869064927101135, + 0.9134062820744834, + -0.015978879634640897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9100786804971358, + -0.07436057180166245, + -0.4077097981914163, + 0.14673861480956454 + ], + [ + 0.11244173353950843, + 0.991174578666687, + 0.07021298321979645, + 0.07470700090815874 + ], + [ + 0.39889050112607377, + -0.10974293947219849, + 0.9104080912482699, + -0.01569696733646321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9061777467065179, + -0.075393907725811, + -0.4161221810958954, + 0.14513008265703106 + ], + [ + 0.11451557073386491, + 0.9909639954566956, + 0.06983240586919924, + 0.07484194243033904 + ], + [ + 0.40709715697655235, + -0.11093304306268692, + 0.9066232905883433, + -0.014996626277874292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9019606167596842, + -0.07403167337179184, + -0.4254249959916267, + 0.14181971844569757 + ], + [ + 0.1143519533727866, + 0.9909713864326477, + 0.06999516717399291, + 0.07482430086573343 + ], + [ + 0.416402129194338, + -0.1117810606956482, + 0.9022827952088118, + -0.014532646310424044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8971852198517907, + -0.07028083503246309, + -0.43602669290015156, + 0.13800670356344993 + ], + [ + 0.11248884470049297, + 0.9910615086555483, + 0.07171741200994491, + 0.07388174714731385 + ], + [ + 0.42708889538925254, + -0.11339194327592853, + 0.8970715379288117, + -0.014405960607297513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8918749782627331, + -0.06318016350269318, + -0.4478474527106027, + 0.13308888988533463 + ], + [ + 0.10758609297895631, + 0.99140864610672, + 0.07439138744327177, + 0.07330326939037549 + ], + [ + 0.43929975405741045, + -0.11452996730804443, + 0.8910098587496268, + -0.013486455638272873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8859498545978612, + -0.053399331867694855, + -0.4606965817924602, + 0.12689965254701321 + ], + [ + 0.10053423486476139, + 0.9918422698974609, + 0.0783695353603195, + 0.07207733026285354 + ], + [ + 0.45275348019668693, + -0.11574725806713104, + 0.8840909574731565, + -0.013028090001600365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8785841117427221, + -0.040249817073345184, + -0.47588852814916843, + 0.12032876533755713 + ], + [ + 0.09038266661097874, + 0.9924487471580505, + 0.08292464891352501, + 0.07182498907775266 + ], + [ + 0.46895727654196473, + -0.11586835980415344, + 0.8755875576889559, + -0.010895657857526511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8715469107730913, + -0.02490105852484703, + -0.48967941178900126, + 0.1094131041717423 + ], + [ + 0.07789870271877668, + 0.9930567741394043, + 0.0881478986690759, + 0.07109859119790447 + ], + [ + 0.4840844882055612, + -0.11497042328119278, + 0.8674353287654237, + -0.015171032140537749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8615073345253264, + -0.012554572895169258, + -0.5075899358318376, + 0.1008452446699444 + ], + [ + 0.0698035957425008, + 0.9931305646896362, + 0.09391040289986143, + 0.0707307397140758 + ], + [ + 0.5029240784182452, + -0.11633610725402832, + 0.8564655799804867, + -0.010600855025419062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8502891811803248, + 0.0002573709934949875, + -0.5263157129784221, + 0.09325423807954428 + ], + [ + 0.06132833932567685, + 0.9931393265724182, + 0.09956464044357609, + 0.06993769844822234 + ], + [ + 0.5227304745162817, + -0.1169368103146553, + 0.8444398273764459, + -0.006873415535648381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.838958645825306, + 0.012436185963451866, + -0.5440530393268406, + 0.0851955172254035 + ], + [ + 0.052980763865451024, + 0.9931231737136843, + 0.10440036225998972, + 0.06963771713585175 + ], + [ + 0.541610006301122, + -0.11641193926334384, + 0.8325304106614402, + -0.0033187711011285204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.827334811756741, + 0.022697875276207924, + -0.5612503128043204, + 0.07857308942019828 + ], + [ + 0.046132770757916844, + 0.9930619597434998, + 0.10816501275474097, + 0.06902669835009585 + ], + [ + 0.5598114741138613, + -0.11538071930408478, + 0.8205476505230948, + -0.0010042927746352764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8169135107103097, + 0.029455576092004776, + -0.5760075404253301, + 0.07094119408622765 + ], + [ + 0.04186813513405046, + 0.9930316209793091, + 0.11015996122432449, + 0.06905464814913524 + ], + [ + 0.5752385174087069, + -0.11410752683877945, + 0.8099877238484198, + 0.0006126533463124972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8068793958191453, + 0.03700459748506546, + -0.589556028745681, + 0.06524988626377706 + ], + [ + 0.03602001349714286, + 0.993096649646759, + 0.11163138478829135, + 0.06951016292486265 + ], + [ + 0.5896169814740799, + -0.11130888015031815, + 0.7999763777924067, + 0.0008514129782995483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.7977451195869533, + 0.04418061673641205, + -0.6013740537600638, + 0.06169259786239839 + ], + [ + 0.030598065808580998, + 0.9930614829063416, + 0.11354585314646379, + 0.06906944290515538 + ], + [ + 0.6022179323194311, + -0.10898153483867645, + 0.790858113483775, + 0.0020933617131792953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.79020686959568, + 0.04922556132078171, + -0.6108600006135008, + 0.059874592204563565 + ], + [ + 0.02604278289199418, + 0.9931711554527283, + 0.1137226173943369, + 0.07056151798549354 + ], + [ + 0.6122865914979273, + -0.10577289015054703, + 0.7835287040160622, + 0.005643828521741237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.7854199268484598, + 0.051780350506305695, + -0.6167936174377544, + 0.059757875437196906 + ], + [ + 0.02374980583753809, + 0.99323970079422, + 0.11362612745292006, + 0.06984585563219135 + ], + [ + 0.6185074864223906, + -0.10389294475317001, + 0.7788804183523163, + 0.0048830176578877615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.7813446098376887, + 0.05171838775277138, + -0.621953277113567, + 0.0660200182922972 + ], + [ + 0.02377985024978989, + 0.9933696985244751, + 0.11247748458722666, + 0.06956864451539757 + ], + [ + 0.6236466641865962, + -0.10267363488674164, + 0.7749341410805284, + 0.006106747148226094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.7814637582717137, + 0.051662374287843704, + -0.6218082231650558, + 0.06909664349052824 + ], + [ + 0.022637861689431885, + 0.9935625791549683, + 0.11099961787167001, + 0.0700390879052828 + ], + [ + 0.6235398605726478, + -0.10081858932971954, + 0.7752636128711825, + 0.005686184695364985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.783786330880039, + 0.04776440188288689, + -0.6191910267537003, + 0.07438410597131748 + ], + [ + 0.024730979417888092, + 0.9938464760780334, + 0.1079703855492924, + 0.07098134756827387 + ], + [ + 0.620537961572644, + -0.09993892163038254, + 0.7777820436451871, + 0.005738396122950504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.7884692854004243, + 0.041424691677093506, + -0.6136775316576557, + 0.08152496179668034 + ], + [ + 0.028925105381377405, + 0.9941283464431763, + 0.1042697735098279, + 0.07122120727361762 + ], + [ + 0.6143935998560894, + -0.0999642089009285, + 0.782641490952195, + 0.0030619839749023436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.7943439216424879, + 0.033817596733570106, + -0.6065262885774549, + 0.09089733255152382 + ], + [ + 0.03363904334919196, + 0.9944684505462649, + 0.09950353279550185, + 0.07282895180296464 + ], + [ + 0.606536209019014, + -0.09944298863410952, + 0.7888123725591477, + 0.003408226035791259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8017377704548788, + 0.02482655830681324, + -0.5971601300264007, + 0.10289353307024396 + ], + [ + 0.038887778278981405, + 0.9948529005050659, + 0.09357050594006307, + 0.07469828047498064 + ], + [ + 0.5964095425584308, + -0.09824123978614807, + 0.7966456485695077, + 0.004473330542828974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8111073007628479, + 0.009677340276539326, + -0.5848173856094032, + 0.11517232669968341 + ], + [ + 0.04946354125821574, + 0.9951463937759399, + 0.08507033580253212, + 0.07779419112356559 + ], + [ + 0.5828021540002671, + -0.09792830795049667, + 0.8066918133215492, + 0.007318864216899229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.8215048932169354, + -0.005942344665527344, + -0.5701704752582571, + 0.12963492245938973 + ], + [ + 0.060228137329292955, + 0.9952561855316162, + 0.07640444727860711, + 0.0785525633837118 + ], + [ + 0.5670117081985288, + -0.09710693359375, + 0.817965786383518, + 0.004511764266721813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8332934180169072, + -0.02467264048755169, + -0.5522801223793329, + 0.1440309464199235 + ], + [ + 0.07379915234352662, + 0.9950268268585205, + 0.06689796260630879, + 0.07822304901474597 + ], + [ + 0.5478829883910884, + -0.09650342911481857, + 0.830970148312734, + -0.0011085946714056716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8450148886632431, + -0.04396728426218033, + -0.5329321636315835, + 0.15769573285095842 + ], + [ + 0.08760454591323419, + 0.9945314526557922, + 0.05685582468416679, + 0.07846375211599198 + ], + [ + 0.5275180083030021, + -0.09473130106925964, + 0.8442456463987474, + -0.004010758932834105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8554740948089979, + -0.06606294214725494, + -0.513614417641042, + 0.17115413511881328 + ], + [ + 0.10325279709468234, + 0.9936740398406982, + 0.04416748338184993, + 0.08334200352488282 + ], + [ + 0.5074475024934146, + -0.09081625938415527, + 0.8568835598921797, + -0.002711358771006908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8662134295946217, + -0.0867420881986618, + -0.4920875147706597, + 0.18486938248879853 + ], + [ + 0.11869915185658747, + 0.9923473000526428, + 0.034019399687297946, + 0.08401337949720906 + ], + [ + 0.4853708094783295, + -0.08787843585014343, + 0.8698807587524421, + -0.010549615249053262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8748164219031829, + -0.10843473672866824, + -0.472163283960271, + 0.20113258010559157 + ], + [ + 0.13553361894604896, + 0.9904906153678896, + 0.02364317689625204, + 0.08583653964105384 + ], + [ + 0.4651095698212685, + -0.08467743545770647, + 0.8811940038694536, + -0.017986322074548047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8831881473736919, + -0.128010556101799, + -0.45121165915872913, + 0.21282847853655795 + ], + [ + 0.15026770343507898, + 0.9885507822036743, + 0.013673670487558, + 0.0887309179064525 + ], + [ + 0.4442952636859121, + -0.07987895607948303, + 0.8923122001920649, + -0.0227016113926196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8903585685023634, + -0.1475183516740799, + -0.43069701215465783, + 0.22388328907766444 + ], + [ + 0.16579201325425508, + 0.9861482381820679, + 0.00496722144219932, + 0.09091851565795142 + ], + [ + 0.4239983504428983, + -0.07582873106002808, + 0.9024829299482885, + -0.028168711464378007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8965789852627265, + -0.1638677418231964, + -0.4114528445873565, + 0.2344956848652947 + ], + [ + 0.1785446880671721, + 0.9839277863502502, + -0.0028061488790269823, + 0.09337230925973491 + ], + [ + 0.4052997355191007, + -0.07094679027795792, + 0.9114267228525113, + -0.03355678024708522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9025626362101418, + -0.17610272765159607, + -0.39289757675368353, + 0.24410137714223476 + ], + [ + 0.18750128817677209, + 0.9822182655334473, + -0.009518120635388315, + 0.09567418791018001 + ], + [ + 0.3875873519687724, + -0.06507810205221176, + 0.9195329956493502, + -0.04012319562618885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9074480317823952, + -0.18913325667381287, + -0.3751888566001855, + 0.2546831475532895 + ], + [ + 0.19857657543479665, + 0.979989230632782, + -0.013728130338685016, + 0.09503116993681682 + ], + [ + 0.37027747686386797, + -0.062046147882938385, + 0.9268467562445426, + -0.0527254990440561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9113717105489966, + -0.19852980971336365, + -0.3605377975598169, + 0.2629472246364387 + ], + [ + 0.20567757105879617, + 0.9784380197525024, + -0.01886178993697743, + 0.09767281279278145 + ], + [ + 0.3565085193726715, + -0.056964434683322906, + 0.9325538948679197, + -0.05547592462047767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9148568323472592, + -0.20980796217918396, + -0.34498919538775746, + 0.2726525250852264 + ], + [ + 0.21574090993212938, + 0.9762121438980103, + -0.021580440451743572, + 0.09590158773747265 + ], + [ + 0.34131039107956485, + -0.05468526855111122, + 0.938358536470968, + -0.07689397615035476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9179260186138353, + -0.21279112994670873, + -0.33486080321168865, + 0.27671022284708 + ], + [ + 0.21642547996726083, + 0.9759286046028139, + -0.02689587918694527, + 0.10123877401432466 + ], + [ + 0.33252344754871943, + -0.04778397828340532, + 0.9418836903695827, + -0.06250142332304738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9207156305461601, + -0.21740037202835089, + -0.3240676499587719, + 0.2815858580724246 + ], + [ + 0.21990409315552525, + 0.975079655647278, + -0.02935670388354258, + 0.10158249662041552 + ], + [ + 0.3223739361441867, + -0.044234625995159156, + 0.9455783089333427, + -0.06745473732276368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9227952744244623, + -0.22146070003509521, + -0.3152840121041736, + 0.2899133614463889 + ], + [ + 0.22362370923841113, + 0.9742201566696167, + -0.029790845712469403, + 0.0992346576112011 + ], + [ + 0.3137535498657896, + -0.043014127761125565, + 0.9485296641403553, + -0.08330612682126275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9248662131349278, + -0.22107489407062536, + -0.3094322700825612, + 0.29460450118101533 + ], + [ + 0.2228670696479971, + 0.9743863940238955, + -0.030023227571122402, + 0.09841424431611848 + ], + [ + 0.30814399429558414, + -0.04119479283690453, + 0.9504474315283005, + -0.08662924287382287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9269006325550221, + -0.21781934797763824, + -0.3056303922268169, + 0.29741027696425026 + ], + [ + 0.2194465521229441, + 0.9751792550086975, + -0.029472754875672483, + 0.09697139585481536 + ], + [ + 0.30446415367259866, + -0.03975122049450874, + 0.9516939515678449, + -0.08802985843012473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.928768157559389, + -0.2119612991809845, + -0.304075884487179, + 0.29889836977327994 + ], + [ + 0.21385494376218334, + 0.9764789938926697, + -0.027473763412913514, + 0.09435241051459187 + ], + [ + 0.3027470945625953, + -0.03951137140393257, + 0.9522515564242927, + -0.08970859419655873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9303914528975987, + -0.20344486832618713, + -0.30492931745988167, + 0.2991349879152483 + ], + [ + 0.20582897109374623, + 0.9782768487930298, + -0.024674192913648318, + 0.09115351522189767 + ], + [ + 0.30332512894476815, + -0.03980662673711777, + 0.9520552743374562, + -0.09013112362562682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9316468664413935, + -0.19288700819015508, + -0.3079427298615744, + 0.29889388545269535 + ], + [ + 0.19564757851988535, + 0.9804229736328127, + -0.022200269219448496, + 0.08810711286532677 + ], + [ + 0.30619625843071085, + -0.039565436542034156, + 0.9511458535998017, + -0.08933897480041449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9323260966163328, + -0.18199658393859863, + -0.31248249741736656, + 0.2975290032262856 + ], + [ + 0.18514454685490403, + 0.982511043548584, + -0.019836537179921176, + 0.08457775817144293 + ], + [ + 0.310627706418381, + -0.03936030715703964, + 0.9497164056594958, + -0.08895552809978022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9325522992668023, + -0.1702432483434677, + -0.31837628337116536, + 0.29530589243999 + ], + [ + 0.1738914386772819, + 0.9846154451370239, + -0.01715347934468523, + 0.0806607683481505 + ], + [ + 0.31639845821370643, + -0.03936639428138733, + 0.947809218004099, + -0.08804817640720325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9322619683071914, + -0.15885408222675323, + -0.3250431422609902, + 0.29260030676572946 + ], + [ + 0.162900843345629, + 0.9865297079086304, + -0.014914951618901877, + 0.07653508230758706 + ], + [ + 0.3230340185129743, + -0.03904515877366066, + 0.9455815951619952, + -0.08746452300063712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9315301822212936, + -0.1474622040987015, + -0.3324251058223435, + 0.2899685398314438 + ], + [ + 0.15169631126163471, + 0.9883372187614443, + -0.013334388915484928, + 0.07322585308380447 + ], + [ + 0.33051440402521426, + -0.0380062758922577, + 0.9430353771753514, + -0.08554999652503133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9303417252047483, + -0.13747529685497284, + -0.33994824630128884, + 0.2878737138724863 + ], + [ + 0.1418437292663121, + 0.9898151755332947, + -0.012095916280163202, + 0.06951433147499131 + ], + [ + 0.3381488182915964, + -0.036966193467378616, + 0.9403663315465601, + -0.08404785272036377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.929187699071009, + -0.12813040614128113, + -0.3466883915054986, + 0.2857659936360324 + ], + [ + 0.13239719963868027, + 0.991130530834198, + -0.0114572508751861, + 0.06607054171136309 + ], + [ + 0.34508146887637836, + -0.03525463491678238, + 0.9379103913457074, + -0.08291235770586626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9281526005562698, + -0.11832474917173386, + -0.3528909944806818, + 0.28358532896094824 + ], + [ + 0.12248661603278738, + 0.9924135804176331, + -0.010600504209795658, + 0.06236309124165822 + ], + [ + 0.35146810341845347, + -0.033385537564754486, + 0.9356044109916701, + -0.08153615619745853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9273552888236758, + -0.10830871760845184, + -0.3581638456694846, + 0.2813723754560108 + ], + [ + 0.1122018000444231, + 0.9936354756355286, + -0.009963179733995705, + 0.05864688910830916 + ], + [ + 0.35696341265921644, + -0.03094721958041191, + 0.933605562516281, + -0.08199528931742726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9263834033148816, + -0.09908399730920792, + -0.36331266552019015, + 0.2789175858301284 + ], + [ + 0.10260676169978886, + 0.9946752786636353, + -0.00964235952163481, + 0.055564358923582295 + ], + [ + 0.3623335413271309, + -0.02834581583738327, + 0.9316173975165659, + -0.08095251234207121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9253576583431434, + -0.09001149982213974, + -0.3682541320928191, + 0.2768558775271035 + ], + [ + 0.09358007945227603, + 0.9955779910087585, + -0.008196601395714596, + 0.051732580157927574 + ], + [ + 0.36736349447975825, + -0.026876460760831833, + 0.9296890348429657, + -0.08186845508821929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9241719861810673, + -0.08049169927835466, + -0.37339959975483505, + 0.2753233492945037 + ], + [ + 0.08399653532577091, + 0.9964421391487124, + -0.006904329721894506, + 0.049230863954706335 + ], + [ + 0.3726268310523542, + -0.024983482435345657, + 0.9276448748186217, + -0.08187390884521838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9232531621504084, + -0.07033527642488481, + -0.3776990752077836, + 0.27349763695889995 + ], + [ + 0.07407055705020205, + 0.9972421526908877, + -0.004647692461305977, + 0.046004622214848016 + ], + [ + 0.3769843413166787, + -0.023685382679104812, + 0.9259167261672006, + -0.07998346921152398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9222900616579041, + -0.060889843851327896, + -0.38167190642308985, + 0.2718865634431204 + ], + [ + 0.06459141394019963, + 0.9979069232940674, + -0.003118853816587476, + 0.04378136312807104 + ], + [ + 0.3810629501227859, + -0.021776240319013596, + 0.9242926037807572, + -0.0798809370801782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9211797174206591, + -0.05374547094106674, + -0.3854080739521725, + 0.27073230818771366 + ], + [ + 0.057859444338117356, + 0.9983243346214294, + -0.0009248945270426055, + 0.040786061601038176 + ], + [ + 0.38481197244415516, + -0.021447502076625824, + 0.9227457996337083, + -0.07878806331207713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9202603710337707, + -0.045408640056848526, + -0.38866301950444454, + 0.2691505456402928 + ], + [ + 0.049853519125980496, + 0.9987556338310242, + 0.0013535636648836181, + 0.03844834856594579 + ], + [ + 0.3881179060129987, + -0.020621849223971367, + 0.9213789680854765, + -0.07754126515477505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9192359791709315, + -0.038164395838975906, + -0.39185296665199676, + 0.26790481131912214 + ], + [ + 0.043025284487346986, + 0.9990674257278442, + 0.0036278595180484208, + 0.03596569649210564 + ], + [ + 0.3913490534576253, + -0.020194444805383682, + 0.9200206824994912, + -0.0775023212917185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9183040551093985, + -0.03220750764012337, + -0.39456346452900126, + 0.26576985649921026 + ], + [ + 0.03726956033122651, + 0.9992918968200684, + 0.005170498674393399, + 0.03377466955463945 + ], + [ + 0.3941175240000822, + -0.019453296437859535, + 0.9188541402737028, + -0.07678545055446291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9169895441956483, + -0.02909121289849282, + -0.39784908123429047, + 0.26464540568650397 + ], + [ + 0.03387766921034774, + 0.9994134306907656, + 0.005005216623062675, + 0.03338363837096721 + ], + [ + 0.39747010415551803, + -0.018067929893732074, + 0.9174372003214749, + -0.07510939223733763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9157813094519861, + -0.027780102565884597, + -0.40071542184260567, + 0.26327549817289686 + ], + [ + 0.03265398098595045, + 0.9994524717330935, + 0.00533798862969058, + 0.03190062565058446 + ], + [ + 0.40034770592235797, + -0.01797338388860226, + 0.9161870011745539, + -0.07447394950652199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9146369611568839, + -0.027334081009030342, + -0.40335107585966207, + 0.2609189674241905 + ], + [ + 0.03233100137869927, + 0.9994616508483887, + 0.005582640083450283, + 0.0309067858068179 + ], + [ + 0.4029813268450449, + -0.018146833404898643, + 0.9150283052877514, + -0.07451590645307567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.912828041270479, + -0.02814178727567196, + -0.40737329113719667, + 0.25983715399590934 + ], + [ + 0.03301211706630002, + 0.9994428157806396, + 0.00492982756194102, + 0.03174631852808965 + ], + [ + 0.4070075852003635, + -0.017948338761925697, + 0.9132484523613296, + -0.07238282543013917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pan_left/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6e47d13fd3b67b5fab6d98449e4401c030c9480a --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pan_left/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999988665343407, + -0.0010043199872598052, + 0.004652867353808381, + 0.0026149610057473183 + ], + [ + 0.0011293455586410643, + 0.9996362328529358, + -0.02694642804043416, + 0.0011789039708673954 + ], + [ + -0.0046241123801019695, + 0.026951376348733902, + 0.9996260578912167, + 0.004809475038200617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999248326852698, + -0.005417153239250184, + 0.010998845788349414, + 0.005651809275150299 + ], + [ + 0.005895365694397041, + 0.9990175962448122, + -0.043921975694213654, + -0.0017968520987778902 + ], + [ + -0.01075010891065826, + 0.043983515352010734, + 0.9989744141132509, + 0.0038842298090457916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996111764759685, + -0.023633664473891265, + 0.014795679497499693, + 0.009347952902317047 + ], + [ + 0.024332106017530886, + 0.9985045790672304, + -0.048955055541318404, + -0.005224069580435753 + ], + [ + -0.01361656522997453, + 0.04929602891206743, + 0.9986913883535561, + -0.0005182744353078306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989101157598214, + -0.04377982020378113, + 0.01618191625924735, + 0.012183863669633865 + ], + [ + 0.04458246776327338, + 0.9975928664207458, + -0.0531114773768719, + -0.010469328612089157 + ], + [ + -0.013817755542220733, + 0.05377501994371414, + 0.9984574435122808, + -0.0006278678774833679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9982278925191423, + -0.056863486766815186, + 0.01753765533417844, + 0.014793919399380684 + ], + [ + 0.05782959297083384, + 0.9964825510978699, + -0.060648936295776126, + -0.014797203242778778 + ], + [ + -0.014027257909657377, + 0.0615556538105011, + 0.9980050597237099, + -0.002631464973092079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9975434253566836, + -0.0669407993555069, + 0.0206394405790978, + 0.015167241916060448 + ], + [ + 0.0682858364802891, + 0.9949638843536377, + -0.07337494509088652, + -0.014838115312159061 + ], + [ + -0.015623721600756344, + 0.07460407167673111, + 0.9970908444265537, + -0.0031356823164969683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966933155390484, + -0.07772161066532135, + 0.023702023511148574, + 0.015110899694263935 + ], + [ + 0.07951042915435431, + 0.9930015206336975, + -0.08732711676261903, + -0.014940964989364147 + ], + [ + -0.01674894406449361, + 0.08892291784286499, + 0.9958976541614122, + -0.007276860997080803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9958988391638826, + -0.08712751418352127, + 0.024378449144161988, + 0.01502513699233532 + ], + [ + 0.08912819638038301, + 0.9910994172096252, + -0.0988840472985813, + -0.01783846504986286 + ], + [ + -0.01554594714336682, + 0.10065130889415741, + 0.9948003234965462, + -0.010772687382996082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9957435228603239, + -0.08894763141870499, + 0.024147688673154186, + 0.013929227367043495 + ], + [ + 0.09106414912836004, + 0.9898726940155029, + -0.10890091209355136, + -0.020943714305758476 + ], + [ + -0.014216659236210362, + 0.11063636839389801, + 0.993759263940658, + -0.01748897321522236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9961861897511657, + -0.08436749130487442, + 0.022253003293367307, + 0.015100324526429176 + ], + [ + 0.0864391410799284, + 0.9890100955963135, + -0.11994688490224802, + -0.02237175777554512 + ], + [ + -0.01188883045768547, + 0.1214129626750946, + 0.9925308639595274, + -0.020984774455428123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9966022105621013, + -0.079302579164505, + 0.022252118186897762, + 0.015160143375396729 + ], + [ + 0.08155946682015469, + 0.9878548979759216, + -0.13225282793774132, + -0.024343935772776604 + ], + [ + -0.011493874078886962, + 0.1336183398962021, + 0.9909662098058161, + -0.023474764078855515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9966439653696285, + -0.07875555753707886, + 0.02232379526039416, + 0.018790870904922485 + ], + [ + 0.08117060181898172, + 0.9860875010490417, + -0.1450613142809056, + -0.02980593405663967 + ], + [ + -0.010588829178801287, + 0.1463865339756012, + 0.9891707674982333, + -0.028709549456834793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9955020557316724, + -0.09256604313850404, + 0.0201777946283636, + 0.04024022817611694 + ], + [ + 0.09454199541508754, + 0.9843844771385195, + -0.14848925578728894, + -0.04759158939123154 + ], + [ + -0.00611764333725449, + 0.1497290134429932, + 0.9887081503185741, + -0.09472115337848663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9953973267290583, + -0.09307864308357239, + 0.022815932996219614, + 0.042655520141124725 + ], + [ + 0.09555933838990907, + 0.9820225238800049, + -0.16278891616465452, + -0.04949988052248955 + ], + [ + -0.007253588890178696, + 0.164219930768013, + 0.9863970905179739, + -0.0967118889093399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9959087975034122, + -0.08639077842235565, + 0.02650117380291667, + 0.04267323762178421 + ], + [ + 0.0897006350377611, + 0.9806010127067566, + -0.17428553176539238, + -0.04824163019657135 + ], + [ + -0.010930414317330009, + 0.17594967782497406, + 0.9843384534753019, + -0.1042298898100853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.996794266191337, + -0.07420744001865387, + 0.029906993367834898, + 0.041564613580703735 + ], + [ + 0.07842791908540911, + 0.9801908135414124, + -0.18186529086055833, + -0.04895204305648804 + ], + [ + -0.015818803831322927, + 0.18362782895565033, + 0.9828685795543295, + -0.10786063969135284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9973762910151732, + -0.06434112787246704, + 0.033176882450006856, + 0.040184978395700455 + ], + [ + 0.06946618063770586, + 0.9796071648597717, + -0.1885318843345253, + -0.04865478724241257 + ], + [ + -0.020369956694469518, + 0.19034191966056824, + 0.9815065215270347, + -0.10604726523160934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9976971101914962, + -0.05821879208087921, + 0.03479958834827412, + 0.04263319820165634 + ], + [ + 0.06380967267090998, + 0.9795976877212524, + -0.19056938586956368, + -0.053327981382608414 + ], + [ + -0.022994877947704533, + 0.1923510879278183, + 0.9810566999762279, + -0.1002330332994461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979485441154103, + -0.051942091435194016, + 0.037426446994657386, + 0.043867867439985275 + ], + [ + 0.05819291076420166, + 0.9796562790870667, + -0.19206022697848543, + -0.05713093653321266 + ], + [ + -0.026689044129740595, + 0.19384418427944183, + 0.9806692433515213, + -0.09688381105661392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9978547966668976, + -0.05063077434897423, + 0.0415012913870023, + 0.04129500687122345 + ], + [ + 0.05780560861691473, + 0.9789945483207703, + -0.1955204157290112, + -0.05682787299156189 + ], + [ + -0.030730190993810292, + 0.19749997556209564, + 0.9798211162768675, + -0.09895393997430801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.997906362780107, + -0.04961514472961426, + 0.04148749633214423, + 0.041646558791399 + ], + [ + 0.05688398818053427, + 0.9785534739494324, + -0.1979830600882409, + -0.059143971651792526 + ], + [ + -0.030774773749841805, + 0.19992852210998535, + 0.9793270373542952, + -0.09477517008781433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9981763448994477, + -0.04558997601270676, + 0.03956732376316072, + 0.04259354621171951 + ], + [ + 0.0526546906946756, + 0.9781025052070618, + -0.20135280135115943, + -0.0607960969209671 + ], + [ + -0.029521229521496137, + 0.20306901633739471, + 0.9787193043189457, + -0.0920126810669899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9983186764736246, + -0.03938813880085946, + 0.042525792294985286, + 0.03693025931715965 + ], + [ + 0.04730548673061358, + 0.9776083230972292, + -0.20504678954005298, + -0.06257779896259308 + ], + [ + -0.03349715613720828, + 0.20671373605728155, + 0.9778278984419319, + -0.10099228471517563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.998372951097255, + -0.04150507599115372, + 0.039099500623614905, + 0.04033232107758522 + ], + [ + 0.048831872336953484, + 0.9763911962509155, + -0.2104177988778614, + -0.05900996923446655 + ], + [ + -0.029443005915224165, + 0.21198473870754242, + 0.9768293345107923, + -0.08236721158027649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9984222335169928, + -0.03953487426042557, + 0.039875839429220655, + 0.03739919513463974 + ], + [ + 0.04720310433091457, + 0.9755423069000244, + -0.21468357060737614, + -0.05795477703213692 + ], + [ + -0.03041308160596316, + 0.21622709929943085, + 0.9758692722741364, + -0.07230614125728607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9984120862955294, + -0.034961801022291183, + 0.04416934263735752, + 0.0291319377720356 + ], + [ + 0.04380474013366088, + 0.9748436808586121, + -0.21854276160773178, + -0.058147281408309937 + ], + [ + -0.035417554216685215, + 0.2201305627822876, + 0.9748272481586082, + -0.06891536712646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9983989256742993, + -0.03524046018719673, + 0.04424640492263993, + 0.026693744584918022 + ], + [ + 0.044166965252350726, + 0.974373459815979, + -0.2205575590222951, + -0.05840952321887016 + ], + [ + -0.035339975457176154, + 0.22215865552425385, + 0.9743698490171885, + -0.05963993817567825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983686792011429, + -0.03681790083646774, + 0.04363968230818665, + 0.025658782571554184 + ], + [ + 0.04568320750471037, + 0.9735798835754395, + -0.22373032135731105, + -0.05678623914718628 + ], + [ + -0.034249437192516635, + 0.22535893321037292, + 0.9736735985875373, + -0.05228189006447792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983425810301, + -0.037574045360088355, + 0.04359232995284239, + 0.02260943315923214 + ], + [ + 0.046418136729787264, + 0.97349089384079, + -0.22396623659624737, + -0.06071340665221214 + ], + [ + -0.034021422887189276, + 0.2256185114383698, + 0.9736214829586338, + -0.04720846563577652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985734405624505, + -0.039605412632226944, + 0.03581234964677269, + 0.03578580915927887 + ], + [ + 0.046727621040538576, + 0.972733736038208, + -0.2271685876675354, + -0.05881983041763306 + ], + [ + -0.025838776343629993, + 0.22851794958114624, + 0.9731967652136536, + -0.03718961030244827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9986149273904942, + -0.034720625728368766, + 0.03953090574069141, + 0.02364843338727951 + ], + [ + 0.04289501181048971, + 0.972346365451813, + -0.229570483007668, + -0.060768064111471176 + ], + [ + -0.03046690104187587, + 0.2309481799602509, + 0.972488917042644, + -0.03692050278186798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9984283739695098, + -0.04096035286784172, + 0.03824894648862846, + 0.024078765884041786 + ], + [ + 0.04880909130563651, + 0.9709324836730957, + -0.23432399121995018, + -0.0568309985101223 + ], + [ + -0.02753915555527942, + 0.2358226180076599, + 0.9714058334938139, + -0.03366250917315483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9988081739613353, + -0.030447332188487053, + 0.0381470304146937, + 0.016194405034184456 + ], + [ + 0.03852071751795342, + 0.9717099070549011, + -0.2330151232925824, + -0.06738045066595078 + ], + [ + -0.02997315523356135, + 0.23420687019824982, + 0.9717246230463926, + -0.03649592399597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987122664064135, + -0.03605753555893899, + 0.03568803214068937, + 0.018901294097304344 + ], + [ + 0.04365190822814548, + 0.9692109823226931, + -0.24233157651401235, + -0.05563338100910187 + ], + [ + -0.02585135032602957, + 0.24357736110687261, + 0.9695369089535036, + -0.03517554700374603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9991270900647137, + -0.027423828840255737, + 0.031510890701268536, + 0.021563608199357986 + ], + [ + 0.03438186554061641, + 0.9682877659797668, + -0.24746039084318056, + -0.05546606332063675 + ], + [ + -0.02372529460368258, + 0.24832779169082642, + 0.9683854635402335, + -0.023972902446985245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9992150755712481, + -0.02494669333100319, + 0.030771177400981717, + 0.01633315347135067 + ], + [ + 0.03189129458017276, + 0.9673789739608765, + -0.25131837740678603, + -0.05780502408742905 + ], + [ + -0.023497828030143587, + 0.25210243463516235, + 0.9674152111558186, + -0.02267383225262165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9992818017429368, + -0.022420700639486313, + 0.03054752855209201, + 0.01323881559073925 + ], + [ + 0.029527335850679463, + 0.9659827947616577, + -0.25691509428045134, + -0.05316465348005295 + ], + [ + -0.023748171708055, + 0.2576325833797455, + 0.9659510704101764, + -0.03193025663495064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999345535665509, + -0.01810865476727486, + 0.031314244055196734, + 0.006284821312874556 + ], + [ + 0.02557933924854336, + 0.965866029262543, + -0.25777610804212886, + -0.05768343806266785 + ], + [ + -0.025577391565526464, + 0.2584084272384644, + 0.9656971149957636, + -0.03978252410888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994582336917357, + -0.019618939608335495, + 0.026424999348676197, + 0.01235460489988327 + ], + [ + 0.025804133910187144, + 0.9654900431632996, + -0.2591584959322608, + -0.06226743385195732 + ], + [ + -0.020428660877342898, + 0.2597000002861023, + 0.9654732226543592, + -0.034791260957717896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995086437275819, + -0.02203492261469364, + 0.022291545024422304, + 0.014257345348596573 + ], + [ + 0.027106666066119573, + 0.9647510647773743, + -0.2617644224213647, + -0.058526769280433655 + ], + [ + -0.015737832415302255, + 0.26224005222320557, + 0.9648743070056948, + -0.039924927055835724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995227964857843, + -0.025051329284906387, + 0.01807272707217847, + 0.016208626329898834 + ], + [ + 0.028887446089112975, + 0.9652762413024902, + -0.25962909404357015, + -0.06244063377380371 + ], + [ + -0.010941124663681396, + 0.26002728939056396, + 0.9655392572272407, + -0.05381309241056442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9994850459916198, + -0.028435396030545235, + 0.014867029443627852, + 0.013647343963384628 + ], + [ + 0.031325724741766384, + 0.9650570750236511, + -0.26016057059356834, + -0.060116346925497055 + ], + [ + -0.0069497607713062985, + 0.26049235463142395, + 0.9654508774317976, + -0.06301630288362503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995768875634596, + -0.026608727872371674, + 0.011746859354718378, + 0.01010767463594675 + ], + [ + 0.028749200942265404, + 0.9651437401771545, + -0.2601365318527049, + -0.0571913868188858 + ], + [ + -0.004415500495813077, + 0.2603641748428345, + 0.9655004052221929, + -0.06664619594812393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995112290572454, + -0.03089982084929943, + 0.004742870421192314, + 0.008489043451845646 + ], + [ + 0.031076728238146153, + 0.9656163454055786, + -0.2581070717920971, + -0.057270731776952744 + ], + [ + 0.0033956652049910727, + 0.2581283152103424, + 0.9661046835378365, + -0.06580360978841782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999386220111639, + -0.03488101065158844, + -0.0032367033913721613, + 0.005324982572346926 + ], + [ + 0.03291143013142327, + 0.9665557742118835, + -0.2543360405323833, + -0.05658679082989693 + ], + [ + 0.011999954323661513, + 0.2540734112262726, + 0.9671104823520931, + -0.06261816620826721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9992023247959746, + -0.03776445984840393, + -0.012981157727584658, + 0.002150579821318388 + ], + [ + 0.033306645589032076, + 0.9674650430679321, + -0.2508028700054892, + -0.05321662500500679 + ], + [ + 0.022030252465019617, + 0.2501704692840576, + 0.9679511286873531, + -0.06001027673482895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988435041300924, + -0.04203120619058609, + -0.0233447873913643, + -0.00324062816798687 + ], + [ + 0.03502341316717967, + 0.9687319993972778, + -0.24562505383180488, + -0.05063812434673309 + ], + [ + 0.03293876074023939, + 0.24452337622642517, + 0.969083794099945, + -0.05644610896706581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9984324917111279, + -0.044213823974132545, + -0.034317064912285436, + -0.009144678711891174 + ], + [ + 0.034670334019971084, + 0.9699230194091799, + -0.24093009162131257, + -0.04672642797231674 + ], + [ + 0.043937350469077485, + 0.23936264216899877, + 0.9699355864082571, + -0.05306904762983322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.997789571436288, + -0.04726714268326759, + -0.0467097444564572, + -0.012908844277262688 + ], + [ + 0.03499736014793826, + 0.9712949395179749, + -0.23528993120948763, + -0.04501646012067795 + ], + [ + 0.05649041957255898, + 0.2331351339817047, + 0.9708021705456593, + -0.0489749014377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9971578253103119, + -0.048086944967508316, + -0.05799898725888389, + -0.015829093754291534 + ], + [ + 0.03353182412915, + 0.9726343154907227, + -0.22990902889322312, + -0.04278643801808357 + ], + [ + 0.06746742625876967, + 0.22731077671051025, + 0.9714823208884897, + -0.04861770570278168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9964347724315644, + -0.0468520037829876, + -0.07016188568051272, + -0.012194821611046791 + ], + [ + 0.03007257492317687, + 0.9742439985275271, + -0.22348213798630245, + -0.043468132615089417 + ], + [ + 0.07882538064790404, + 0.2205754071474076, + 0.9721795433916824, + -0.05514885485172272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9957865919440531, + -0.04715019091963768, + -0.07865033223837938, + -0.015498677268624306 + ], + [ + 0.028929566936757665, + 0.9754133224487305, + -0.21847646572179077, + -0.042818810790777206 + ], + [ + 0.08701779012664446, + 0.21528062224388123, + 0.9726675747980985, + -0.05386031046509743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.995129340593965, + -0.046040020883083344, + -0.08716628780099861, + -0.013593008741736412 + ], + [ + 0.026595680546668873, + 0.9768373966217041, + -0.2123237427851644, + -0.04383949562907219 + ], + [ + 0.09492267638810595, + 0.2089713215827942, + 0.9733040086219162, + -0.05981961265206337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994524234894109, + -0.04606097564101219, + -0.0938076924701612, + -0.013619010336697102 + ], + [ + 0.025802552024859846, + 0.978065550327301, + -0.20669297810247939, + -0.043300338089466095 + ], + [ + 0.10127055515991774, + 0.20314070582389832, + 0.9738983996892024, + -0.06336909532546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9937566957312816, + -0.04786644130945207, + -0.10077937123049999, + -0.013297997415065765 + ], + [ + 0.026784894772647564, + 0.979229271411896, + -0.2009791373884256, + -0.040434062480926514 + ], + [ + 0.10830626123818869, + 0.1970249861478806, + 0.9743977427529381, + -0.06402532011270523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9929224023947936, + -0.051808409392833724, + -0.10686925234260658, + -0.013391167856752872 + ], + [ + 0.03032506216307501, + 0.9806056618690493, + -0.19363089968288935, + -0.0365753211081028 + ], + [ + 0.11482830165466244, + 0.18901965022087103, + 0.9752364056492839, + -0.06549331545829773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.992061456559698, + -0.056758083403110504, + -0.11221657400655653, + -0.013123827986419201 + ], + [ + 0.035302907944707564, + 0.982166051864624, + -0.18467156854041228, + -0.03128482401371002 + ], + [ + 0.1206969136590075, + 0.17924398183822632, + 0.9763727931704111, + -0.06889160722494125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9911834906520236, + -0.06116416305303575, + -0.11753401829765936, + -0.012961428612470627 + ], + [ + 0.040376166191760536, + 0.9843155145645144, + -0.17173449024686596, + -0.03012879192829132 + ], + [ + 0.12619455448370084, + 0.16547481715679171, + 0.9781068464877446, + -0.07040216773748398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9901524607108406, + -0.06664244085550308, + -0.12311350571566669, + -0.011622917838394642 + ], + [ + 0.04644499539490799, + 0.9859931468963623, + -0.16018847564675892, + -0.023201817646622658 + ], + [ + 0.13206442190415973, + 0.15289300680160522, + 0.9793787330952385, + -0.06899771839380264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9893418967456623, + -0.06931956112384796, + -0.12805221996902375, + -0.010488132014870644 + ], + [ + 0.0501215460903383, + 0.9877932071685791, + -0.14748704955458994, + -0.016997598111629486 + ], + [ + 0.13671284574383394, + 0.13949695229530334, + 0.9807396047651358, + -0.0691714659333229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9888433483023101, + -0.0695200189948082, + -0.13174132514951092, + -0.011331424117088318 + ], + [ + 0.0519118829928593, + 0.9897998571395874, + -0.1326704400490912, + -0.015193278901278973 + ], + [ + 0.1396207965443315, + 0.12435134500265121, + 0.9823658782489164, + -0.06879374384880066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9882692610714201, + -0.06904090940952301, + -0.13622482334496047, + -0.010349816642701626 + ], + [ + 0.05269485101235478, + 0.9913562536239624, + -0.12015016377824635, + -0.01026191283017397 + ], + [ + 0.14334260868763699, + 0.11156237125396729, + 0.9833650124061507, + -0.06610944122076035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9878055085109205, + -0.06888131052255632, + -0.13962668434480863, + -0.009588767774403095 + ], + [ + 0.05385469355547876, + 0.9926167726516726, + -0.10868109883923507, + -0.0047399140894412994 + ], + [ + 0.14608188048038825, + 0.09983623772859576, + 0.9842219314417315, + -0.06471502780914307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9875503301992943, + -0.06817160546779633, + -0.14176379836302797, + -0.010198700241744518 + ], + [ + 0.05429100921203471, + 0.9935474991798401, + -0.09957847144485833, + 0.0017958858516067266 + ], + [ + 0.14763749362166095, + 0.09064225107431412, + 0.9848792737840466, + -0.06114679574966431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9871697692529477, + -0.0672144666314125, + -0.14483791254617367, + -0.009215950034558773 + ], + [ + 0.05413359871608183, + 0.9942457675933838, + -0.092438815050696, + 0.0083092600107193 + ], + [ + 0.15021771161849204, + 0.08341220766305923, + 0.9851279221645595, + -0.05438356474041939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9869028230235771, + -0.06683296710252762, + -0.1468203529172236, + -0.008529111742973328 + ], + [ + 0.05469782508456923, + 0.994861900806427, + -0.08519349978175103, + 0.012369096279144287 + ], + [ + 0.15175971168622734, + 0.07604695111513138, + 0.9854876158909835, + -0.05051043629646301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9865375951615805, + -0.0678880587220192, + -0.14877748307838504, + -0.007565315812826157 + ], + [ + 0.05678084901950316, + 0.9953603148460388, + -0.07767734221309076, + 0.014454475603997707 + ], + [ + 0.15336057262435876, + 0.06818390637636185, + 0.9858151630976851, + -0.04769887775182724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9860623743004995, + -0.069198839366436, + -0.15130288922613971, + -0.006630818359553814 + ], + [ + 0.05884636783447769, + 0.9956768751144409, + -0.07186578278608498, + 0.018682928755879402 + ], + [ + 0.15562181257854352, + 0.06196051836013794, + 0.9858715469293526, + -0.043697893619537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9854638753545812, + -0.0705689936876297, + -0.15453478514869276, + -0.0047458806075155735 + ], + [ + 0.06104689762985939, + 0.9959818124771118, + -0.06552522244493843, + 0.02160365879535675 + ], + [ + 0.158537880917719, + 0.05513886734843254, + 0.9858120807408712, + -0.04055410996079445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.985050401980152, + -0.07169889658689499, + -0.1566364554390475, + -0.004481792915612459 + ], + [ + 0.06302691523875935, + 0.996227502822876, + -0.0596523022487845, + 0.02341683767735958 + ], + [ + 0.16032254932440312, + 0.04888821020722389, + 0.9858532756151008, + -0.036246683448553085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9845105515082037, + -0.07499485462903976, + -0.15847641027464265, + -0.003613567678257823 + ], + [ + 0.06711998777904174, + 0.996256411075592, + -0.05447983900690686, + 0.025380000472068787 + ], + [ + 0.1619688514225869, + 0.04299904406070709, + 0.9858586207708141, + -0.03284308686852455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9840720900892667, + -0.07863131165504457, + -0.15943407221963948, + -0.0037061539478600025 + ], + [ + 0.07151073107568087, + 0.9961895346641543, + -0.049926438026268394, + 0.02664365991950035 + ], + [ + 0.162752329364149, + 0.03772997111082078, + 0.9859452998710333, + -0.029411008581519127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9835547753649294, + -0.08295077830553056, + -0.16043428368232915, + -0.0032087089493870735 + ], + [ + 0.07646527388412165, + 0.9960015416145327, + -0.04619535818232446, + 0.028232157230377197 + ], + [ + 0.16362474198321697, + 0.0331680178642273, + 0.9859649465788057, + -0.02657119370996952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9830641205760418, + -0.08643079549074173, + -0.16160034655205238, + -0.003914577420800924 + ], + [ + 0.08047884340694203, + 0.9958269000053406, + -0.04303362060265011, + 0.029955342411994934 + ], + [ + 0.16464541035613783, + 0.029299400746822357, + 0.9859175852347826, + -0.02286659926176071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.982464646339295, + -0.0897357687354088, + -0.16343418065445836, + -0.0038214109372347593 + ], + [ + 0.08439794297301745, + 0.9956555962562563, + -0.03933041147960198, + 0.031060416251420975 + ], + [ + 0.16625350080223836, + 0.02484723180532456, + 0.9857699497324459, + -0.021226221695542336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9818499472030008, + -0.09170776605606079, + -0.16601327483566936, + -0.003911424893885851 + ], + [ + 0.08697771288804786, + 0.995575487613678, + -0.03555710005169966, + 0.03174012154340744 + ], + [ + 0.16853960832608667, + 0.02047228068113327, + 0.9854822882816581, + -0.019592836499214172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9810611774661885, + -0.09405223280191424, + -0.1693315285611019, + -0.0037879357114434242 + ], + [ + 0.09005455735583805, + 0.995449483394623, + -0.031153146446284904, + 0.03236940875649452 + ], + [ + 0.17149099899627035, + 0.01531406678259373, + 0.9850666660279342, + -0.016830677166581154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.980269394668049, + -0.09507060796022418, + -0.173301892180605, + -0.003620839212089777 + ], + [ + 0.09157161660011812, + 0.9954021573066714, + -0.02809336614094095, + 0.0362081304192543 + ], + [ + 0.17517591952568454, + 0.011669533327221872, + 0.9844679928209303, + -0.013613415881991386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9798295947599963, + -0.09544503688812256, + -0.17556826362266068, + -0.005481652449816465 + ], + [ + 0.09266122031953562, + 0.995408296585083, + -0.024005349432634052, + 0.03837844356894493 + ], + [ + 0.17705328821828362, + 0.007252783980220556, + 0.9841745546453053, + -0.0118135130032897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9790666214660388, + -0.09536831825971603, + -0.17981503829513246, + -0.0039919158443808556 + ], + [ + 0.09327519288004019, + 0.9954378604888916, + -0.020079564395516957, + 0.04013359174132347 + ], + [ + 0.1809096559089655, + 0.0028869500383734703, + 0.983495479567745, + -0.010045355185866356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9788493445925502, + -0.09652624279260635, + -0.18037929894076768, + -0.0073515004478394985 + ], + [ + 0.09524887636482283, + 0.9953289031982422, + -0.015750475011567334, + 0.04102121293544769 + ], + [ + 0.1810570552209113, + -0.0017635824624449015, + 0.9834710367121092, + -0.007580859586596489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.978401814025861, + -0.09647815674543381, + -0.18281651316521047, + -0.007716271560639143 + ], + [ + 0.09594634442622776, + 0.9953168630599976, + -0.011772800005576437, + 0.04194727912545204 + ], + [ + 0.1830961839072512, + -0.0060220458544790745, + 0.9830765444095275, + -0.005502627231180668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.977759138726459, + -0.09635921567678452, + -0.18628480044883838, + -0.007533804979175329 + ], + [ + 0.09663885330851546, + 0.9952905178070068, + -0.007600658063369842, + 0.04226987063884735 + ], + [ + 0.18613987878880123, + -0.010570736601948738, + 0.9824663984052766, + -0.0014224685728549957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.977192288153574, + -0.0948014110326767, + -0.1900207564781457, + -0.007032566703855991 + ], + [ + 0.09600208716539928, + 0.9953769445419312, + -0.0028977669457168303, + 0.040687110275030136 + ], + [ + 0.18941699535688306, + -0.015410713851451874, + 0.9817758194979239, + 0.002212600549682975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9766346608449177, + -0.09554288536310196, + -0.19250010993072939, + -0.008957830257713795 + ], + [ + 0.09727184026169093, + 0.9952577352523804, + -0.00047143343935301295, + 0.043103836476802826 + ], + [ + 0.1916322593286544, + -0.018264420330524445, + 0.9812968154087486, + 0.0052724857814610004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9759310675771746, + -0.09555571526288986, + -0.1960297008603215, + -0.009060046635568142 + ], + [ + 0.09806240440384946, + 0.9951754212379456, + 0.0030987526133781826, + 0.043029867112636566 + ], + [ + 0.19478784773527183, + -0.022247314453125, + 0.9805930650460261, + 0.008190247230231762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9753986328581912, + -0.09563429653644562, + -0.19862420658496935, + -0.011027196422219276 + ], + [ + 0.09861304189891158, + 0.9951125979423523, + 0.005135966791228139, + 0.04483520984649658 + ], + [ + 0.19716228127819205, + -0.024596549570560455, + 0.9800622755609705, + 0.010596305131912231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9749141912976724, + -0.09531968086957932, + -0.20113783228183804, + -0.013320162892341614 + ], + [ + 0.09877760777374976, + 0.9950834512710571, + 0.007202277862188048, + 0.045869700610637665 + ], + [ + 0.19946240810617002, + -0.026889516040682793, + 0.9795364438658843, + 0.01328237447887659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9743863376887547, + -0.09422576427459717, + -0.2041879848707102, + -0.014681844040751457 + ], + [ + 0.09809009388671382, + 0.9951380491256714, + 0.008864423894219776, + 0.04701883718371391 + ], + [ + 0.2023599799871201, + -0.028666192665696144, + 0.978891563698841, + 0.01492389477789402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9738881144435433, + -0.09278821945190431, + -0.2072009491282549, + -0.016200462356209755 + ], + [ + 0.09713763774515996, + 0.9952113032341006, + 0.010894253997122051, + 0.04780365526676178 + ], + [ + 0.2051978814032337, + -0.030736794695258148, + 0.9782377491935839, + 0.01582326367497444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9733101990532015, + -0.09173221886157991, + -0.21036255608098575, + -0.018089788034558296 + ], + [ + 0.09650169083719919, + 0.9952543377876284, + 0.01249841505793064, + 0.04991021379828453 + ], + [ + 0.2082177394184972, + -0.03246517479419709, + 0.9775435606696918, + 0.016296179965138435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9730203050357319, + -0.09037180989980699, + -0.21228382976511373, + -0.021585384383797646 + ], + [ + 0.09569811957846819, + 0.9952984452247622, + 0.014929525563854677, + 0.05135637894272804 + ], + [ + 0.20993654758464084, + -0.0348418951034546, + 0.9770939861072335, + 0.016284851357340813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.973208893334845, + -0.09128565341234207, + -0.2110244554389053, + -0.024751057848334312 + ], + [ + 0.09769457812528029, + 0.9950129389762878, + 0.020124845146751415, + 0.04717264696955681 + ], + [ + 0.2081349615932318, + -0.04020162671804428, + 0.9772736165096988, + -0.0028966732788830996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9724920352624165, + -0.09110806137323381, + -0.21437935182655804, + -0.026021428406238556 + ], + [ + 0.0981480236426194, + 0.9949195981025698, + 0.022404082642544922, + 0.05022489279508591 + ], + [ + 0.21124902126155407, + -0.04282870143651963, + 0.9764934698305534, + 0.0013182824477553368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9710257249562411, + -0.09012183547019958, + -0.22133036666673142, + -0.025161193683743477 + ], + [ + 0.09800764683746878, + 0.9948744773864746, + 0.02488602545366296, + 0.05454794317483902 + ], + [ + 0.21795315469628385, + -0.045857034623622894, + 0.9748813041807389, + 0.020800668746232986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9713909248168485, + -0.09003256261348724, + -0.21975861990965298, + -0.028351524844765663 + ], + [ + 0.09903284434666786, + 0.9946237802505493, + 0.030265369201202978, + 0.05053907632827759 + ], + [ + 0.215852287268074, + -0.05116282403469086, + 0.9750847207398472, + 0.00333184446208179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9702766426485339, + -0.09317120909690857, + -0.2233435523312985, + -0.030335161834955215 + ], + [ + 0.10288061030514416, + 0.9941719770431519, + 0.032212476491193846, + 0.055476948618888855 + ], + [ + 0.21904062335615512, + -0.05423273518681526, + 0.9742073927184511, + 0.011577603407204151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.969475870915205, + -0.09257038682699205, + -0.2270402586067054, + -0.03009968437254429 + ], + [ + 0.10337779362488127, + 0.9939848184585574, + 0.03615534165355926, + 0.0540514811873436 + ], + [ + 0.22232766585958422, + -0.05852265283465387, + 0.9732140374396434, + 0.01797373965382576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9697561406698696, + -0.09110705554485322, + -0.22643427561544455, + -0.03422505408525467 + ], + [ + 0.10228703133114005, + 0.9940243959426882, + 0.03811634464765244, + 0.055469267070293427 + ], + [ + 0.22160853014918813, + -0.06012485176324846, + 0.973280355117642, + 0.00927917193621397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9691551838078285, + -0.09047552943229675, + -0.22924324975694815, + -0.03267781063914299 + ], + [ + 0.10269759678999196, + 0.9938284158706665, + 0.041932570916717406, + 0.05257437005639076 + ], + [ + 0.22403457112799302, + -0.06418189406394958, + 0.9724655498398711, + 0.0034933737479150295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9675304100718025, + -0.09348472207784653, + -0.23483093891737117, + -0.03219882398843765 + ], + [ + 0.10636851536564179, + 0.9934059977531433, + 0.04278176208031822, + 0.05659409612417221 + ], + [ + 0.22928301473826065, + -0.06637126952409744, + 0.9710943360446702, + 0.0198271032422781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9669276071468541, + -0.09305234998464584, + -0.23747066321060772, + -0.03272143378853798 + ], + [ + 0.10640824761370239, + 0.9933472275733948, + 0.044029737833064644, + 0.057489581406116486 + ], + [ + 0.23179374703130384, + -0.06784240901470184, + 0.9703963497869907, + 0.02515369839966297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9668417838988923, + -0.09121833741664886, + -0.23852919044184095, + -0.03309454023838043 + ], + [ + 0.10494732406585656, + 0.9934374094009399, + 0.045477654892005635, + 0.05697426199913025 + ], + [ + 0.2328154185871225, + -0.06900269538164139, + 0.9700698804113679, + 0.023545676842331886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9665940147789878, + -0.09039635956287385, + -0.23984264703881503, + -0.03399718925356865 + ], + [ + 0.10419100238129472, + 0.9935184121131899, + 0.04544624057956218, + 0.059169888496398926 + ], + [ + 0.2341799233384517, + -0.06891750544309617, + 0.9697474646213914, + 0.027004817500710487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.966259953755933, + -0.09025000780820848, + -0.24123973620571063, + -0.03272155299782753 + ], + [ + 0.10449741960571873, + 0.9934183955192568, + 0.046906260949566646, + 0.0579807311296463 + ], + [ + 0.23541870152245875, + -0.07053257524967195, + 0.9693312845453005, + 0.024078888818621635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9656669888825083, + -0.0910235345363617, + -0.2433145922313152, + -0.02935277670621872 + ], + [ + 0.10589980428606727, + 0.9931811690330505, + 0.04874791284521664, + 0.05530702322721481 + ], + [ + 0.23721827526786377, + -0.07284121960401535, + 0.9687216759660972, + 0.017409944906830788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9648618149959793, + -0.1056254431605339, + -0.2405929458324168, + -0.04016648232936859 + ], + [ + 0.11618914723224612, + 0.9927705526351929, + 0.030111594988825686, + 0.09197500348091125 + ], + [ + 0.23567304292219265, + -0.057007815688848495, + 0.9701589231997778, + 0.021346937865018845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9619819929076622, + -0.11250335723161697, + -0.24886468468346765, + -0.02932501584291458 + ], + [ + 0.12364549056784659, + 0.9918863773345947, + 0.029550985204742242, + 0.09408186376094818 + ], + [ + 0.24352088661997173, + -0.05919851362705231, + 0.9680873226170278, + 0.021384818479418755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.961348033233359, + -0.11088694632053378, + -0.25202001015220404, + -0.025576459243893623 + ], + [ + 0.12418537332614504, + 0.991552531719208, + 0.03743803489699359, + 0.07951797544956207 + ], + [ + 0.24573968517665373, + -0.06728817522525789, + 0.9669975669755659, + 0.00638620974496007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9602172999236622, + -0.10610239207744598, + -0.25831180381377605, + -0.01826246827840805 + ], + [ + 0.12197378184243178, + 0.9914590716362, + 0.04616573246116908, + 0.06233116239309311 + ], + [ + 0.25120728596864994, + -0.07583639770746231, + 0.9649579270980725, + -0.005532026756554842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9591900273917393, + -0.10311172902584076, + -0.26329168593986896, + -0.013693025335669518 + ], + [ + 0.12144729682666618, + 0.9911117553710938, + 0.05429639771016687, + 0.047213114798069 + ], + [ + 0.25535287090844827, + -0.08405661582946777, + 0.9631870889038673, + -0.01434544287621975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.958470352993894, + -0.10613180696964264, + -0.26470859121882173, + -0.019737184047698975 + ], + [ + 0.1241812074607389, + 0.9908770322799683, + 0.05236112726478582, + 0.05365200340747833 + ], + [ + 0.2567364763440367, + -0.0830584242939949, + 0.9629058475706026, + -0.023945340886712074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9579453990227601, + -0.10455378890037537, + -0.2672249169885956, + -0.024972064420580864 + ], + [ + 0.12277118630088606, + 0.9910532236099243, + 0.05235186123684277, + 0.056820712983608246 + ], + [ + 0.25936053278193427, + -0.08295774459838867, + 0.9622110364286862, + -0.02774820290505886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9562891603651019, + -0.10444070398807526, + -0.27313581956323985, + -0.015004275366663933 + ], + [ + 0.12473717905629811, + 0.9904941916465759, + 0.057981775184755086, + 0.04740938916802406 + ], + [ + 0.264483782339293, + -0.08951753377914429, + 0.9602265374657426, + -0.04247733950614929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.955007376965252, + -0.10444523394107821, + -0.27758259192273876, + -0.012861664406955242 + ], + [ + 0.12562177745706005, + 0.9902874231338503, + 0.05958196867868457, + 0.04684577137231827 + ], + [ + 0.2686635089870925, + -0.09177164733409883, + 0.9588524002112582, + -0.04668072611093521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9539270815397178, + -0.10379937291145325, + -0.2815116588003401, + -0.01289798691868782 + ], + [ + 0.1252648133820145, + 0.9903490543365479, + 0.059307978752938424, + 0.04977073520421982 + ], + [ + 0.2726386677374601, + -0.09183898568153381, + 0.9577231896478927, + -0.04832945764064789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9529473468899078, + -0.10240726172924045, + -0.2853139713898312, + -0.010938066057860851 + ], + [ + 0.12441984240416394, + 0.990409314632416, + 0.06007578007798539, + 0.05040369927883148 + ], + [ + 0.27642541508247304, + -0.09274777024984361, + 0.9565494200198181, + -0.049247898161411285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9519221628998664, + -0.10228833556175232, + -0.28875819974432687, + -0.007492189295589924 + ], + [ + 0.12586262025471948, + 0.9899656176567078, + 0.06423877606947012, + 0.045139752328395844 + ], + [ + 0.2792898236456989, + -0.09749417752027512, + 0.9552445080796778, + -0.05450120568275452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.950897988523994, + -0.10206608474254608, + -0.2921910169718616, + -0.008259430527687073 + ], + [ + 0.1267254209611212, + 0.9896928071975708, + 0.06669907849449143, + 0.04398864507675171 + ], + [ + 0.28237163794483644, + -0.10045203566551208, + 0.9540312707314083, + -0.052865851670503616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9500576668057721, + -0.10184565931558609, + -0.29498794509649556, + -0.009708411060273647 + ], + [ + 0.12750162419416772, + 0.9894329309463501, + 0.0690348259453017, + 0.04383964091539383 + ], + [ + 0.28483989683541827, + -0.10319850593805313, + 0.9530038108039471, + -0.05249059572815895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9489920016207237, + -0.10170579701662064, + -0.2984461734880189, + -0.010878195986151695 + ], + [ + 0.12849261694419278, + 0.9891297817230225, + 0.07149775227608791, + 0.044295214116573334 + ], + [ + 0.2879302575088604, + -0.10619892925024033, + 0.9517446957252922, + -0.04996052384376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9482282894564799, + -0.10047782957553864, + -0.301276135472518, + -0.012464686296880245 + ], + [ + 0.12828939223847882, + 0.9889762997627258, + 0.0739435828681689, + 0.044788382947444916 + ], + [ + 0.2905252755168747, + -0.10876592993736267, + 0.9506655977598044, + -0.05036633834242821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9479742043693684, + -0.098045215010643, + -0.30287303730845055, + -0.019054483622312546 + ], + [ + 0.1262821810542331, + 0.9891512989997864, + 0.07505026931828208, + 0.04725439473986626 + ], + [ + 0.2922289350376783, + -0.10939318686723709, + 0.9500712589172288, + -0.04559917002916336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.946789208827089, + -0.09745955467224121, + -0.30674398315185397, + -0.015345622785389423 + ], + [ + 0.12682676643367302, + 0.9889113903045654, + 0.0772610136185072, + 0.04642881453037262 + ], + [ + 0.2958127997034833, + -0.11205323785543442, + 0.9486510902929316, + -0.04874681681394577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9461192940657652, + -0.09616538882255554, + -0.3092095297155868, + -0.016709940508008003 + ], + [ + 0.12605189594450453, + 0.9889422655105591, + 0.0781286316276013, + 0.04741520434617996 + ], + [ + 0.29827709413329134, + -0.11289544403553009, + 0.9477791686744599, + -0.0471377894282341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9456278135198117, + -0.09488837420940402, + -0.3111017304170374, + -0.01840645633637905 + ], + [ + 0.1250027029578958, + 0.9890628457069399, + 0.07828777094545777, + 0.048391833901405334 + ], + [ + 0.30027056111054484, + -0.11291964352130893, + 0.9471466254736368, + -0.04666995257139206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9448797199231064, + -0.09463026374578476, + -0.31344452175456644, + -0.01960946060717106 + ], + [ + 0.12494578779383116, + 0.9890897274017334, + 0.07803905952499389, + 0.04980013519525528 + ], + [ + 0.3026398967394646, + -0.11290109157562256, + 0.9463944512899154, + -0.04590753838419914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9442182440737652, + -0.09488288313150406, + -0.315355558369688, + -0.02149946056306362 + ], + [ + 0.12528788627255888, + 0.9890859127044678, + 0.07753720193254618, + 0.05180158093571663 + ], + [ + 0.3045567958342758, + -0.11272227764129639, + 0.9458006490053679, + -0.04611197113990784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9434558269377354, + -0.0948750451207161, + -0.3176316732472165, + -0.022700296714901924 + ], + [ + 0.12597033244136716, + 0.988900363445282, + 0.07878770596071506, + 0.05113191157579422 + ], + [ + 0.30663109562765994, + -0.11434487998485565, + 0.9449352272708313, + -0.04607424885034561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9426072062295754, + -0.09527027606964114, + -0.320023712783011, + -0.023706914857029915 + ], + [ + 0.12700501699790756, + 0.9886906147003176, + 0.0797535308819252, + 0.05141644552350044 + ], + [ + 0.3088063068117432, + -0.11582087725400927, + 0.9440467007375304, + -0.045740194618701935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9418085109710093, + -0.09509126842021942, + -0.32241961423091337, + -0.024676330387592316 + ], + [ + 0.12755719785151443, + 0.9885132312774658, + 0.08106043804437095, + 0.05102063715457916 + ], + [ + 0.3110079126961235, + -0.11747035384178162, + 0.943119689399083, + -0.04616133123636246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9408871174384914, + -0.0954979658126831, + -0.3249792966644151, + -0.02602268196642399 + ], + [ + 0.12803128577678946, + 0.9885226488113403, + 0.0801930615134735, + 0.05422906577587128 + ], + [ + 0.3135911276980868, + -0.11706013977527618, + 0.9423149845278709, + -0.04402083158493042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9399893225520128, + -0.09442396461963654, + -0.3278782555996933, + -0.025954892858862877 + ], + [ + 0.12760320325291652, + 0.9884998798370361, + 0.08115079925302232, + 0.05368589237332344 + ], + [ + 0.3164450482865877, + -0.11811920255422592, + 0.9412281444563747, + -0.04517019912600517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9394608242949677, + -0.09225362539291382, + -0.33000407253146685, + -0.027464739978313446 + ], + [ + 0.12562310299431287, + 0.9887478947639465, + 0.08121839314582487, + 0.05423340946435928 + ], + [ + 0.31879814681162205, + -0.1177576333284378, + 0.940479087781723, + -0.04642065241932869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.938716282321377, + -0.09108749777078629, + -0.3324376952136754, + -0.028574030846357346 + ], + [ + 0.12475518896558022, + 0.9888483881950378, + 0.08133256243171975, + 0.05447879806160927 + ], + [ + 0.32132210398102407, + -0.11782152950763702, + 0.9396117202786473, + -0.04646177217364311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9379675359126756, + -0.09031878411769867, + -0.3347528473563178, + -0.028801511973142624 + ], + [ + 0.12425876819990099, + 0.988909125328064, + 0.08135439573024734, + 0.053858041763305664 + ], + [ + 0.3236922960771484, + -0.11790375411510468, + 0.9387875264161272, + -0.04828401654958725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9371299218496892, + -0.09068617969751358, + -0.33699180889334696, + -0.029162487015128136 + ], + [ + 0.12486939851525582, + 0.9888496994972229, + 0.08114098690311625, + 0.053229156881570816 + ], + [ + 0.3258759094133472, + -0.11811961978673935, + 0.9380046337309133, + -0.049950987100601196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9362347571951102, + -0.09112417697906496, + -0.33935352691274756, + -0.02903369441628456 + ], + [ + 0.12540057410774386, + 0.9888398647308352, + 0.08043869401658384, + 0.0530204251408577 + ], + [ + 0.3282364047858562, + -0.11786462366580966, + 0.9372133351810971, + -0.052007898688316345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.935364340298931, + -0.09132130444049835, + -0.34169275627880796, + -0.02920299768447876 + ], + [ + 0.12549190403158383, + 0.9889262914657593, + 0.07922503833307411, + 0.053605690598487854 + ], + [ + 0.33067401173494304, + -0.11698395758867264, + 0.9364665017628997, + -0.05296673998236656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9343701604987629, + -0.09194756299257278, + -0.3442355216189226, + -0.029075894504785538 + ], + [ + 0.12608194967297517, + 0.9889426827430725, + 0.0780754391973652, + 0.05411367863416672 + ], + [ + 0.33325033937811094, + -0.11635323613882065, + 0.9356314287462917, + -0.0536482073366642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9335840823803505, + -0.09236060827970505, + -0.34625180886869306, + -0.029774893075227737 + ], + [ + 0.12645441186209289, + 0.9889675378799438, + 0.07715247082720633, + 0.054233573377132416 + ], + [ + 0.33530595672712316, + -0.11581338942050934, + 0.9349637471199506, + -0.05437517538666725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9327866653077742, + -0.09304553270339966, + -0.34821194191039845, + -0.029944824054837227 + ], + [ + 0.12717364951561824, + 0.988932192325592, + 0.07641946190233852, + 0.053856976330280304 + ], + [ + 0.337247531830452, + -0.1155664399266243, + 0.9342957056144384, + -0.056120797991752625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9318073190211466, + -0.09423211216926575, + -0.3505074593614929, + -0.029339920729398727 + ], + [ + 0.12853365591541133, + 0.9887989163398743, + 0.07586713594056749, + 0.053620826452970505 + ], + [ + 0.33943226307996754, + -0.11574555933475494, + 0.9334820177893035, + -0.057184718549251556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9308754996865728, + -0.09552070498466494, + -0.35262815683932297, + -0.028817588463425636 + ], + [ + 0.1298950675746095, + 0.9886807799339297, + 0.0750837640197723, + 0.053862739354372025 + ], + [ + 0.34146463324165627, + -0.11569829285144809, + 0.932746391520441, + -0.0582127571105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9301110276778227, + -0.0963503420352936, + -0.35441507516910864, + -0.028307978063821793 + ], + [ + 0.13082472963997002, + 0.9885968565940859, + 0.07457327030779735, + 0.05370122939348221 + ], + [ + 0.3431884743972473, + -0.11572767794132235, + 0.9321098652341172, + -0.060022857040166855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9293284704499575, + -0.0967891588807106, + -0.3563431150623427, + -0.028037140145897865 + ], + [ + 0.13132616516743925, + 0.9885750412940979, + 0.07397870473574124, + 0.05379265919327736 + ], + [ + 0.3451115838384161, + -0.11554768681526184, + 0.9314218763306266, + -0.061202749609947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9285688865852059, + -0.09714441001415253, + -0.3582216618103708, + -0.027658328413963318 + ], + [ + 0.13168547183794863, + 0.9885806441307068, + 0.07326177704969729, + 0.0536491833627224 + ], + [ + 0.34701402962189537, + -0.1152011975646019, + 0.9307577414424569, + -0.06305638700723648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9278004591708421, + -0.09762518852949142, + -0.3600772712206093, + -0.027388358488678932 + ], + [ + 0.13214310539906765, + 0.9885784387588501, + 0.07246301649551147, + 0.05342470481991768 + ], + [ + 0.3488904044878029, + -0.1148129403591156, + 0.9301040027123731, + -0.0648287758231163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9268447285903294, + -0.09781992435455325, + -0.3624777611204498, + -0.026609374210238457 + ], + [ + 0.1322992440940704, + 0.9886284470558169, + 0.07148936620268768, + 0.053827233612537384 + ], + [ + 0.35136273361002063, + -0.11421507596969607, + 0.9292465668757164, + -0.06500731408596039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9261017077612529, + -0.09773191809654236, + -0.36439547709898085, + -0.02659686841070652 + ], + [ + 0.13212142446642386, + 0.988715648651123, + 0.0706068104363076, + 0.05395454540848732 + ], + [ + 0.3533829759488551, + -0.11353353410959244, + 0.9285637528364562, + -0.06588011980056763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9252126711612064, + -0.09796433895826342, + -0.3665849810022237, + -0.026049815118312836 + ], + [ + 0.13236616956784425, + 0.988736689090729, + 0.06984990798978531, + 0.053614214062690735 + ], + [ + 0.35561321009970925, + -0.11314947158098224, + 0.9277588016378024, + -0.06625987589359283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9245550998541447, + -0.09835473448038101, + -0.36813613212493795, + -0.026650168001651764 + ], + [ + 0.13267113093112506, + 0.9887531995773315, + 0.06903208872069053, + 0.05338018015027046 + ], + [ + 0.3572061502053513, + -0.11266501247882843, + 0.9272056983829636, + -0.06728866696357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9239184385623892, + -0.09844247996807098, + -0.369707644757985, + -0.026794059202075005 + ], + [ + 0.13265696229726276, + 0.9888111352920532, + 0.06822470830315742, + 0.053406327962875366 + ], + [ + 0.358854845164126, + -0.11207835376262665, + 0.926639993463832, + -0.06822822988033295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9231233110438052, + -0.09812191873788834, + -0.3717733574167926, + -0.026264935731887817 + ], + [ + 0.13220536852209913, + 0.9889377355575562, + 0.0672597810078413, + 0.05397665500640869 + ], + [ + 0.36106105775723746, + -0.11123950779438019, + 0.925883726369442, + -0.06796089559793472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.922421582340144, + -0.09829660505056381, + -0.3734651123330496, + -0.02566976100206375 + ], + [ + 0.1323519910148657, + 0.9889628291130066, + 0.06659965329517813, + 0.05389437824487686 + ], + [ + 0.3627965902445491, + -0.11086181551218033, + 0.9252503922170243, + -0.06742922961711884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9221270987283066, + -0.09785573184490204, + -0.37430721925748656, + -0.025329697877168655 + ], + [ + 0.13174675595207247, + 0.9890846610069275, + 0.06598763143538246, + 0.053616732358932495 + ], + [ + 0.3637642397773915, + -0.11016274988651276, + 0.9249538915062289, + -0.06846608221530914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.922141084411633, + -0.09647294133901596, + -0.3746314763497118, + -0.02555243857204914 + ], + [ + 0.13008736841549112, + 0.9893409013748169, + 0.06543571817325615, + 0.05382180213928223 + ], + [ + 0.3643254886290948, + -0.10907578468322754, + 0.924861835850368, + -0.06937537342309952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9220172883132256, + -0.09505336731672287, + -0.3752984518627812, + -0.0248329546302557 + ], + [ + 0.12854032847129856, + 0.989561140537262, + 0.06516224100841073, + 0.05427916720509529 + ], + [ + 0.36518689393653064, + -0.10832169651985168, + 0.9246106935193513, + -0.06972956657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9219178119653109, + -0.09286005795001985, + -0.37609120399576423, + -0.02384582720696926 + ], + [ + 0.12635225563626643, + 0.9898317456245425, + 0.06533137012124206, + 0.05457281693816185 + ], + [ + 0.36620035576582055, + -0.1077501177787781, + 0.9242766168631303, + -0.06993059813976288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9220188269722358, + -0.09080660343170166, + -0.37634485167301573, + -0.02341761626303196 + ], + [ + 0.12440364917326018, + 0.9900410175323486, + 0.06589766248160363, + 0.054412730038166046 + ], + [ + 0.3666129036857898, + -0.10757755488157272, + 0.924133154521081, + -0.07139002531766891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.921997932738651, + -0.08831210434436798, + -0.37698907971560836, + -0.023047417402267456 + ], + [ + 0.12193642614292034, + 0.9903258681297302, + 0.06622835749933076, + 0.054966919124126434 + ], + [ + 0.3674932702801383, + -0.10703111439943314, + 0.9238468416071774, + -0.072120800614357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9217830269374595, + -0.08584735542535783, + -0.3780824184324162, + -0.02324577048420906 + ], + [ + 0.11949805903391657, + 0.9906105995178225, + 0.06641403022242409, + 0.05590638145804405 + ], + [ + 0.3688309796994014, + -0.10639943182468417, + 0.9233866111986946, + -0.07233729958534241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9212467285485683, + -0.08371412754058839, + -0.3798637470333359, + -0.022950349375605583 + ], + [ + 0.11775842780739353, + 0.9907628893852236, + 0.06724441547928212, + 0.05570922791957855 + ], + [ + 0.37072560222361534, + -0.10668084770441058, + 0.9225951169262143, + -0.07374889403581619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9206308124899701, + -0.08187540620565414, + -0.381753010358981, + -0.02376248501241207 + ], + [ + 0.11618463274118614, + 0.9909200668334961, + 0.06766459725471519, + 0.05611236393451691 + ], + [ + 0.37274665016909714, + -0.10664794594049454, + 0.9217842314376439, + -0.07540315389633179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9195486461956174, + -0.07997071743011476, + -0.38475314822180273, + -0.024032603949308395 + ], + [ + 0.11498367635925846, + 0.9909796714782717, + 0.06883303666535222, + 0.05522981658577919 + ], + [ + 0.37577793081257693, + -0.10753565281629565, + 0.9204493544071205, + -0.07775982469320297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9178180546851797, + -0.07701306790113449, + -0.38945986743602906, + -0.0242148470133543 + ], + [ + 0.11257266847137658, + 0.9912249445915222, + 0.069285567655134, + 0.05547668784856796 + ], + [ + 0.38070644700530387, + -0.10743407905101776, + 0.9184337541039626, + -0.07804396003484726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9155096948426144, + -0.07502195239067078, + -0.39523878430382425, + -0.024853037670254707 + ], + [ + 0.11101199818908039, + 0.9914239645004272, + 0.06895578785861821, + 0.05682535469532013 + ], + [ + 0.3866760068727511, + -0.10700594633817673, + 0.9159865714620691, + -0.07791370898485184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9130907802823787, + -0.07415057718753815, + -0.4009575076809859, + -0.026694439351558685 + ], + [ + 0.11130992590808667, + 0.9913062453269958, + 0.07015742376944922, + 0.05492272600531578 + ], + [ + 0.3922694678454036, + -0.10869064927101135, + 0.9134062820744834, + -0.0796164944767952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9100786804971358, + -0.07436057180166245, + -0.4077097981914163, + -0.029024872928857803 + ], + [ + 0.11244173353950843, + 0.991174578666687, + 0.07021298321979645, + 0.0543130561709404 + ], + [ + 0.39889050112607377, + -0.10974293947219849, + 0.9104080912482699, + -0.08079533278942108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9061777467065179, + -0.075393907725811, + -0.4161221810958954, + -0.031104473397135735 + ], + [ + 0.11451557073386491, + 0.9909639954566956, + 0.06983240586919924, + 0.05394669994711876 + ], + [ + 0.40709715697655235, + -0.11093304306268692, + 0.9066232905883433, + -0.08187860250473022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9019606167596842, + -0.07403167337179184, + -0.4254249959916267, + -0.03483271971344948 + ], + [ + 0.1143519533727866, + 0.9909713864326477, + 0.06999516717399291, + 0.05385551601648331 + ], + [ + 0.416402129194338, + -0.1117810606956482, + 0.9022827952088118, + -0.08343154937028885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8971852198517907, + -0.07028083503246309, + -0.43602669290015156, + -0.038968659937381744 + ], + [ + 0.11248884470049297, + 0.9910615086555483, + 0.07171741200994491, + 0.05318398028612137 + ], + [ + 0.42708889538925254, + -0.11339194327592853, + 0.8970715379288117, + -0.08561722934246063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8918749782627331, + -0.06318016350269318, + -0.4478474527106027, + -0.04411732405424118 + ], + [ + 0.10758609297895631, + 0.99140864610672, + 0.07439138744327177, + 0.05347881838679314 + ], + [ + 0.43929975405741045, + -0.11452996730804443, + 0.8910098587496268, + -0.08733801543712616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8859498545978612, + -0.053399331867694855, + -0.4606965817924602, + -0.05042683705687523 + ], + [ + 0.10053423486476139, + 0.9918422698974609, + 0.0783695353603195, + 0.0535711944103241 + ], + [ + 0.45275348019668693, + -0.11574725806713104, + 0.8840909574731565, + -0.08979925513267517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8785841117427221, + -0.040249817073345184, + -0.47588852814916843, + -0.05686214938759804 + ], + [ + 0.09038266661097874, + 0.9924487471580505, + 0.08292464891352501, + 0.05526639148592949 + ], + [ + 0.46895727654196473, + -0.11586835980415344, + 0.8755875576889559, + -0.091173455119133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8715469107730913, + -0.02490105852484703, + -0.48967941178900126, + -0.06768190860748291 + ], + [ + 0.07789870271877668, + 0.9930567741394043, + 0.0881478986690759, + 0.05697834864258766 + ], + [ + 0.4840844882055612, + -0.11497042328119278, + 0.8674353287654237, + -0.09877818822860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8615073345253264, + -0.012554572895169258, + -0.5075899358318376, + -0.07561037689447403 + ], + [ + 0.0698035957425008, + 0.9931305646896362, + 0.09391040289986143, + 0.058222051709890366 + ], + [ + 0.5029240784182452, + -0.11633610725402832, + 0.8564655799804867, + -0.09834176301956177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8502891811803248, + 0.0002573709934949875, + -0.5263157129784221, + -0.08232896029949188 + ], + [ + 0.06132833932567685, + 0.9931393265724182, + 0.09956464044357609, + 0.059135857969522476 + ], + [ + 0.5227304745162817, + -0.1169368103146553, + 0.8444398273764459, + -0.09899944812059402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.838958645825306, + 0.012436185963451866, + -0.5440530393268406, + -0.0894666537642479 + ], + [ + 0.052980763865451024, + 0.9931231737136843, + 0.10440036225998972, + 0.06052820757031441 + ], + [ + 0.541610006301122, + -0.11641193926334384, + 0.8325304106614402, + -0.09969201683998108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.827334811756741, + 0.022697875276207924, + -0.5612503128043204, + -0.09508843719959259 + ], + [ + 0.046132770757916844, + 0.9930619597434998, + 0.10816501275474097, + 0.061315495520830154 + ], + [ + 0.5598114741138613, + -0.11538071930408478, + 0.8205476505230948, + -0.10153626650571823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8169135107103097, + 0.029455576092004776, + -0.5760075404253301, + -0.10191258043050766 + ], + [ + 0.04186813513405046, + 0.9930316209793091, + 0.11015996122432449, + 0.0622134692966938 + ], + [ + 0.5752385174087069, + -0.11410752683877945, + 0.8099877238484198, + -0.10354362428188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8068793958191453, + 0.03700459748506546, + -0.589556028745681, + -0.10684393346309662 + ], + [ + 0.03602001349714286, + 0.993096649646759, + 0.11163138478829135, + 0.06386280804872513 + ], + [ + 0.5896169814740799, + -0.11130888015031815, + 0.7999763777924067, + -0.10674676299095154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.7977451195869533, + 0.04418061673641205, + -0.6013740537600638, + -0.10978585481643677 + ], + [ + 0.030598065808580998, + 0.9930614829063416, + 0.11354585314646379, + 0.06454983353614807 + ], + [ + 0.6022179323194311, + -0.10898153483867645, + 0.790858113483775, + -0.10860680788755417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.79020686959568, + 0.04922556132078171, + -0.6108600006135008, + -0.11126779019832611 + ], + [ + 0.02604278289199418, + 0.9931711554527283, + 0.1137226173943369, + 0.06697890162467957 + ], + [ + 0.6122865914979273, + -0.10577289015054703, + 0.7835287040160622, + -0.10764353722333908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.7854199268484598, + 0.051780350506305695, + -0.6167936174377544, + -0.1115494817495346 + ], + [ + 0.02374980583753809, + 0.99323970079422, + 0.11362612745292006, + 0.06674076616764069 + ], + [ + 0.6185074864223906, + -0.10389294475317001, + 0.7788804183523163, + -0.11018208414316177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.7813446098376887, + 0.05171838775277138, + -0.621953277113567, + -0.10558158159255981 + ], + [ + 0.02377985024978989, + 0.9933696985244751, + 0.11247748458722666, + 0.06644889712333679 + ], + [ + 0.6236466641865962, + -0.10267363488674164, + 0.7749341410805284, + -0.11051541566848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.7814637582717137, + 0.051662374287843704, + -0.6218082231650558, + -0.1035805195569992 + ], + [ + 0.022637861689431885, + 0.9935625791549683, + 0.11099961787167001, + 0.0671425610780716 + ], + [ + 0.6235398605726478, + -0.10081858932971954, + 0.7752636128711825, + -0.11134375631809235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.783786330880039, + 0.04776440188288689, + -0.6191910267537003, + -0.09978950023651123 + ], + [ + 0.024730979417888092, + 0.9938464760780334, + 0.1079703855492924, + 0.06760768592357635 + ], + [ + 0.620537961572644, + -0.09993892163038254, + 0.7777820436451871, + -0.11105496436357498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.7884692854004243, + 0.041424691677093506, + -0.6136775316576557, + -0.09459657967090607 + ], + [ + 0.028925105381377405, + 0.9941283464431763, + 0.1042697735098279, + 0.06691120564937592 + ], + [ + 0.6143935998560894, + -0.0999642089009285, + 0.782641490952195, + -0.112784244120121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.7943439216424879, + 0.033817596733570106, + -0.6065262885774549, + -0.08740337938070297 + ], + [ + 0.03363904334919196, + 0.9944684505462649, + 0.09950353279550185, + 0.06744306534528732 + ], + [ + 0.606536209019014, + -0.09944298863410952, + 0.7888123725591477, + -0.11108749359846115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8017377704548788, + 0.02482655830681324, + -0.5971601300264007, + -0.07787920534610748 + ], + [ + 0.038887778278981405, + 0.9948529005050659, + 0.09357050594006307, + 0.06808922439813614 + ], + [ + 0.5964095425584308, + -0.09824123978614807, + 0.7966456485695077, + -0.10813726484775543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8111073007628479, + 0.009677340276539326, + -0.5848173856094032, + -0.06845176219940186 + ], + [ + 0.04946354125821574, + 0.9951463937759399, + 0.08507033580253212, + 0.06876373291015625 + ], + [ + 0.5828021540002671, + -0.09792830795049667, + 0.8066918133215492, + -0.10259441286325455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.8215048932169354, + -0.005942344665527344, + -0.5701704752582571, + -0.05703224614262581 + ], + [ + 0.060228137329292955, + 0.9952561855316162, + 0.07640444727860711, + 0.06702865660190582 + ], + [ + 0.5670117081985288, + -0.09710693359375, + 0.817965786383518, + -0.10217475146055222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8332934180169072, + -0.02467264048755169, + -0.5522801223793329, + -0.04593271762132645 + ], + [ + 0.07379915234352662, + 0.9950268268585205, + 0.06689796260630879, + 0.06355582922697067 + ], + [ + 0.5478829883910884, + -0.09650342911481857, + 0.830970148312734, + -0.10377201437950134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8450148886632431, + -0.04396728426218033, + -0.5329321636315835, + -0.035536862909793854 + ], + [ + 0.08760454591323419, + 0.9945314526557922, + 0.05685582468416679, + 0.060556456446647644 + ], + [ + 0.5275180083030021, + -0.09473130106925964, + 0.8442456463987474, + -0.10232521593570709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8554740948089979, + -0.06606294214725494, + -0.513614417641042, + -0.025086358189582825 + ], + [ + 0.10325279709468234, + 0.9936740398406982, + 0.04416748338184993, + 0.06170543283224106 + ], + [ + 0.5074475024934146, + -0.09081625938415527, + 0.8568835598921797, + -0.09669753909111023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8662134295946217, + -0.0867420881986618, + -0.4920875147706597, + -0.014407346956431866 + ], + [ + 0.11869915185658747, + 0.9923473000526428, + 0.034019399687297946, + 0.05869900435209274 + ], + [ + 0.4853708094783295, + -0.08787843585014343, + 0.8698807587524421, + -0.09970656782388687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8748164219031829, + -0.10843473672866824, + -0.472163283960271, + -0.0007517995545640588 + ], + [ + 0.13553361894604896, + 0.9904906153678896, + 0.02364317689625204, + 0.056493937969207764 + ], + [ + 0.4651095698212685, + -0.08467743545770647, + 0.8811940038694536, + -0.10268764942884445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8831881473736919, + -0.128010556101799, + -0.45121165915872913, + 0.00840284675359726 + ], + [ + 0.15026770343507898, + 0.9885507822036743, + 0.013673670487558, + 0.05578896775841713 + ], + [ + 0.4442952636859121, + -0.07987895607948303, + 0.8923122001920649, + -0.10277464240789413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8903585685023634, + -0.1475183516740799, + -0.43069701215465783, + 0.01717001013457775 + ], + [ + 0.16579201325425508, + 0.9861482381820679, + 0.00496722144219932, + 0.054188866168260574 + ], + [ + 0.4239983504428983, + -0.07582873106002808, + 0.9024829299482885, + -0.10369250178337097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8965789852627265, + -0.1638677418231964, + -0.4114528445873565, + 0.025678349658846855 + ], + [ + 0.1785446880671721, + 0.9839277863502502, + -0.0028061488790269823, + 0.05345355346798897 + ], + [ + 0.4052997355191007, + -0.07094679027795792, + 0.9114267228525113, + -0.10486021637916565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9025626362101418, + -0.17610272765159607, + -0.39289757675368353, + 0.03321792557835579 + ], + [ + 0.18750128817677209, + 0.9822182655334473, + -0.009518120635388315, + 0.05340747535228729 + ], + [ + 0.3875873519687724, + -0.06507810205221176, + 0.9195329956493502, + -0.10739599913358688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9074480317823952, + -0.18913325667381287, + -0.3751888566001855, + 0.04196247458457947 + ], + [ + 0.19857657543479665, + 0.979989230632782, + -0.013728130338685016, + 0.049969155341386795 + ], + [ + 0.37027747686386797, + -0.062046147882938385, + 0.9268467562445426, + -0.11602890491485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9113717105489966, + -0.19852980971336365, + -0.3605377975598169, + 0.04854120686650276 + ], + [ + 0.20567757105879617, + 0.9784380197525024, + -0.01886178993697743, + 0.05066825821995735 + ], + [ + 0.3565085193726715, + -0.056964434683322906, + 0.9325538948679197, + -0.11560218036174774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9148568323472592, + -0.20980796217918396, + -0.34498919538775746, + 0.056682828813791275 + ], + [ + 0.21574090993212938, + 0.9762121438980103, + -0.021580440451743572, + 0.0463155061006546 + ], + [ + 0.34131039107956485, + -0.05468526855111122, + 0.938358536470968, + -0.13347911834716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9179260186138353, + -0.21279112994670873, + -0.33486080321168865, + 0.0591515377163887 + ], + [ + 0.21642547996726083, + 0.9759286046028139, + -0.02689587918694527, + 0.05113279074430466 + ], + [ + 0.33252344754871943, + -0.04778397828340532, + 0.9418836903695827, + -0.11702392250299454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9207156305461601, + -0.21740037202835089, + -0.3240676499587719, + 0.06251829117536545 + ], + [ + 0.21990409315552525, + 0.975079655647278, + -0.02935670388354258, + 0.05037558078765869 + ], + [ + 0.3223739361441867, + -0.044234625995159156, + 0.9455783089333427, + -0.11957345902919769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9227952744244623, + -0.22146070003509521, + -0.3152840121041736, + 0.06945503503084183 + ], + [ + 0.22362370923841113, + 0.9742201566696167, + -0.029790845712469403, + 0.04690966010093689 + ], + [ + 0.3137535498657896, + -0.043014127761125565, + 0.9485296641403553, + -0.13336436450481415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9248662131349278, + -0.22107489407062536, + -0.3094322700825612, + 0.07268894463777542 + ], + [ + 0.2228670696479971, + 0.9743863940238955, + -0.030023227571122402, + 0.04600583389401436 + ], + [ + 0.30814399429558414, + -0.04119479283690453, + 0.9504474315283005, + -0.13532668352127075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9269006325550221, + -0.21781934797763824, + -0.3056303922268169, + 0.07399576157331467 + ], + [ + 0.2194465521229441, + 0.9751792550086975, + -0.029472754875672483, + 0.04512084648013115 + ], + [ + 0.30446415367259866, + -0.03975122049450874, + 0.9516939515678449, + -0.13581639528274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.928768157559389, + -0.2119612991809845, + -0.304075884487179, + 0.07396665215492249 + ], + [ + 0.21385494376218334, + 0.9764789938926697, + -0.027473763412913514, + 0.043611619621515274 + ], + [ + 0.3027470945625953, + -0.03951137140393257, + 0.9522515564242927, + -0.13704931735992432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9303914528975987, + -0.20344486832618713, + -0.30492931745988167, + 0.07267999649047852 + ], + [ + 0.20582897109374623, + 0.9782768487930298, + -0.024674192913648318, + 0.04212873429059982 + ], + [ + 0.30332512894476815, + -0.03980662673711777, + 0.9520552743374562, + -0.1375780552625656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9316468664413935, + -0.19288700819015508, + -0.3079427298615744, + 0.07094312459230423 + ], + [ + 0.19564757851988535, + 0.9804229736328127, + -0.022200269219448496, + 0.04131882265210152 + ], + [ + 0.30619625843071085, + -0.039565436542034156, + 0.9511458535998017, + -0.1374509334564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9323260966163328, + -0.18199658393859863, + -0.31248249741736656, + 0.06817449629306793 + ], + [ + 0.18514454685490403, + 0.982511043548584, + -0.019836537179921176, + 0.040123406797647476 + ], + [ + 0.310627706418381, + -0.03936030715703964, + 0.9497164056594958, + -0.13812068104743958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9325522992668023, + -0.1702432483434677, + -0.31837628337116536, + 0.06461489945650101 + ], + [ + 0.1738914386772819, + 0.9846154451370239, + -0.01715347934468523, + 0.03875213861465454 + ], + [ + 0.31639845821370643, + -0.03936639428138733, + 0.947809218004099, + -0.13860654830932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9322619683071914, + -0.15885408222675323, + -0.3250431422609902, + 0.060670625418424606 + ], + [ + 0.162900843345629, + 0.9865297079086304, + -0.014914951618901877, + 0.037123903632164 + ], + [ + 0.3230340185129743, + -0.03904515877366066, + 0.9455815951619952, + -0.13964320719242096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9315301822212936, + -0.1474622040987015, + -0.3324251058223435, + 0.05688219517469406 + ], + [ + 0.15169631126163471, + 0.9883372187614443, + -0.013334388915484928, + 0.03637133538722992 + ], + [ + 0.33051440402521426, + -0.0380062758922577, + 0.9430353771753514, + -0.13957440853118896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9303417252047483, + -0.13747529685497284, + -0.33994824630128884, + 0.05373268201947212 + ], + [ + 0.1418437292663121, + 0.9898151755332947, + -0.012095916280163202, + 0.03490585833787918 + ], + [ + 0.3381488182915964, + -0.036966193467378616, + 0.9403663315465601, + -0.1399742215871811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.929187699071009, + -0.12813040614128113, + -0.3466883915054986, + 0.050580013543367386 + ], + [ + 0.13239719963868027, + 0.991130530834198, + -0.0114572508751861, + 0.03361513838171959 + ], + [ + 0.34508146887637836, + -0.03525463491678238, + 0.9379103913457074, + -0.14058049023151398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9281526005562698, + -0.11832474917173386, + -0.3528909944806818, + 0.04733738675713539 + ], + [ + 0.12248661603278738, + 0.9924135804176331, + -0.010600504209795658, + 0.03220096230506897 + ], + [ + 0.35146810341845347, + -0.033385537564754486, + 0.9356044109916701, + -0.140823096036911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9273552888236758, + -0.10830871760845184, + -0.3581638456694846, + 0.044027794152498245 + ], + [ + 0.1122018000444231, + 0.9936354756355286, + -0.009963179733995705, + 0.030885471031069756 + ], + [ + 0.35696341265921644, + -0.03094721958041191, + 0.933605562516281, + -0.14268708229064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9263834033148816, + -0.09908399730920792, + -0.36331266552019015, + 0.040520042181015015 + ], + [ + 0.10260676169978886, + 0.9946752786636353, + -0.00964235952163481, + 0.030047498643398285 + ], + [ + 0.3623335413271309, + -0.02834581583738327, + 0.9316173975165659, + -0.14302900433540344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9253576583431434, + -0.09001149982213974, + -0.3682541320928191, + 0.037422358989715576 + ], + [ + 0.09358007945227603, + 0.9955779910087585, + -0.008196601395714596, + 0.028373923152685165 + ], + [ + 0.36736349447975825, + -0.026876460760831833, + 0.9296890348429657, + -0.14525452256202698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9241719861810673, + -0.08049169927835466, + -0.37339959975483505, + 0.03488527610898018 + ], + [ + 0.08399653532577091, + 0.9964421391487124, + -0.006904329721894506, + 0.028184613212943077 + ], + [ + 0.3726268310523542, + -0.024983482435345657, + 0.9276448748186217, + -0.146640807390213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9232531621504084, + -0.07033527642488481, + -0.3776990752077836, + 0.032012082636356354 + ], + [ + 0.07407055705020205, + 0.9972421526908877, + -0.004647692461305977, + 0.027406970039010048 + ], + [ + 0.3769843413166787, + -0.023685382679104812, + 0.9259167261672006, + -0.14590641856193542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9222900616579041, + -0.060889843851327896, + -0.38167190642308985, + 0.029372690245509148 + ], + [ + 0.06459141394019963, + 0.9979069232940674, + -0.003118853816587476, + 0.027521377429366112 + ], + [ + 0.3810629501227859, + -0.021776240319013596, + 0.9242926037807572, + -0.14689524471759796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9211797174206591, + -0.05374547094106674, + -0.3854080739521725, + 0.027232881635427475 + ], + [ + 0.057859444338117356, + 0.9983243346214294, + -0.0009248945270426055, + 0.026215624064207077 + ], + [ + 0.38481197244415516, + -0.021447502076625824, + 0.9227457996337083, + -0.14681610465049744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9202603710337707, + -0.045408640056848526, + -0.38866301950444454, + 0.024631408974528313 + ], + [ + 0.049853519125980496, + 0.9987556338310242, + 0.0013535636648836181, + 0.0259079746901989 + ], + [ + 0.3881179060129987, + -0.020621849223971367, + 0.9213789680854765, + -0.14647237956523895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9192359791709315, + -0.038164395838975906, + -0.39185296665199676, + 0.022393526509404182 + ], + [ + 0.043025284487346986, + 0.9990674257278442, + 0.0036278595180484208, + 0.025175854563713074 + ], + [ + 0.3913490534576253, + -0.020194444805383682, + 0.9200206824994912, + -0.14732302725315094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9183040551093985, + -0.03220750764012337, + -0.39456346452900126, + 0.019257517531514168 + ], + [ + 0.03726956033122651, + 0.9992918968200684, + 0.005170498674393399, + 0.024455277249217033 + ], + [ + 0.3941175240000822, + -0.019453296437859535, + 0.9188541402737028, + -0.1473773568868637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9169895441956483, + -0.02909121289849282, + -0.39784908123429047, + 0.01721026375889778 + ], + [ + 0.03387766921034774, + 0.9994134306907656, + 0.005005216623062675, + 0.024888157844543457 + ], + [ + 0.39747010415551803, + -0.018067929893732074, + 0.9174372003214749, + -0.14663444459438324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9157813094519861, + -0.027780102565884597, + -0.40071542184260567, + 0.014903814531862736 + ], + [ + 0.03265398098595045, + 0.9994524717330935, + 0.00533798862969058, + 0.023696208372712135 + ], + [ + 0.40034770592235797, + -0.01797338388860226, + 0.9161870011745539, + -0.1468105912208557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9146369611568839, + -0.027334081009030342, + -0.40335107585966207, + 0.0116017647087574 + ], + [ + 0.03233100137869927, + 0.9994616508483887, + 0.005582640083450283, + 0.02276124618947506 + ], + [ + 0.4029813268450449, + -0.018146833404898643, + 0.9150283052877514, + -0.14760291576385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.912828041270479, + -0.02814178727567196, + -0.40737329113719667, + 0.009698963724076748 + ], + [ + 0.03301211706630002, + 0.9994428157806396, + 0.00492982756194102, + 0.023370133712887764 + ], + [ + 0.4070075852003635, + -0.017948338761925697, + 0.9132484523613296, + -0.1466059535741806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pan_right/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3db38dbe38be83caf1c1cc5d06a577b678efe1ff --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pan_right/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999975750687584, + -0.0010043199872598052, + 0.006890430081153427, + 0.0026149610057473183 + ], + [ + 0.001189638051724634, + 0.9996362328529358, + -0.026943833558627242, + 0.0011789039708673954 + ], + [ + -0.006860863809093083, + 0.026951376348733902, + 0.9996132084852777, + 0.004809475038200617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998655978271166, + -0.005417153239250184, + 0.015473587533708467, + 0.005651809275150299 + ], + [ + 0.0060918657704723735, + 0.9990175962448122, + -0.043895153001081065, + -0.0017968520987778902 + ], + [ + -0.01522059984474766, + 0.043983515352010734, + 0.9989163019166671, + 0.0038842298090457916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994893346841784, + -0.023633664473891265, + 0.021505490462691502, + 0.009347952902317047 + ], + [ + 0.024660181060473414, + 0.9985045790672304, + -0.04879061709352118, + -0.005224069580435753 + ], + [ + -0.02032022844977574, + 0.04929602891206743, + 0.9985774823898066, + -0.0005182744353078306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987252720011622, + -0.04377982020378113, + 0.025121800240535674, + 0.012183863669633865 + ], + [ + 0.04505604499064791, + 0.9975928664207458, + -0.05271032413880603, + -0.010469328612089157 + ], + [ + -0.022753682672573036, + 0.05377501994371414, + 0.9982937778019755, + -0.0006278678774833679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.997969210982411, + -0.056863486766815186, + 0.0287045064227339, + 0.014793919399380684 + ], + [ + 0.058504500329902565, + 0.9964825510978699, + -0.05999815612274977, + -0.014797203242778778 + ], + [ + -0.02519183569372408, + 0.0615556538105011, + 0.9977856656682187, + -0.002631464973092079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9971764358572092, + -0.0669407993555069, + 0.03402980680046342, + 0.015167241916060448 + ], + [ + 0.06926475619042927, + 0.9949638843536377, + -0.07245158094054115, + -0.014838115312159061 + ], + [ + -0.029008463857105874, + 0.07460407167673111, + 0.9967912327767369, + -0.0031356823164969683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9961998209492232, + -0.07772161066532135, + 0.039309895694082, + 0.015110899694263935 + ], + [ + 0.08086844310877127, + 0.9930015206336975, + -0.08607106700596386, + -0.014940964989364147 + ], + [ + -0.032345207048338355, + 0.08892291784286499, + 0.9955131602708622, + -0.007276860997080803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9953029102110658, + -0.08712751418352127, + 0.042200989988700595, + 0.01502513699233532 + ], + [ + 0.09088392697220186, + 0.9910994172096252, + -0.09727282260878245, + -0.01783846504986286 + ], + [ + -0.033350239816436894, + 0.10065130889415741, + 0.9943626710640356, + -0.010772687382996082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9950553516423161, + -0.08894763141870499, + 0.044194132580363955, + 0.013929227367043495 + ], + [ + 0.09323862742588039, + 0.9898726940155029, + -0.10704506652348561, + -0.020943714305758476 + ], + [ + -0.0342251597407828, + 0.11063636839389801, + 0.993271476741598, + -0.01748897321522236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9954389198616276, + -0.08436749130487442, + 0.044536250754147945, + 0.015100324526429176 + ], + [ + 0.08910121200427013, + 0.9890100955963135, + -0.11798285607561383, + -0.02237175777554512 + ], + [ + -0.034092887605385175, + 0.1214129626750946, + 0.9920163986631593, + -0.020984774455428123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9957526901293186, + -0.079302579164505, + 0.04677288703186994, + 0.015160143375396729 + ], + [ + 0.0847896543400658, + 0.9878548979759216, + -0.1302054977426448, + -0.024343935772776604 + ], + [ + -0.03587919323267052, + 0.1336183398962021, + 0.9903831690872067, + -0.023474764078855515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9956853537034894, + -0.07875555753707886, + 0.04907363816635653, + 0.018790870904922485 + ], + [ + 0.08503594718592017, + 0.9860875010490417, + -0.142829755957058, + -0.02980593405663967 + ], + [ + -0.037142261852599785, + 0.1463865339756012, + 0.9885299099981217, + -0.028709549456834793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9944940431872037, + -0.09256604313850404, + 0.049123155713149604, + 0.04024022817611694 + ], + [ + 0.09882076767264583, + 0.9843844771385195, + -0.14567671007377367, + -0.04759158939123154 + ], + [ + -0.03487135373978118, + 0.1497290134429932, + 0.9881119474810194, + -0.09472115337848663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9941943280412515, + -0.09307864308357239, + 0.05398187611085939, + 0.042655520141124725 + ], + [ + 0.10061121422269503, + 0.9820225238800049, + -0.15971600405787464, + -0.04949988052248955 + ], + [ + -0.03814526830276298, + 0.164219930768013, + 0.9856859404699967, + -0.0967118889093399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9944585637298937, + -0.08639077842235565, + 0.05990667894235059, + 0.04267323762178421 + ], + [ + 0.0954987394557083, + 0.9806010127067566, + -0.1711772218237402, + -0.04824163019657135 + ], + [ + -0.043956414809414514, + 0.17594967782497406, + 0.9834172555657137, + -0.1042298898100853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9950850204443004, + -0.07420744001865387, + 0.0655670607210383, + 0.041564613580703735 + ], + [ + 0.08488734393235936, + 0.9801908135414124, + -0.17894150259783864, + -0.04895204305648804 + ], + [ + -0.05098944331245298, + 0.18362782895565033, + 0.9816725298695514, + -0.10786063969135284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995393066206706, + -0.06434112787246704, + 0.07108315662586558, + 0.040184978395700455 + ], + [ + 0.07658580630504579, + 0.9796071648597717, + -0.1857536969638107, + -0.04865478724241257 + ], + [ + -0.057681967259007774, + 0.19034191966056824, + 0.9800218250574652, + -0.10604726523160934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9954867378706473, + -0.05821879208087921, + 0.07494457790480238, + 0.04263319820165634 + ], + [ + 0.07143137838781422, + 0.9795976877212524, + -0.18784547729101236, + -0.053327981382608414 + ], + [ + -0.06247939938482767, + 0.1923510879278183, + 0.9793351508204877, + -0.1002330332994461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9954561107402222, + -0.051942091435194016, + 0.07980706251116902, + 0.043867867439985275 + ], + [ + 0.06630319913610558, + 0.9796562790870667, + -0.18941338768565333, + -0.05713093653321266 + ], + [ + -0.06834496363796794, + 0.19384418427944183, + 0.9786487806550056, + -0.09688381105661392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9949990921319642, + -0.05063077434897423, + 0.08610086570117227, + 0.04129500687122345 + ], + [ + 0.0664947489145191, + 0.9789945483207703, + -0.19273860464684378, + -0.05682787299156189 + ], + [ + -0.07453377490140183, + 0.19749997556209564, + 0.9774653349042666, + -0.09895393997430801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9948560991275162, + -0.04961514472961426, + 0.08831570221491755, + 0.041646558791399 + ], + [ + 0.06612092733415187, + 0.9785534739494324, + -0.19509255024654062, + -0.059143971651792526 + ], + [ + -0.0767420899889579, + 0.19992852210998535, + 0.976800483423622, + -0.09477517008781433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9950201350563291, + -0.04558997601270676, + 0.08863700953374051, + 0.04259354621171951 + ], + [ + 0.06249894285204988, + 0.9781025052070618, + -0.19851788132681558, + -0.0607960969209671 + ], + [ + -0.07764565577551073, + 0.20306901633739471, + 0.9760810067705512, + -0.0920126810669899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9948092631710096, + -0.03938813880085946, + 0.09382511772184884, + 0.03693025931715965 + ], + [ + 0.05779089504041034, + 0.9776083230972292, + -0.20234180839839133, + -0.06257779896259308 + ], + [ + -0.08375434659031986, + 0.20671373605728155, + 0.9748100675864372, + -0.10099228471517563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9948349378464378, + -0.04150507599115372, + 0.09263242883424863, + 0.04033232107758522 + ], + [ + 0.06005599314569734, + 0.9763911962509155, + -0.20749332405602985, + -0.05900996923446655 + ], + [ + -0.08183346648289912, + 0.21198473870754242, + 0.9738407072624935, + -0.08236721158027649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9946309726018248, + -0.03953487426042557, + 0.09563611918304603, + 0.03739919513463974 + ], + [ + 0.05913241258443232, + 0.9755423069000244, + -0.21170858822719482, + -0.05795477703213692 + ], + [ + -0.08492720767905661, + 0.21622709929943085, + 0.972642360530047, + -0.07230614125728607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9941547121947271, + -0.034961801022291183, + 0.10214711504015778, + 0.0291319377720356 + ], + [ + 0.05643776092969098, + 0.9748436808586121, + -0.21562600272359198, + -0.058147281408309937 + ], + [ + -0.09203879688198405, + 0.2201305627822876, + 0.971118647111512, + -0.06891536712646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9939058695253415, + -0.03524046018719673, + 0.10444750671628429, + 0.026693744584918022 + ], + [ + 0.05740331902802054, + 0.974373459815979, + -0.2174884287175822, + -0.05840952321887016 + ], + [ + -0.0941064870054428, + 0.22215865552425385, + 0.9704583894441775, + -0.05963993817567825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9936774705439458, + -0.03681790083646774, + 0.10606378276857699, + 0.025658782571554184 + ], + [ + 0.059601747249563596, + 0.9735798835754395, + -0.22043104107036113, + -0.05678623914718628 + ], + [ + -0.09514575674066955, + 0.22535893321037292, + 0.9696187835993352, + -0.05228189006447792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9934146819659005, + -0.037574045360088355, + 0.10823802466392296, + 0.02260943315923214 + ], + [ + 0.060843514843413056, + 0.97349089384079, + -0.22048488667945212, + -0.06071340665221214 + ], + [ + -0.09708422343657495, + 0.2256185114383698, + 0.9693662377314136, + -0.04720846563577652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9939222039800084, + -0.039605412632226944, + 0.1027136457315931, + 0.03578580915927887 + ], + [ + 0.061860312894334114, + 0.972733736038208, + -0.22352257040304896, + -0.05881983041763306 + ], + [ + -0.09106032771911866, + 0.22851794958114624, + 0.9692716868355034, + -0.03718961030244827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9934735375394007, + -0.034720625728368766, + 0.10864987770241813, + 0.02364843338727951 + ], + [ + 0.05870339508228164, + 0.972346365451813, + -0.2260453496810089, + -0.060768064111471176 + ], + [ + -0.09779687568076294, + 0.2309481799602509, + 0.9680385823596863, + -0.03692050278186798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9931335741510784, + -0.04096035286784172, + 0.10958058107526901, + 0.024078765884041786 + ], + [ + 0.06544804816388626, + 0.9709324836730957, + -0.23023165127077308, + -0.0568309985101223 + ], + [ + -0.09696498429986908, + 0.2358226180076599, + 0.9669464774506578, + -0.03366250917315483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932721742025206, + -0.030447332188487053, + 0.11172892309708485, + 0.016194405034184456 + ], + [ + 0.05560615248499897, + 0.9717099070549011, + -0.22953833920931463, + -0.06738045066595078 + ], + [ + -0.10157926608187766, + 0.23420687019824982, + 0.9668654434674848, + -0.03649592399597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9931109492471998, + -0.03605753555893899, + 0.11149201403704108, + 0.018901294097304344 + ], + [ + 0.061944074419576056, + 0.9692109823226931, + -0.2383128483989629, + -0.05563338100910187 + ], + [ + -0.09946630995165158, + 0.24357736110687261, + 0.9647676214101484, + -0.03517554700374603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9935993436656682, + -0.027423828840255737, + 0.10958203594167716, + 0.021563608199357986 + ], + [ + 0.05363679739851307, + 0.9682877659797668, + -0.2440119908511538, + -0.05546606332063675 + ], + [ + -0.09941520113717801, + 0.24832779169082642, + 0.9635610584612263, + -0.023972902446985245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9934988779126879, + -0.02494669333100319, + 0.11107480449556506, + 0.01633315347135067 + ], + [ + 0.05201060842402731, + 0.9673789739608765, + -0.24793724630184466, + -0.05780502408742905 + ], + [ + -0.10126621438040208, + 0.25210243463516235, + 0.9623873921258808, + -0.02267383225262165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9933328424477874, + -0.022420700639486313, + 0.11308021449329779, + 0.01323881559073925 + ], + [ + 0.05067223100975412, + 0.9659827947616577, + -0.2535932850768453, + -0.05316465348005295 + ], + [ + -0.10354780521055142, + 0.2576325833797455, + 0.9606785612899449, + -0.03193025663495064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9930757166991473, + -0.01810865476727486, + 0.1160719709396138, + 0.006284821312874556 + ], + [ + 0.04737893388262028, + 0.965866029262543, + -0.25467245845965686, + -0.05768343806266785 + ], + [ + -0.1074982038493259, + 0.2584084272384644, + 0.960036070697141, + -0.03978252410888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9933519029225077, + -0.019618939608335495, + 0.11343296895089482, + 0.01235460489988327 + ], + [ + 0.048293092592519994, + 0.9654900431632996, + -0.25592334115624704, + -0.06226743385195732 + ], + [ + -0.1044974594785391, + 0.2597000002861023, + 0.9600188304457191, + -0.034791260957717896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9935152740091896, + -0.02203492261469364, + 0.11154300594914562, + 0.014257345348596573 + ], + [ + 0.05039587377707758, + 0.9647510647773743, + -0.2582937089769235, + -0.058526769280433655 + ], + [ + -0.10191974997722543, + 0.26224005222320557, + 0.9596053731891208, + -0.039924927055835724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9936637901449937, + -0.025051329284906387, + 0.10956603631269152, + 0.016208626329898834 + ], + [ + 0.05255137293035223, + 0.9652762413024902, + -0.2558908052638301, + -0.06244063377380371 + ], + [ + -0.09935108958326061, + 0.26002728939056396, + 0.9604765101003027, + -0.05381309241056442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9936793795721697, + -0.028435396030545235, + 0.10859408979505208, + 0.013647343963384628 + ], + [ + 0.05560121586738248, + 0.9650570750236511, + -0.2560728964889426, + -0.060116346925497055 + ], + [ + -0.09751795841104594, + 0.26049235463142395, + 0.9605383613869609, + -0.06301630288362503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9938250686367986, + -0.026608727872371674, + 0.10772035928651143, + 0.01010767463594675 + ], + [ + 0.05360714928092439, + 0.9651437401771545, + -0.2561714373327846, + -0.0571913868188858 + ], + [ + -0.09714923409711011, + 0.2603641748428345, + 0.9606105118325492, + -0.06664619594812393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9942046656014139, + -0.03089982084929943, + 0.10296734787173296, + 0.008489043451845646 + ], + [ + 0.05629699316447799, + 0.9656163454055786, + -0.25380242730856034, + -0.057270731776952744 + ], + [ + -0.09158451220086415, + 0.2581283152103424, + 0.9617598802304334, + -0.06580360978841782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9946495239930284, + -0.03488101065158844, + 0.0972400000941739, + 0.005324982572346926 + ], + [ + 0.0583110976669996, + 0.9665557742118835, + -0.2497394635131887, + -0.05658679082989693 + ], + [ + -0.08527671452219214, + 0.2540734112262726, + 0.9634181677440843, + -0.06261816620826721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952477511308114, + -0.03776445984840393, + 0.08975360829900508, + 0.002150579821318388 + ], + [ + 0.05889986611208991, + 0.9674650430679321, + -0.24605328287865125, + -0.05321662500500679 + ], + [ + -0.07754140807662109, + 0.2501704692840576, + 0.9650917311759998, + -0.06001027673482895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9957754954618144, + -0.04203120619058609, + 0.08163631225752316, + -0.00324062816798687 + ], + [ + 0.06061403629080755, + 0.9687319993972778, + -0.2405914486100715, + -0.05063812434673309 + ], + [ + -0.06897136388469689, + 0.24452337622642517, + 0.9671873204866429, + -0.05644610896706581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9963579008458633, + -0.044213823974132545, + 0.07291114366618179, + -0.009144678711891174 + ], + [ + 0.060297894445804405, + 0.9699230194091799, + -0.23582515776547902, + -0.04672642797231674 + ], + [ + -0.06029146828609374, + 0.23936264216899877, + 0.9690564851438119, + -0.05306904762983322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9969092442052071, + -0.04726714268326759, + 0.06275179608904889, + -0.012908844277262688 + ], + [ + 0.060533325337380324, + 0.9712949395179749, + -0.23004756784084632, + -0.04501646012067795 + ], + [ + -0.050076810596111916, + 0.2331351339817047, + 0.9711541251934053, + -0.0489749014377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9973989467860169, + -0.048086944967508316, + 0.05369312852489641, + -0.015829093754291534 + ], + [ + 0.05899079411230239, + 0.9726343154907227, + -0.22472790437783444, + -0.04278643801808357 + ], + [ + -0.04141729818834488, + 0.22731077671051025, + 0.9729410880498607, + -0.04861770570278168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9979429473663509, + -0.0468520037829876, + 0.043758653027139376, + -0.012194821611046791 + ], + [ + 0.05532491747188901, + 0.9742439985275271, + -0.21860416114101644, + -0.043468132615089417 + ], + [ + -0.032389561887171445, + 0.2205754071474076, + 0.9748319965534084, + -0.05514885485172272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9981841855104286, + -0.04715019091963768, + 0.03748524047731049, + -0.015498677268624306 + ], + [ + 0.054097525127874455, + 0.9754133224487305, + -0.21364068828870625, + -0.042818810790777206 + ], + [ + -0.02649040627371018, + 0.21528062224388123, + 0.9761928934578418, + -0.05386031046509743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9984527408566506, + -0.046040020883083344, + 0.031184780195284274, + -0.013593008741736412 + ], + [ + 0.05152997864825107, + 0.9768373966217041, + -0.20768573199560894, + -0.04383949562907219 + ], + [ + -0.020900605501874715, + 0.2089713215827942, + 0.9776984056353101, + -0.05981961265206337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.998580301317725, + -0.04606097564101219, + 0.026752920933810778, + -0.013619010336697102 + ], + [ + 0.05052850778201413, + 0.978065550327301, + -0.20207579961289418, + -0.043300338089466095 + ], + [ + -0.01685830121242138, + 0.20314070582389832, + 0.9790044003679549, + -0.06336909532546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9986120320941341, + -0.04786644130945207, + 0.021974105970304268, + -0.013297997415065765 + ], + [ + 0.05125404127875716, + 0.979229271411896, + -0.1961710159681417, + -0.040434062480926514 + ], + [ + -0.012127684432186512, + 0.1970249861478806, + 0.9803234805796142, + -0.06402532011270523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9984937121771034, + -0.051808409392833724, + 0.018062143186898794, + -0.013391167856752872 + ], + [ + 0.05428690763223119, + 0.9806056618690493, + -0.18832277176945206, + -0.0365753211081028 + ], + [ + -0.007955135655451456, + 0.18901965022087103, + 0.9819410886511126, + -0.06549331545829773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9982770113968772, + -0.056758083403110504, + 0.01488292947095842, + -0.013123827986419201 + ], + [ + 0.05850596832807265, + 0.982166051864624, + -0.17868109918657665, + -0.03128482401371002 + ], + [ + -0.004475909360976567, + 0.17924398183822632, + 0.9837944614834914, + -0.06889160722494125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980587948445623, + -0.06116416305303575, + 0.01173028694212224, + -0.012961428612470627 + ], + [ + 0.06226195584882458, + 0.9843155145645144, + -0.16506489266520177, + -0.03012879192829132 + ], + [ + -0.0014502449878355595, + 0.16547481715679171, + 0.9862129412642158, + -0.07040216773748398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9977424481757221, + -0.06664244085550308, + 0.008296857817929675, + -0.011622917838394642 + ], + [ + 0.06712730510231142, + 0.9859931468963623, + -0.15268074612395138, + -0.023201817646622658 + ], + [ + 0.0019943726539943603, + 0.15289300680160522, + 0.9882407281881431, + -0.06899771839380264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9975791779095239, + -0.06931956112384796, + 0.0055266171079844575, + -0.010488132014870644 + ], + [ + 0.06941211577798911, + 0.9877932071685791, + -0.1394509137726498, + -0.016997598111629486 + ], + [ + 0.00420751702925445, + 0.13949695229530334, + 0.9902135483554548, + -0.0691714659333229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9975723801741313, + -0.0695200189948082, + 0.004036155050473118, + -0.011331424117088318 + ], + [ + 0.06948156263462497, + 0.9897998571395874, + -0.1243728334988574, + -0.015193278901278973 + ], + [ + 0.004651421950236111, + 0.12435134500265121, + 0.9922273176290196, + -0.06879374384880066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.997612288223281, + -0.06904090940952301, + 0.001748502194957463, + -0.010349816642701626 + ], + [ + 0.06880374288246571, + 0.9913562536239624, + -0.11170879170645988, + -0.01026191283017397 + ], + [ + 0.005979089596001042, + 0.11156237125396729, + 0.9937394535679506, + -0.06610944122076035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9976246959104618, + -0.06888131052255632, + 0.000547480777549013, + -0.009588767774403095 + ], + [ + 0.06859043552873537, + 0.9926167726516726, + -0.10003630049555265, + -0.0047399140894412994 + ], + [ + 0.006347183360455728, + 0.09983623772859576, + 0.9949836377543942, + -0.06471502780914307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9976734108328786, + -0.06817160546779633, + 0.0006281083813369793, + -0.010198700241744518 + ], + [ + 0.06794684988495027, + 0.9935474991798401, + -0.0908108542370775, + 0.0017958858516067266 + ], + [ + 0.005566667120193748, + 0.09064225107431412, + 0.9958679760236544, + -0.06114679574966431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9977385020107068, + -0.0672144666314125, + -0.00023631140859414816, + -0.009215950034558773 + ], + [ + 0.0669593659533794, + 0.9942457675933838, + -0.0836171295193274, + 0.0083092600107193 + ], + [ + 0.0058552373128862995, + 0.08341220766305923, + 0.9964979177640907, + -0.05438356474041939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.99776419965207, + -0.06683296710252762, + -3.912569245179668e-06, + -0.008529111742973328 + ], + [ + 0.06663826935251085, + 0.994861900806427, + -0.07621761956232664, + 0.012369096279144287 + ], + [ + 0.005097747056727196, + 0.07604695111513138, + 0.9970912015159532, + -0.05051043629646301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9976928931478743, + -0.0678880587220192, + 0.00023895723000440382, + -0.007565315812826157 + ], + [ + 0.0677457051270033, + 0.9953603148460388, + -0.06832535214333216, + 0.014454475603997707 + ], + [ + 0.004400625669101058, + 0.06818390637636185, + 0.9976630871805908, + -0.04769887775182724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9976029074319301, + -0.069198839366436, + -9.686421340867142e-05, + -0.006630818359553814 + ], + [ + 0.0690592142593342, + 0.9956768751144409, + -0.062116106354558075, + 0.018682928755879402 + ], + [ + 0.004394812479736281, + 0.06196051836013794, + 0.9980689060472598, + -0.043697893619537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975062539543136, + -0.0705689936876297, + -0.0011501181917155324, + -0.0047458806075155735 + ], + [ + 0.07039732342631326, + 0.9959818124771118, + -0.055357884181932396, + 0.02160365879535675 + ], + [ + 0.0050520487713827805, + 0.05513886734843254, + 0.9984659208123923, + -0.04055410996079445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974257632096317, + -0.07169889658689499, + -0.0010585364667165173, + -0.004481792915612459 + ], + [ + 0.07156066356145098, + 0.996227502822876, + -0.049090331418100215, + 0.02341683767735958 + ], + [ + 0.004574263893282338, + 0.04888821020722389, + 0.998793811040464, + -0.036246683448553085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9971836678231921, + -0.07499485462903976, + -0.0007288835365513472, + -0.003613567678257823 + ], + [ + 0.07489356093774566, + 0.996256411075592, + -0.043175226087901135, + 0.025380000472068787 + ], + [ + 0.003964075824297278, + 0.04299904406070709, + 0.9990672725508243, + -0.03284308686852455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9969036387143716, + -0.07863131165504457, + 0.0004868215697653669, + -0.0037061539478600025 + ], + [ + 0.07859344976213925, + 0.9961895346641543, + -0.037808775799478896, + 0.02664365991950035 + ], + [ + 0.002487981035814401, + 0.03772997111082078, + 0.9992848768002064, + -0.029411008581519127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.996552278942064, + -0.08295077830553056, + 0.0016464687052639283, + -0.0032087089493870735 + ], + [ + 0.08295969973971799, + 0.9960015416145327, + -0.03314570027715246, + 0.028232157230377197 + ], + [ + 0.0011095800996053125, + 0.0331680178642273, + 0.9994491987606094, + -0.02657119370996952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9962543546839582, + -0.08643079549074173, + 0.0026453625346623062, + -0.003914577420800924 + ], + [ + 0.08647119338723874, + 0.9958269000053406, + -0.02917994949410788, + 0.029955342411994934 + ], + [ + -0.00011227532999397891, + 0.029299400746822357, + 0.9995706995609546, + -0.02286659926176071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9959612007277285, + -0.0897357687354088, + 0.0029663711452107004, + -0.0038214109372347593 + ], + [ + 0.0897817510128231, + 0.9956555962562563, + -0.024680584075401333, + 0.031060416251420975 + ], + [ + -0.0007387553701142713, + 0.02484723180532456, + 0.9996909895387734, + -0.021226221695542336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9957827216925282, + -0.09170776605606079, + 0.0025490042800164043, + -0.003911424893885851 + ], + [ + 0.09174071589887277, + 0.995575487613678, + -0.02032414696080939, + 0.03174012154340744 + ], + [ + -0.0006738477897355277, + 0.02047228068113327, + 0.999790221006747, + -0.019592836499214172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9955663292289779, + -0.09405223280191424, + 0.0013728079697836314, + -0.0037879357114434242 + ], + [ + 0.09406221973614322, + 0.995449483394623, + -0.015252562157523094, + 0.03236940875649452 + ], + [ + 6.797147524908887e-05, + 0.01531406678259373, + 0.9998827404431017, + -0.016830677166581154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9954704576730715, + -0.09507060796022418, + -0.0004470530243739185, + -0.003620839212089777 + ], + [ + 0.09505879981856197, + 0.9954021573066714, + -0.011765320435183966, + 0.0362081304192543 + ], + [ + 0.001563530765161572, + 0.011669533327221872, + 0.9999306911191829, + -0.013613415881991386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9954345639946608, + -0.09544503688812256, + -0.0005279808465642367, + -0.005481652449816465 + ], + [ + 0.09543862880574248, + 0.995408296585083, + -0.00733666710217149, + 0.03837844356894493 + ], + [ + 0.0012257968515663362, + 0.007252783980220556, + 0.9999729587855216, + -0.0118135130032897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9954386255101157, + -0.09536831825971603, + -0.0026153601157626986, + -0.0039919158443808556 + ], + [ + 0.09535996785462986, + 0.9954378604888916, + -0.0031507211692518348, + 0.04013359174132347 + ], + [ + 0.002903912296141464, + 0.0028869500383734703, + 0.999991614577175, + -0.010045355185866356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9953299785948105, + -0.09652624279260635, + -0.0009821436156619667, + -0.0073515004478394985 + ], + [ + 0.09652779337558408, + 0.9953289031982422, + 0.0016766090456220004, + 0.04102121293544769 + ], + [ + 0.0008157148970943334, + -0.0017635824624449015, + 0.9999981359512955, + -0.007580859586596489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9953343493580504, + -0.09647815674543381, + -0.0012329488908993432, + -0.007716271560639143 + ], + [ + 0.09648381176338333, + 0.9953168630599976, + 0.005930758495811457, + 0.04194727912545204 + ], + [ + 0.0006549946800688915, + -0.0060220458544790745, + 0.9999816376871851, + -0.005502627231180668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9953434299914363, + -0.09635921567678452, + -0.0025331036799260513, + -0.007533804979175329 + ], + [ + 0.09638049227216555, + 0.9952905178070068, + 0.010374906320351858, + 0.04226987063884735 + ], + [ + 0.0015214545952628026, + -0.010570736601948738, + 0.999942980197801, + -0.0014224685728549957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9954878167285299, + -0.0948014110326767, + -0.0040819927007535416, + -0.007032566703855991 + ], + [ + 0.09485273189158878, + 0.9953769445419312, + 0.01509162171825771, + 0.040687110275030136 + ], + [ + 0.002632415042613154, + -0.015410713851451874, + 0.9998778066703417, + 0.002212600549682975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9954156122330011, + -0.09554288536310196, + -0.004394543185570578, + -0.008957830257713795 + ], + [ + 0.0956068793010648, + 0.9952577352523804, + 0.017926454967318036, + 0.043103836476802826 + ], + [ + 0.0026609550773822577, + -0.018264420330524445, + 0.9998296265188547, + 0.0052724857814610004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9954073755553681, + -0.09555571526288986, + -0.005766192130467249, + -0.009060046635568142 + ], + [ + 0.09565970747080706, + 0.9951754212379456, + 0.021795820512718767, + 0.043029867112636566 + ], + [ + 0.0036556625390745897, + -0.022247314453125, + 0.9997458181823516, + 0.008190247230231762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9953973001407375, + -0.09563429653644562, + -0.006187349648095875, + -0.011027196422219276 + ], + [ + 0.09575684729085217, + 0.9951125979423523, + 0.02411506550589291, + 0.04483520984649658 + ], + [ + 0.0038508840770993956, + -0.024596549570560455, + 0.9996900518802782, + 0.010596305131912231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.995425335912006, + -0.09531968086957932, + -0.006519861432698734, + -0.013320162892341614 + ], + [ + 0.09545978259473965, + 0.9950834512710571, + 0.02638784778783507, + 0.045869700610637665 + ], + [ + 0.003972520557567166, + -0.026889516040682793, + 0.9996304898257931, + 0.01328237447887659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9955234320517987, + -0.09422576427459717, + -0.007386777096479859, + -0.014681844040751457 + ], + [ + 0.09439774544127415, + 0.9951380491256714, + 0.028094664712097053, + 0.04701883718371391 + ], + [ + 0.004703619771683961, + -0.028666192665696144, + 0.9995779764191451, + 0.01492389477789402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9956519842672881, + -0.09278821945190431, + -0.008210907298336092, + -0.016200462356209755 + ], + [ + 0.0929954187102291, + 0.9952113032341006, + 0.030104111609095995, + 0.04780365526676178 + ], + [ + 0.005378281557403479, + -0.030736794695258148, + 0.9995130507237983, + 0.01582326367497444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9957412209117741, + -0.09173221886157991, + -0.00919617088999224, + -0.018089788034558296 + ], + [ + 0.09198062675491676, + 0.9952543377876284, + 0.031754543220953016, + 0.04991021379828453 + ], + [ + 0.006239604697287277, + -0.03246517479419709, + 0.9994534042908404, + 0.016296179965138435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9958682569422522, + -0.09037180989980699, + -0.008908041668776248, + -0.021585384383797646 + ], + [ + 0.09062579862368, + 0.9952984452247622, + 0.034175802086224526, + 0.05135637894272804 + ], + [ + 0.0057776259500339185, + -0.0348418951034546, + 0.9993761207558756, + 0.016284851357340813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.995810031584531, + -0.09128565341234207, + -0.005408498399332677, + -0.024751057848334312 + ], + [ + 0.09142914254436699, + 0.9950129389762878, + 0.039874200692415665, + 0.04717264696955681 + ], + [ + 0.0017415780971098565, + -0.04020162671804428, + 0.9991900973634064, + -0.0028966732788830996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.995819040427534, + -0.09110806137323381, + -0.006610889531481941, + -0.026021428406238556 + ], + [ + 0.0913072678802131, + 0.9949195981025698, + 0.04240236191837862, + 0.05022489279508591 + ], + [ + 0.0027141000711502702, + -0.04282870143651963, + 0.9990787152504462, + 0.0013182824477553368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9958645234726111, + -0.09012183547019958, + -0.011486541006432602, + -0.025161193683743477 + ], + [ + 0.0905513151350645, + 0.9948744773864746, + 0.04500302688496192, + 0.05454794317483902 + ], + [ + 0.007371914790765504, + -0.045857034623622894, + 0.9989208125549884, + 0.020800668746232986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9959095031480446, + -0.09003256261348724, + -0.0076446962361180456, + -0.028351524844765663 + ], + [ + 0.09030535574614236, + 0.9946237802505493, + 0.050679774623010536, + 0.05053907632827759 + ], + [ + 0.0030407676779649583, + -0.05116282403469086, + 0.9986857244754695, + 0.00333184446208179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9956079825036355, + -0.09317120909690857, + -0.009157008917487, + -0.030335161834955215 + ], + [ + 0.09352991246131927, + 0.9941719770431519, + 0.05361174398797903, + 0.055476948618888855 + ], + [ + 0.004108561189781948, + -0.05423273518681526, + 0.9985198838443254, + 0.011577603407204151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9956485349612002, + -0.09257038682699205, + -0.010711589266344468, + -0.03009968437254429 + ], + [ + 0.09303729568895623, + 0.9939848184585574, + 0.057777491774218336, + 0.0540514811873436 + ], + [ + 0.005298677891483443, + -0.05852265283465387, + 0.9982720459317413, + 0.01797373965382576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9958102880790303, + -0.09110705554485322, + -0.007830944794209536, + -0.03422505408525467 + ], + [ + 0.09141280916874199, + 0.9940243959426882, + 0.05965895429619438, + 0.055469267070293427 + ], + [ + 0.0023487974076149745, + -0.06012485176324846, + 0.9981880952223107, + 0.00927917193621397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9958626472946603, + -0.09047552943229675, + -0.0084749975801239, + -0.03267781063914299 + ], + [ + 0.09083260605335469, + 0.9938284158706665, + 0.06367554136151002, + 0.05257437005639076 + ], + [ + 0.002661609158918737, + -0.06418189406394958, + 0.9979346925137695, + 0.0034933737479150295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9955477435233369, + -0.09348472207784653, + -0.012056311712816825, + -0.03219882398843765 + ], + [ + 0.09407718333636225, + 0.9934059977531433, + 0.06552880132647182, + 0.05659409612417221 + ], + [ + 0.005850865133713438, + -0.06637126952409744, + 0.9977778699303225, + 0.0198271032422781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9955823192820944, + -0.09305234998464584, + -0.01253630253753562, + -0.03272143378853798 + ], + [ + 0.09368665672190139, + 0.9933472275733948, + 0.0669637463568162, + 0.057489581406116486 + ], + [ + 0.006221770575592404, + -0.06784240901470184, + 0.9976766542390537, + 0.02515369839966297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9957661320427267, + -0.09121833741664886, + -0.011358699850740792, + -0.03309454023838043 + ], + [ + 0.09178353035294799, + 0.9934374094009399, + 0.0682491133935801, + 0.05697426199913025 + ], + [ + 0.005058588980956979, + -0.06900269538164139, + 0.9976036300509058, + 0.023545676842331886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9958508689018806, + -0.09039635956287385, + -0.010465737074718791, + -0.03399718925356865 + ], + [ + 0.09090189608446289, + 0.9935184121131899, + 0.06824933002076956, + 0.059169888496398926 + ], + [ + 0.004228417243320906, + -0.06891750544309617, + 0.997613403138729, + 0.027004817500710487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9958721428123941, + -0.09025000780820848, + -0.009673868268134852, + -0.03272155299782753 + ], + [ + 0.09070707077143292, + 0.9934183955192568, + 0.06994380124491913, + 0.0579807311296463 + ], + [ + 0.0032977752997358075, + -0.07053257524967195, + 0.997503999442025, + 0.024078888818621635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9958024573006062, + -0.0910235345363617, + -0.009601575088292878, + -0.02935277670621872 + ], + [ + 0.09148073020190192, + 0.9931811690330505, + 0.07226619926576337, + 0.05530702322721481 + ], + [ + 0.0029581821567941273, + -0.07284121960401535, + 0.9973391824078462, + 0.017409944906830788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9943938246639064, + -0.1056254431605339, + -0.004920273563942742, + -0.04016648232936859 + ], + [ + 0.10573409930240683, + 0.9927705526351929, + 0.056806041333967355, + 0.09197500348091125 + ], + [ + -0.0011154579306469697, + -0.057007815688848495, + 0.9983731142102952, + 0.021346937865018845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9935857618576386, + -0.11250335723161697, + -0.011415769574361636, + -0.02932501584291458 + ], + [ + 0.11298056367385605, + 0.9918863773345947, + 0.05828258999282796, + 0.09408186376094818 + ], + [ + 0.004766151535541707, + -0.05919851362705231, + 0.9982348271982513, + 0.021384818479418755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9937555935867337, + -0.11088694632053378, + -0.012407527305762483, + -0.025576459243893623 + ], + [ + 0.11146914700696683, + 0.991552531719208, + 0.06631924811577512, + 0.07951797544956207 + ], + [ + 0.004948782898447738, + -0.06728817522525789, + 0.9977213022458772, + 0.00638620974496007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942172630772965, + -0.10610239207744598, + -0.016561547672384498, + -0.01826246827840805 + ], + [ + 0.10704895848625638, + 0.9914590716362, + 0.07449428701336189, + 0.06233116239309311 + ], + [ + 0.008516058389777982, + -0.07583639770746231, + 0.9970839374609572, + -0.005532026756554842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9944802774278898, + -0.10311172902584076, + -0.019416445085839232, + -0.013693025335669518 + ], + [ + 0.10437292817735815, + 0.9911117553710938, + 0.08248537188186167, + 0.047213114798069 + ], + [ + 0.010738655205200844, + -0.08405661582946777, + 0.9964031002544486, + -0.01434544287621975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9941754288195499, + -0.10613180696964264, + -0.018742266798793365, + -0.019737184047698975 + ], + [ + 0.10731654347721857, + 0.9908770322799683, + 0.08152189540821793, + 0.05365200340747833 + ], + [ + 0.009919206773682973, + -0.0830584242939949, + 0.9964953080211636, + -0.023945340886712074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9943361078382756, + -0.10455378890037537, + -0.019085293224515614, + -0.024972064420580864 + ], + [ + 0.10577099184560361, + 0.9910532236099243, + 0.08140011575351577, + 0.056820712983608246 + ], + [ + 0.010403861592765545, + -0.08295774459838867, + 0.9964987326906412, + -0.02774820290505886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9942651719196655, + -0.10444070398807526, + -0.022997870941294053, + -0.015004275366663933 + ], + [ + 0.10607037063087801, + 0.9904941916465759, + 0.08758040058555695, + 0.04740938916802406 + ], + [ + 0.013632285902077396, + -0.08951753377914429, + 0.995891979661967, + -0.04247733950614929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9942062387303173, + -0.10444523394107821, + -0.025399611538600594, + -0.012861664406955242 + ], + [ + 0.10632236844466104, + 0.9902874231338503, + 0.08959015532644542, + 0.04684577137231827 + ], + [ + 0.015795660203843622, + -0.09177164733409883, + 0.995654811453685, + -0.04668072611093521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9942248983766444, + -0.10379937291145325, + -0.02724963088472436, + -0.01289798691868782 + ], + [ + 0.10584695012407377, + 0.9903490543365479, + 0.0894714086444477, + 0.04977073520421982 + ], + [ + 0.017699564593585494, + -0.09183898568153381, + 0.9956165308733017, + -0.04832945764064789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9943211430841336, + -0.10240726172924045, + -0.028951211211511726, + -0.010938066057860851 + ], + [ + 0.1046315830474245, + 0.990409314632416, + 0.09023097231464022, + 0.05040369927883148 + ], + [ + 0.01943323998793702, + -0.09274777024984361, + 0.9954999508926855, + -0.049247898161411285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9942926534622647, + -0.10228833556175232, + -0.03031866439197195, + -0.007492189295589924 + ], + [ + 0.10473573998369139, + 0.9899656176567078, + 0.09486013018310611, + 0.045139752328395844 + ], + [ + 0.020311356911239236, + -0.09749417752027512, + 0.9950288059090829, + -0.05450120568275452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9942732336652508, + -0.10206608474254608, + -0.03167509739328425, + -0.008259430527687073 + ], + [ + 0.10470821067461253, + 0.9896928071975708, + 0.09769488219507029, + 0.04398864507675171 + ], + [ + 0.0213772847765663, + -0.10045203566551208, + 0.9947122293128888, + -0.052865851670503616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9942734278676906, + -0.10184565931558609, + -0.03236987248835972, + -0.009708411060273647 + ], + [ + 0.1046180684482029, + 0.9894329309463501, + 0.1003869071125115, + 0.04383964091539383 + ], + [ + 0.021803858682288606, + -0.10319850593805313, + 0.9944217525691099, + -0.05249059572815895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9942414429037029, + -0.10170579701662064, + -0.03376226921448176, + -0.010878195986151695 + ], + [ + 0.10468935285952553, + 0.9891297817230225, + 0.10325899761063752, + 0.044295214116573334 + ], + [ + 0.02289322238504197, + -0.10619892925024033, + 0.9940813343983362, + -0.04996052384376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9943420529855737, + -0.10047782957553864, + -0.034468542110910334, + -0.012464686296880245 + ], + [ + 0.10360292028774788, + 0.9889762997627258, + 0.10579346159451723, + 0.044788382947444916 + ], + [ + 0.023458667783343178, + -0.10876592993736267, + 0.9937905742076611, + -0.05036633834242821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9946061477505663, + -0.098045215010643, + -0.033849368309638965, + -0.019054483622312546 + ], + [ + 0.10113351261322964, + 0.9891512989997864, + 0.10654456721518235, + 0.04725439473986626 + ], + [ + 0.023035963836411252, + -0.10939318686723709, + 0.9937315995096216, + -0.04559917002916336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9946000401628657, + -0.09745955467224121, + -0.03567123854474152, + -0.015345622785389423 + ], + [ + 0.1008130536386986, + 0.9889113903045654, + 0.10904595877620356, + 0.04642881453037262 + ], + [ + 0.024648134395849543, + -0.11205323785543442, + 0.9933964833102568, + -0.04874681681394577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9947141448133789, + -0.09616538882255554, + -0.03600030525737662, + -0.016709940508008003 + ], + [ + 0.09958452124300156, + 0.9889422655105591, + 0.10989124933318298, + 0.04741520434617996 + ], + [ + 0.025034485839270443, + -0.11289544403553009, + 0.9932914234889043, + -0.0471377894282341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9948465762048011, + -0.09488837420940402, + -0.03572867453908284, + -0.01840645633637905 + ], + [ + 0.09828633510581804, + 0.9890628457069399, + 0.10997475691200793, + 0.048391833901405334 + ], + [ + 0.024902580240091697, + -0.11291964352130893, + 0.9932920021389102, + -0.04666995257139206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9948627813059351, + -0.09463026374578476, + -0.035961086081149805, + -0.01960946060717106 + ], + [ + 0.09805510732025209, + 0.9890897274017334, + 0.10993971360423163, + 0.04980013519525528 + ], + [ + 0.025165121140943145, + -0.11290109157562256, + 0.993287511855845, + -0.04590753838419914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.994846120696069, + -0.09488288313150406, + -0.03575495451520889, + -0.02149946056306362 + ], + [ + 0.09827880471078214, + 0.9890859127044678, + 0.10977408015917983, + 0.05180158093571663 + ], + [ + 0.024949046412940497, + -0.11272227764129639, + 0.9933132711440539, + -0.04611197113990784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9948406767696346, + -0.0948750451207161, + -0.03592777584443432, + -0.022700296714901924 + ], + [ + 0.09833117369673473, + 0.988900363445282, + 0.11138674762000747, + 0.05113191157579422 + ], + [ + 0.02496118011024077, + -0.11434487998485565, + 0.993127460113102, + -0.04607424885034561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9947916531713095, + -0.09527027606964114, + -0.036236566614977234, + -0.023706914857029915 + ], + [ + 0.09879590381838592, + 0.9886906147003176, + 0.11282849560054066, + 0.05141644552350044 + ], + [ + 0.025077557660766196, + -0.11582087725400927, + 0.9929534855177737, + -0.045740194618701935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9947979049177884, + -0.09509126842021942, + -0.03653501538824738, + -0.024676330387592316 + ], + [ + 0.0986941935144148, + 0.9885132312774658, + 0.11445999085363821, + 0.05102063715457916 + ], + [ + 0.02523121592881902, + -0.11747035384178162, + 0.992755788718744, + -0.04616133123636246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9947407630310079, + -0.0954979658126831, + -0.03702600959730112, + -0.02602268196642399 + ], + [ + 0.09914387152045824, + 0.9885226488113403, + 0.11398872747994226, + 0.05422906577587128 + ], + [ + 0.025715354782975767, + -0.11706013977527618, + 0.9927918442277339, + -0.04402083158493042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9948128464568138, + -0.09442396461963654, + -0.037834871895934326, + -0.025954892858862877 + ], + [ + 0.09819846194572569, + 0.9884998798370361, + 0.11500039900497439, + 0.05368589237332344 + ], + [ + 0.026540980965709393, + -0.11811920255422592, + 0.9926446820646696, + -0.04517019912600517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9950179905432371, + -0.09225362539291382, + -0.037795856487611294, + -0.027464739978313446 + ], + [ + 0.0960291698701676, + 0.9887478947639465, + 0.11469956375311985, + 0.05423340946435928 + ], + [ + 0.026789132014360895, + -0.1177576333284378, + 0.9926809736119573, + -0.04642065241932869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9951132520061992, + -0.09108749777078629, + -0.03811424374029136, + -0.028574030846357346 + ], + [ + 0.09490969640935051, + 0.9888483881950378, + 0.1147649441817149, + 0.05447879806160927 + ], + [ + 0.027235561320073973, + -0.11782152950763702, + 0.9926612229715491, + -0.04646177217364311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9951754105655526, + -0.09031878411769867, + -0.03832061383827744, + -0.028801511973142624 + ], + [ + 0.0941725070883971, + 0.988909125328064, + 0.11484911008743695, + 0.053858041763305664 + ], + [ + 0.027522563301282, + -0.11790375411510468, + 0.9926435567732931, + -0.04828401654958725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9951357582902148, + -0.09068617969751358, + -0.038481063646604904, + -0.029162487015128136 + ], + [ + 0.09456184862231869, + 0.9888496994972229, + 0.11504035477302363, + 0.053229156881570816 + ], + [ + 0.027619424139537618, + -0.11811961978673935, + 0.9926152168120541, + -0.049950987100601196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9950842851256314, + -0.09112417697906496, + -0.038776311123146195, + -0.02903369441628456 + ], + [ + 0.09502368025992683, + 0.9888398647308352, + 0.11474400930551691, + 0.0530204251408577 + ], + [ + 0.027887608506948585, + -0.11786462366580966, + 0.9926380278630187, + -0.052007898688316345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9950557944500379, + -0.09132130444049835, + -0.039042985639767866, + -0.02920299768447876 + ], + [ + 0.0952250616423381, + 0.9889262914657593, + 0.11382887292581886, + 0.053605690598487854 + ], + [ + 0.028215620429404547, + -0.11698395758867264, + 0.9927329397802352, + -0.05296673998236656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9949784631004066, + -0.09194756299257278, + -0.03954173922690604, + -0.029075894504785538 + ], + [ + 0.09588571647005999, + 0.9889426827430725, + 0.11312984405639115, + 0.05411367863416672 + ], + [ + 0.0287024964148528, + -0.11635323613882065, + 0.9927930931735013, + -0.0536482073366642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9949428138702223, + -0.09236060827970505, + -0.03947595656608203, + -0.029774893075227737 + ], + [ + 0.09627280601308878, + 0.9889675378799438, + 0.11258227594296057, + 0.054233573377132416 + ], + [ + 0.028642281999079866, + -0.11581338942050934, + 0.99285795193832, + -0.05437517538666725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9948835375082151, + -0.09304553270339966, + -0.039360719761563925, + -0.029944824054837227 + ], + [ + 0.09693289309680418, + 0.988932192325592, + 0.11232580079593384, + 0.053856976330280304 + ], + [ + 0.02847368889111639, + -0.1155664399266243, + 0.9928915410538277, + -0.056120797991752625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.994761526142517, + -0.09423211216926575, + -0.03962152137457585, + -0.029339920729398727 + ], + [ + 0.09814601755490465, + 0.9887989163398743, + 0.11244590813772748, + 0.053620826452970505 + ], + [ + 0.028581705062553156, + -0.11574555933475494, + 0.9928675767146871, + -0.057184718549251556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9946353853526922, + -0.09552070498466494, + -0.039702180254061276, + -0.028817588463425636 + ], + [ + 0.09943358030449967, + 0.9886807799339297, + 0.11235329682487222, + 0.053862739354372025 + ], + [ + 0.028520719737486818, + -0.11569829285144809, + 0.9928748638146292, + -0.0582127571105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9945667979458536, + -0.0963503420352936, + -0.03941387748943279, + -0.028307978063821793 + ], + [ + 0.10022582718540472, + 0.9885968565940859, + 0.1123880157969365, + 0.05370122939348221 + ], + [ + 0.02813581038222579, + -0.11572767794132235, + 0.9928824230491794, + -0.060022857040166855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.994530059692058, + -0.0967891588807106, + -0.03926553208735324, + -0.028037140145897865 + ], + [ + 0.10063981324241571, + 0.9885750412940979, + 0.11220979637489413, + 0.05379265919327736 + ], + [ + 0.02795624459858711, + -0.11554768681526184, + 0.9929084375684745, + -0.061202749609947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9945033918987537, + -0.09714441001415253, + -0.039063277206942554, + -0.027658328413963318 + ], + [ + 0.100960112520335, + 0.9885806441307068, + 0.11187228052356854, + 0.0536491833627224 + ], + [ + 0.02774943165775384, + -0.1152011975646019, + 0.9929545201328009, + -0.06305638700723648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9944649780187175, + -0.09762518852949142, + -0.03884251255438201, + -0.027388358488678932 + ], + [ + 0.10140201504111311, + 0.9885784387588501, + 0.11149134679310203, + 0.05342470481991768 + ], + [ + 0.0275145077809461, + -0.1148129403591156, + 0.9930060030366449, + -0.0648287758231163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9944318846392692, + -0.09781992435455325, + -0.03919827847452292, + -0.026609374210238457 + ], + [ + 0.10161846596029749, + 0.9886284470558169, + 0.11084902725689688, + 0.053827233612537384 + ], + [ + 0.027909282048704142, + -0.11421507596969607, + 0.9930639579582663, + -0.06500731408596039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9944471905268853, + -0.09773191809654236, + -0.03902847808571837, + -0.02659686841070652 + ], + [ + 0.1014929692901256, + 0.988715648651123, + 0.11018425326560616, + 0.05395454540848732 + ], + [ + 0.027819545608120954, + -0.11353353410959244, + 0.9931446237353098, + -0.06588011980056763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944190495795865, + -0.09796433895826342, + -0.03916361840901757, + -0.026049815118312836 + ], + [ + 0.10172797654266416, + 0.988736689090729, + 0.10977810018751437, + 0.053614214062690735 + ], + [ + 0.027968182879563402, + -0.11314947158098224, + 0.9931842376720679, + -0.06625987589359283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9944017472203428, + -0.09835473448038101, + -0.03862006689982238, + -0.026650168001651764 + ], + [ + 0.10204239560681543, + 0.9887531995773315, + 0.10933621428651714, + 0.05338018015027046 + ], + [ + 0.02743196744513251, + -0.11266501247882843, + 0.9932543118559599, + -0.06728866696357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9944135237909265, + -0.09844247996807098, + -0.038088940780393384, + -0.026794059202075005 + ], + [ + 0.10205518432473033, + 0.9888111352920532, + 0.10879898814526553, + 0.053406327962875366 + ], + [ + 0.02695231969150037, + -0.11207835376262665, + 0.9933338058516213, + -0.06822822988033295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9944456984656379, + -0.09812191873788834, + -0.038076626434360224, + -0.026264935731887817 + ], + [ + 0.10171239740620872, + 0.9889377355575562, + 0.10796631799393862, + 0.05397665500640869 + ], + [ + 0.027061562186072106, + -0.11123950779438019, + 0.9934251023789304, + -0.06796089559793472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9944435201524398, + -0.09829660505056381, + -0.03768090927322215, + -0.02566976100206375 + ], + [ + 0.1018328377001445, + 0.9889628291130066, + 0.10762265797950286, + 0.05389437824487686 + ], + [ + 0.026686078701108715, + -0.11086181551218033, + 0.9934774820771666, + -0.06742922961711884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9945366388799866, + -0.09785573184490204, + -0.036347689371614776, + -0.025329697877168655 + ], + [ + 0.10123235521939354, + 0.9890846610069275, + 0.10706813467638884, + 0.053616732358932495 + ], + [ + 0.025473709282015193, + -0.11016274988651276, + 0.9935870438410294, + -0.06846608221530914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9947401961957544, + -0.09647294133901596, + -0.03442186375342616, + -0.02555243857204914 + ], + [ + 0.09962441124212022, + 0.9893409013748169, + 0.10620514732713492, + 0.05382180213928223 + ], + [ + 0.02380904433063644, + -0.10907578468322754, + 0.99374826112321, + -0.06937537342309952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9949295102641125, + -0.09505336731672287, + -0.03286453292969877, + -0.0248329546302557 + ], + [ + 0.09802984149008477, + 0.989561140537262, + 0.10563561839728296, + 0.05427916720509529 + ], + [ + 0.02248045451723967, + -0.10832169651985168, + 0.9938616761089266, + -0.06972956657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.995183442212898, + -0.09286005795001985, + -0.031415952749791545, + -0.02384582720696926 + ], + [ + 0.09568326875269838, + 0.9898317456245425, + 0.10525109266458962, + 0.05457281693816185 + ], + [ + 0.021322893656449658, + -0.1077501177787781, + 0.9939493444079951, + -0.06993059813976288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9954347396471372, + -0.09080660343170166, + -0.029391219363579007, + -0.02341761626303196 + ], + [ + 0.09342402821187397, + 0.9900410175323486, + 0.10531249119088354, + 0.054412730038166046 + ], + [ + 0.01953544094710741, + -0.10757755488157272, + 0.9940047660756021, + -0.07139002531766891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9957055584451241, + -0.08831210434436798, + -0.02777400008372599, + -0.023047417402267456 + ], + [ + 0.09076272774567419, + 0.9903258681297302, + 0.10496101471371001, + 0.054966919124126434 + ], + [ + 0.018235989463725125, + -0.10703111439943314, + 0.9940883960378105, + -0.072120800614357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9959519756992475, + -0.08584735542535783, + -0.026644436163208097, + -0.02324577048420906 + ], + [ + 0.0881818864810303, + 0.9906105995178225, + 0.1044727927256908, + 0.05590638145804405 + ], + [ + 0.017425551863811842, + -0.10639943182468417, + 0.9941707476431154, + -0.07233729958534241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9961434741989016, + -0.08371412754058839, + -0.02627127675975642, + -0.022950349375605583 + ], + [ + 0.08602650312511591, + 0.9907628893852236, + 0.10482508999702243, + 0.05570922791957855 + ], + [ + 0.01725327011301669, + -0.10668084770441058, + 0.9941436247296286, + -0.07374889403581619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9963026973690424, + -0.08187540620565414, + -0.026026698585433675, + -0.02376248501241207 + ], + [ + 0.08417196423179353, + 0.9909200668334961, + 0.10484487133002159, + 0.05611236393451691 + ], + [ + 0.017206152016678064, + -0.10664794594049454, + 0.9941479682985577, + -0.07540315389633179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9964318662735178, + -0.07997071743011476, + -0.026985804813930044, + -0.024032603949308395 + ], + [ + 0.08239546421995697, + 0.9909796714782717, + 0.10568926266013123, + 0.05522981658577919 + ], + [ + 0.018290342556807414, + -0.10753565281629565, + 0.9940329625738884, + -0.07775982469320297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9965855291595767, + -0.07701306790113449, + -0.029770000320853945, + -0.0242148470133543 + ], + [ + 0.07974792818383829, + 0.9912249445915222, + 0.10541993892260602, + 0.05547668784856796 + ], + [ + 0.021390045751941335, + -0.10743407905101776, + 0.9939821051767632, + -0.07804396003484726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9966101422955614, + -0.07502195239067078, + -0.03376273452199372, + -0.024853037670254707 + ], + [ + 0.07817925568275888, + 0.9914239645004272, + 0.10472138464528132, + 0.05682535469532013 + ], + [ + 0.025616789524160445, + -0.10700594633817673, + 0.9939283241181764, + -0.07791370898485184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9965326802669934, + -0.07415057718753815, + -0.03774007369247158, + -0.026694439351558685 + ], + [ + 0.07778070780403601, + 0.9913062453269958, + 0.10612316056890218, + 0.05492272600531578 + ], + [ + 0.029542879274194037, + -0.10869064927101135, + 0.9936365481508, + -0.0796164944767952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9963083323835115, + -0.07436057180166245, + -0.04289744817445111, + -0.029024872928857803 + ], + [ + 0.07857438165880301, + 0.991174578666687, + 0.10676644136117862, + 0.0543130561709404 + ], + [ + 0.03457963580704459, + -0.10974293947219849, + 0.9933583307580305, + -0.08079533278942108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9959031234522974, + -0.075393907725811, + -0.049927416557091285, + -0.031104473397135735 + ], + [ + 0.08040218431798234, + 0.9909639954566956, + 0.10735860285454812, + 0.05394669994711876 + ], + [ + 0.041382085986210716, + -0.11093304306268692, + 0.9929659657888871, + -0.08187860250473022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9955734881562796, + -0.07403167337179184, + -0.05790346345706752, + -0.03483271971344948 + ], + [ + 0.07994920313033933, + 0.9909713864326477, + 0.10762814495619125, + 0.05385551601648331 + ], + [ + 0.04941278767688818, + -0.1117810606956482, + 0.9925035778985402, + -0.08343154937028885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9952547545502475, + -0.07028083503246309, + -0.06729464456459956, + -0.038968659937381744 + ], + [ + 0.07733476211704177, + 0.9910615086555483, + 0.10870355070445667, + 0.05318398028612137 + ], + [ + 0.05905334339515715, + -0.11339194327592853, + 0.9917938149437255, + -0.08561722934246063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9949479735704516, + -0.06318016350269318, + -0.07801825195797572, + -0.04411732405424118 + ], + [ + 0.07154190639872783, + 0.99140864610672, + 0.10950160527155421, + 0.05347881838679314 + ], + [ + 0.07042962408991431, + -0.11452996730804443, + 0.9909200322702557, + -0.08733801543712616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9945156534977653, + -0.053399331867694855, + -0.08992830636202108, + -0.05042683705687523 + ], + [ + 0.06326259132336444, + 0.9918422698974609, + 0.11066508478959544, + 0.0535711944103241 + ], + [ + 0.08328527715402133, + -0.11574725806713104, + 0.9897808330763898, + -0.08979925513267517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9937041785100466, + -0.040249817073345184, + -0.1045559096483962, + -0.05686214938759804 + ], + [ + 0.05189318509991845, + 0.9924487471580505, + 0.11114234639114075, + 0.05526639148592949 + ], + [ + 0.09929293809475738, + -0.11586835980415344, + 0.9882891332226, + -0.091173455119133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9927289303478719, + -0.02490105852484703, + -0.1177676307756563, + -0.06768190860748291 + ], + [ + 0.03811178772489624, + 0.9930567741394043, + 0.11129129148974086, + 0.05697834864258766 + ], + [ + 0.11417867728612834, + -0.11497042328119278, + 0.9867852202808923, + -0.09877818822860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9906371114355583, + -0.012554572895169258, + -0.13594316402568696, + -0.07561037689447403 + ], + [ + 0.028171131625374136, + 0.9931305646896362, + 0.11356977192168091, + 0.058222051709890366 + ], + [ + 0.13358351021314088, + -0.11633610725402832, + 0.9841856350014911, + -0.09834176301956177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9878614830107442, + 0.0002573709934949875, + -0.15533709069023205, + -0.08232896029949188 + ], + [ + 0.017912115976373082, + 0.9931393265724182, + 0.11555708084039207, + 0.059135857969522476 + ], + [ + 0.1543011352356941, + -0.1169368103146553, + 0.9810794721695867, + -0.09899944812059402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9846887302506213, + 0.012436185963451866, + -0.17387761075889874, + -0.0894666537642479 + ], + [ + 0.008081118490411784, + 0.9931231737136843, + 0.11679508766950643, + 0.06052820757031441 + ], + [ + 0.17413434794489693, + -0.11641193926334384, + 0.9778167069893074, + -0.09969201683998108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9811224022323608, + 0.022697875276207924, + -0.19205112914354652, + -0.09508843719959259 + ], + [ + 4.412742136080772e-05, + 0.9930619597434998, + 0.11759209401488889, + 0.061315495520830154 + ], + [ + 0.19338776770490934, + -0.11538071930408478, + 0.9743143766929734, + -0.10153626650571823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9777861654615486, + 0.029455576092004776, + -0.2075249026981651, + -0.10191258043050766 + ], + [ + -0.004924681578216568, + 0.9930316209793091, + 0.11774508613059383, + 0.0622134692966938 + ], + [ + 0.20954702103506767, + -0.11410752683877945, + 0.9711176605700464, + -0.10354362428188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9744008714835269, + 0.03700459748506546, + -0.2217512391847909, + -0.10684393346309662 + ], + [ + -0.011140776206452095, + 0.993096649646759, + 0.11676853406463433, + 0.06386280804872513 + ], + [ + 0.2245413527267597, + -0.11130888015031815, + 0.9680865512876944, + -0.10674676299095154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9712206496868115, + 0.04418061673641205, + -0.23404802494903065, + -0.10978585481643677 + ], + [ + -0.01713794524182725, + 0.9930614829063416, + 0.11634084936458347, + 0.06454983353614807 + ], + [ + 0.2375640849728908, + -0.10898153483867645, + 0.965238985537364, + -0.10860680788755417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9686297461865602, + 0.04922556132078171, + -0.2435841782798915, + -0.11126779019832611 + ], + [ + -0.021643582869131525, + 0.9931711554527283, + 0.1146412472383536, + 0.06697890162467957 + ], + [ + 0.24756405683758273, + -0.10577289015054703, + 0.9630805459084707, + -0.10764353722333908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9671764497381461, + 0.051780350506305695, + -0.2487740803912386, + -0.1115494817495346 + ], + [ + -0.023960542808570424, + 0.99323970079422, + 0.1135818757794863, + 0.06674076616764069 + ], + [ + 0.25297360682246167, + -0.10389294475317001, + 0.9618786675586778, + -0.11018208414316177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9660892191325595, + 0.05171838775277138, + -0.25297608367305524, + -0.10558158159255981 + ], + [ + -0.023722778087124977, + 0.9933696985244751, + 0.11248953558798822, + 0.06644889712333679 + ], + [ + 0.2571165519787683, + -0.10267363488674164, + 0.9609105907741025, + -0.11051541566848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9667027895546851, + 0.051662374287843704, + -0.2506327762983629, + -0.1035805195569992 + ], + [ + -0.024417393189629363, + 0.9935625791549683, + 0.11062178293333394, + 0.0671425610780716 + ], + [ + 0.2547343120935529, + -0.10081858932971954, + 0.9617411592560964, + -0.11134375631809235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9683124785990245, + 0.04776440188288689, + -0.24513156442226924, + -0.09978950023651123 + ], + [ + -0.02151717661085722, + 0.9938464760780334, + 0.10865650744123904, + 0.06760768592357635 + ], + [ + 0.24881304659556192, + -0.09993892163038254, + 0.9633817192647215, + -0.11105496436357498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9708661373370817, + 0.041424691677093506, + -0.2360145551729037, + -0.09459657967090607 + ], + [ + -0.01641685112750898, + 0.9941283464431763, + 0.10695482405282991, + 0.06691120564937592 + ], + [ + 0.239059339121875, + -0.0999642089009285, + 0.9658456560354826, + -0.112784244120121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9737939382492926, + 0.033817596733570106, + -0.22490391373838262, + -0.08740337938070297 + ], + [ + -0.010395985883450249, + 0.9944684505462649, + 0.10452014998910704, + 0.06744306534528732 + ], + [ + 0.2271944508915614, + -0.09944298863410952, + 0.9687589036688284, + -0.11108749359846115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9771413718544545, + 0.02482655830681324, + -0.21113600563973586, + -0.07787920534610748 + ], + [ + -0.0033940236487261426, + 0.9948529005050659, + 0.10127279735855271, + 0.06808922439813614 + ], + [ + 0.212563562143364, + -0.09824123978614807, + 0.9721961550471244, + -0.10813726484775543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9809883705925332, + 0.009677340276539326, + -0.1938252940769524, + -0.06845176219940186 + ], + [ + 0.009534592648016654, + 0.9951463937759399, + 0.09794230694850502, + 0.06876373291015625 + ], + [ + 0.1938323585967977, + -0.09792830795049667, + 0.9761347494829609, + -0.10259441286325455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.984732024323839, + -0.005942344665527344, + -0.1739755750289952, + -0.05703224614262581 + ], + [ + 0.022718889799361028, + 0.9952561855316162, + 0.09459873221343991, + 0.06702865660190582 + ], + [ + 0.17258813629268602, + -0.09710693359375, + 0.9801957152218315, + -0.10217475146055222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9882895096256361, + -0.02467264048755169, + -0.15058253301611885, + -0.04593271762132645 + ], + [ + 0.03881780331293649, + 0.9950268268585205, + 0.09173238486737557, + 0.06355582922697067 + ], + [ + 0.14757037032816223, + -0.09650342911481857, + 0.9843323331865339, + -0.10377201437950134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9910704383770947, + -0.04396728426218033, + -0.12588184646972383, + -0.035536862909793854 + ], + [ + 0.05536837234311736, + 0.9945314526557922, + 0.08855215756408527, + 0.060556456446647644 + ], + [ + 0.1213000511638832, + -0.09473130106925964, + 0.9880851472089055, + -0.10232521593570709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9926157886859445, + -0.06606294214725494, + -0.10173294918265821, + -0.025086358189582825 + ], + [ + 0.07472543076099826, + 0.9936740398406982, + 0.08383326722575525, + 0.06170543283224106 + ], + [ + 0.09555114917813098, + -0.09081625938415527, + 0.9912731111510275, + -0.09669753909111023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9933687932854588, + -0.0867420881986618, + -0.07546037589246686, + -0.014407346956431866 + ], + [ + 0.0928373383163314, + 0.9923473000526428, + 0.08141275588564957, + 0.05869900435209274 + ], + [ + 0.06782099875325384, + -0.08787843585014343, + 0.993819736808182, + -0.09970656782388687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9927661641741363, + -0.10843473672866824, + -0.05154883143784173, + -0.0007517995545640588 + ], + [ + 0.11231225287776606, + 0.9904906153678896, + 0.0794626927046963, + 0.056493937969207764 + ], + [ + 0.042442128384664, + -0.08467743545770647, + 0.995504118591673, + -0.10268764942884445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9914102758797391, + -0.128010556101799, + -0.026812868220448073, + 0.00840284675359726 + ], + [ + 0.12972551066323393, + 0.9885507822036743, + 0.07706259691587311, + 0.05578896775841713 + ], + [ + 0.016641049261601277, + -0.07987895607948303, + 0.9966656507700117, + -0.10277464240789413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9890547578312503, + -0.1475183516740799, + -0.002997131277422105, + 0.01717001013457775 + ], + [ + 0.14731582529269988, + 0.9861482381820679, + 0.07622147050592548, + 0.054188866168260574 + ], + [ + -0.008288457360077701, + -0.07582873106002808, + 0.9970864262945998, + -0.10369250178337097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9862944446699079, + -0.1638677418231964, + 0.01925067653475202, + 0.025678349658846855 + ], + [ + 0.1620088085503274, + 0.9839277863502502, + 0.0750947805152823, + 0.05345355346798897 + ], + [ + -0.03124689094063361, + -0.07094679027795792, + 0.9969905609122213, + -0.10486021637916565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9835274297753904, + -0.17610272765159607, + 0.0407628872987643, + 0.03321792557835579 + ], + [ + 0.17282905634617196, + 0.9822182655334473, + 0.07333106416022099, + 0.05340747535228729 + ], + [ + -0.052951845278739855, + -0.06507810205221176, + 0.9964742784315154, + -0.10739599913358688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.980053648017579, + -0.18913325667381287, + 0.06102012381282837, + 0.04196247458457947 + ], + [ + 0.18446400659597254, + 0.979989230632782, + 0.07479403816193109, + 0.049969155341386795 + ], + [ + -0.07394512168117111, + -0.062046147882938385, + 0.9953303162333897, + -0.11602890491485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9769786670256898, + -0.19852980971336365, + 0.07809342120174823, + 0.04854120686650276 + ], + [ + 0.192932966381167, + 0.9784380197525024, + 0.07372856189860415, + 0.05066825821995735 + ], + [ + -0.09104690199281976, + -0.056964434683322906, + 0.9942160493857115, + -0.11560218036174774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.973041556668653, + -0.20980796217918396, + 0.09576375944269258, + 0.056682828813791275 + ], + [ + 0.202994343616709, + 0.9762121438980103, + 0.07617842271966446, + 0.0463155061006546 + ], + [ + -0.10946859540577827, + -0.05468526855111122, + 0.9924848374895752, + -0.13347911834716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9710686382862342, + -0.21279112994670873, + 0.10837727119992877, + 0.0591515377163887 + ], + [ + 0.205800784842518, + 0.9759286046028139, + 0.07217626794522969, + 0.05113279074430466 + ], + [ + -0.1211269469525322, + -0.04778397828340532, + 0.9914862541033377, + -0.11702392250299454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.968497021486215, + -0.21740037202835089, + 0.12145218587635434, + 0.06251829117536545 + ], + [ + 0.2098503485762215, + 0.975079655647278, + 0.07198928706341147, + 0.05037558078765869 + ], + [ + -0.13407604744532298, + -0.044234625995159156, + 0.9899832859860695, + -0.11957345902919769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9661391837245656, + -0.22146070003509521, + 0.13240167846614787, + 0.06945503503084183 + ], + [ + 0.2132075528588711, + 0.9742201566696167, + 0.073740065268084, + 0.04690966010093689 + ], + [ + -0.14531892248460224, + -0.043014127761125565, + 0.9884494041555765, + -0.13336436450481415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9650511256473392, + -0.22107489407062536, + 0.1407201721637386, + 0.07268894463777542 + ], + [ + 0.21247137925375317, + 0.9743863940238955, + 0.07366843235253735, + 0.04600583389401436 + ], + [ + -0.1534020739515078, + -0.04119479283690453, + 0.9873048389563157, + -0.13532668352127075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9648262866796852, + -0.21781934797763824, + 0.1471902028516431, + 0.07399576157331467 + ], + [ + 0.2090069707019541, + 0.9751792550086975, + 0.07308569433618321, + 0.04512084648013115 + ], + [ + -0.15945630153666424, + -0.03975122049450874, + 0.9864043218795423, + -0.13581639528274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9654507648298895, + -0.2119612991809845, + 0.15158250133938234, + 0.07396665215492249 + ], + [ + 0.20295390855702572, + 0.9764789938926697, + 0.07279049147396786, + 0.043611619621515274 + ], + [ + -0.16344588483680325, + -0.03951137140393257, + 0.9857607583529056, + -0.13704931735992432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9669430485994255, + -0.20344486832618713, + 0.1537247053557199, + 0.07267999649047852 + ], + [ + 0.1943719936727327, + 0.9782768487930298, + 0.07206878112704075, + 0.04212873429059982 + ], + [ + -0.16504734824271272, + -0.03980662673711777, + 0.9854819897294815, + -0.1375780552625656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9690946181104609, + -0.19288700819015508, + 0.1537863120502156, + 0.07094312459230423 + ], + [ + 0.18402855297820386, + 0.9804229736328127, + 0.07003084051229942, + 0.04131882265210152 + ], + [ + -0.16428367707057193, + -0.039565436542034156, + 0.9856193265887363, + -0.1374509334564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9714426397281922, + -0.18199658393859863, + 0.1522381665088089, + 0.06817449629306793 + ], + [ + 0.17346056476499386, + 0.982511043548584, + 0.0677009889795379, + 0.040123406797647476 + ], + [ + -0.16189703150298035, + -0.03936030715703964, + 0.9860224005386788, + -0.13812068104743958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.97402738163859, + -0.1702432483434677, + 0.14929135440241886, + 0.06461489945650101 + ], + [ + 0.1620912735034138, + 0.9846154451370239, + 0.06526019730988358, + 0.03875213861465454 + ], + [ + -0.15810468133825767, + -0.03936639428138733, + 0.9866373233526493, + -0.13860654830932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9765320574475257, + -0.15885408222675323, + 0.14543233017523793, + 0.060670625418424606 + ], + [ + 0.15117285695159222, + 0.9865297079086304, + 0.06249726286490296, + 0.037123903632164 + ], + [ + -0.1534012601466053, + -0.03904515877366066, + 0.9873923149443578, + -0.13964320719242096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.979002178395868, + -0.1474622040987015, + 0.14074681547508575, + 0.05688219517469406 + ], + [ + 0.14038553638785659, + 0.9883372187614443, + 0.059004050295127716, + 0.03637133538722992 + ], + [ + -0.1478061792958796, + -0.0380062758922577, + 0.9882858024045241, + -0.13957440853118896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9811609020305887, + -0.13747529685497284, + 0.13573437349025033, + 0.05373268201947212 + ], + [ + 0.13096925868900777, + 0.9898151755332947, + 0.05579433664166398, + 0.03490585833787918 + ], + [ + -0.14202227313213772, + -0.036966193467378616, + 0.9891729549238185, + -0.1399742215871811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9830088037524577, + -0.12813040614128113, + 0.13143938775994082, + 0.050580013543367386 + ], + [ + 0.12220866437977304, + 0.991130530834198, + 0.0522046877233597, + 0.03361513838171959 + ], + [ + -0.13696259437014266, + -0.03525463491678238, + 0.989948670436774, + -0.14058049023151398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9847315760399676, + -0.11832474917173386, + 0.1276833076591167, + 0.04733738675713539 + ], + [ + 0.11295280903403562, + 0.9924135804176331, + 0.048548993068714255, + 0.03220096230506897 + ], + [ + -0.1324591927850694, + -0.033385537564754486, + 0.9906260666035204, + -0.140823096036911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9862441089258074, + -0.10830871760845184, + 0.1248668477344474, + 0.044027794152498245 + ], + [ + 0.10348870927763043, + 0.9936354756355286, + 0.04448141112499351, + 0.030885471031069756 + ], + [ + -0.12888985274563838, + -0.03094721958041191, + 0.9911758825747644, + -0.14268708229064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9875615836670929, + -0.09908399730920792, + 0.12208366528570315, + 0.040520042181015015 + ], + [ + 0.09480067037387582, + 0.9946752786636353, + 0.04042221592547175, + 0.030047498643398285 + ], + [ + -0.12543880772607308, + -0.02834581583738327, + 0.991696362826072, + -0.14302900433540344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9887499256409503, + -0.09001149982213974, + 0.11946332576467376, + 0.037422358989715576 + ], + [ + 0.0860920921942076, + 0.9955779910087585, + 0.03758413503539204, + 0.028373923152685165 + ], + [ + -0.12231808061760643, + -0.026876460760831833, + 0.9921269705726427, + -0.14525452256202698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.989912698119616, + -0.08049169927835466, + 0.1165931869384821, + 0.03488527610898018 + ], + [ + 0.07698211730243139, + 0.9964421391487124, + 0.03430512106489071, + 0.028184613212943077 + ], + [ + -0.11893961867623902, + -0.024983482435345657, + 0.9925870924541216, + -0.146640807390213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9909188386630855, + -0.07033527642488481, + 0.11459863880581297, + 0.032012082636356354 + ], + [ + 0.06712208129030511, + 0.9972421526908877, + 0.031665038610426334, + 0.027406970039010048 + ], + [ + -0.11650974885577857, + -0.023685382679104812, + 0.992907073101869, + -0.14590641856193542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9917418881345915, + -0.060889843851327896, + 0.11287351019974406, + 0.029372690245509148 + ], + [ + 0.0580177612112621, + 0.9979069232940674, + 0.028560766585587795, + 0.027521377429366112 + ], + [ + -0.1143763152216297, + -0.021776240319013596, + 0.9931987957485726, + -0.14689524471759796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9923338524068992, + -0.05374547094106674, + 0.11128782782501791, + 0.027232881635427475 + ], + [ + 0.051004561068049035, + 0.9983243346214294, + 0.02733323031142699, + 0.026215624064207077 + ], + [ + -0.11257037421719938, + -0.021447502076625824, + 0.9934122888945016, + -0.14681610465049744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9928695560279932, + -0.045408640056848526, + 0.11021859161820817, + 0.024631408974528313 + ], + [ + 0.042844186413188386, + 0.9987556338310242, + 0.025526088506298027, + 0.0259079746901989 + ], + [ + -0.11124053300929831, + -0.020621849223971367, + 0.9935795165028211, + -0.14647237956523895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9932915878531794, + -0.038164395838975906, + 0.10915747512846653, + 0.022393526509404182 + ], + [ + 0.03572066970429703, + 0.9990674257278442, + 0.02425634403153848, + 0.025175854563713074 + ], + [ + -0.10998139247662923, + -0.020194444805383682, + 0.9937284494155888, + -0.14732302725315094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9935678275102319, + -0.03220750764012337, + 0.10856167513488146, + 0.019257517531514168 + ], + [ + 0.02989681150388349, + 0.9992918968200684, + 0.02284589341054747, + 0.024455277249217033 + ], + [ + -0.1092206188990056, + -0.019453296437859535, + 0.9938271530952448, + -0.1473773568868637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9938033070998714, + -0.02909121289849282, + 0.10727862042583629, + 0.01721026375889778 + ], + [ + 0.026978512844426088, + 0.9994134306907656, + 0.021092854460045527, + 0.024888157844543457 + ], + [ + -0.10782930940751902, + -0.018067929893732074, + 0.9940052013263321, + -0.14663444459438324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9939337646142493, + -0.027780102565884597, + 0.10641394459297916, + 0.014903814531862736 + ], + [ + 0.0257036807086619, + 0.9994524717330935, + 0.02083500407652184, + 0.023696208372712135 + ], + [ + -0.10693448705175973, + -0.01797338388860226, + 0.9941035772179345, + -0.1468105912208557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9940135683376863, + -0.027334081009030342, + 0.10578226255864313, + 0.0116017647087574 + ], + [ + 0.025255075436952823, + 0.9994616508483887, + 0.020943750502825945, + 0.02276124618947506 + ], + [ + -0.10629780069364356, + -0.018146833404898643, + 0.9941687617458425, + -0.14760291576385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9942189185956232, + -0.02814178727567196, + 0.1036184016871531, + 0.009698963724076748 + ], + [ + 0.026124418231151126, + 0.9994428157806396, + 0.02077541443806764, + 0.023370133712887764 + ], + [ + -0.10414531786419066, + -0.017948338761925697, + 0.9944001523119158, + -0.1466059535741806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pull_out/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..37e766d8682a23a16b649c0579ab838ed9c1ab1e --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/pull_out/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010043199872598052, + 0.005771652329713106, + 0.002612494487657697 + ], + [ + 0.0011594925308600068, + 0.9996362328529358, + -0.026945147663354874, + 0.0011904189912363505 + ], + [ + -0.005742491688579321, + 0.026951376348733902, + 0.999620258808136, + 0.004382286893410815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295654, + -0.005417153239250183, + 0.013236249797046185, + 0.0056404962411357295 + ], + [ + 0.005993630737066269, + 0.999017596244812, + -0.04390867426991463, + -0.0017593233173506127 + ], + [ + -0.01298538688570261, + 0.04398351535201073, + 0.9989478588104248, + 0.0030304282203189327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917786, + -0.023633664473891258, + 0.018150687217712402, + 0.009324682790499467 + ], + [ + 0.024496281519532204, + 0.9985045790672302, + -0.048873111605644226, + -0.005161411745043901 + ], + [ + -0.016968492418527603, + 0.04929602891206741, + 0.9986400604248047, + -0.0017985822050832214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04377982020378113, + 0.02065206505358219, + 0.012148560994328596 + ], + [ + 0.044819705188274384, + 0.9975928664207458, + -0.0529114305973053, + -0.010378881722179234 + ], + [ + -0.018285902217030525, + 0.05377501994371414, + 0.9983856081962585, + -0.002334509942776118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056863486766815186, + 0.023121442645788193, + 0.014744514607402504 + ], + [ + 0.0581679567694664, + 0.9964825510978699, + -0.06032449007034302, + -0.01466830475972249 + ], + [ + -0.019609853625297546, + 0.0615556538105011, + 0.9979109764099121, + -0.00476375338422437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.0669407993555069, + 0.027335239574313164, + 0.015097151558177594 + ], + [ + 0.06877684593200684, + 0.9949638843536377, + -0.07291490584611893, + -0.014651154015117731 + ], + [ + -0.022316595539450645, + 0.07460407167673111, + 0.9969635009765625, + -0.0056919989856676415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07772161066532135, + 0.03150692582130432, + 0.015016648206764308 + ], + [ + 0.08019189536571503, + 0.9930015206336975, + -0.08670175075531006, + -0.014681600777702964 + ], + [ + -0.02454782836139202, + 0.08892291784286499, + 0.9957359433174133, + -0.010255558263414946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08712751418352127, + 0.0332910530269146, + 0.014911321426431338 + ], + [ + 0.0900096669793129, + 0.9910994172096252, + -0.09808236360549927, + -0.01750314072984406 + ], + [ + -0.024449072778224945, + 0.10065130889415741, + 0.9946213364601135, + -0.014173102208500744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08894763141870499, + 0.03417264297604561, + 0.013797794124827935 + ], + [ + 0.0921560600399971, + 0.9898726940155029, + -0.1079784631729126, + -0.020528412524324198 + ], + [ + -0.02422213740646839, + 0.11063636839389801, + 0.9935657382011414, + -0.021310379900611364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08436749130487442, + 0.03339671716094017, + 0.014957603512920884 + ], + [ + 0.08777566999197006, + 0.9890100955963135, + -0.11897231638431549, + -0.021863329073048044 + ], + [ + -0.022992298007011414, + 0.1214129626750946, + 0.9923357367515564, + -0.025225525467186913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.079302579164505, + 0.03451511636376381, + 0.014997892828387583 + ], + [ + 0.08318085968494415, + 0.9878548979759216, + -0.13123910129070282, + -0.023726999826538257 + ], + [ + -0.02368832752108574, + 0.1336183398962021, + 0.990749716758728, + -0.028132134542251247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07875555753707886, + 0.035701934248209, + 0.018607784062623978 + ], + [ + 0.0831107646226883, + 0.9860875010490417, + -0.14395850896835327, + -0.0290676852926994 + ], + [ + -0.023867696523666382, + 0.1463865339756012, + 0.9889394640922546, + -0.03378103388807713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177673, + -0.09256604313850403, + 0.03465414047241211, + 0.04004770517349243 + ], + [ + 0.09669160842895508, + 0.9843844771385193, + -0.14709854125976562, + -0.04677437527312173 + ], + [ + -0.020496666431427002, + 0.14972901344299316, + 0.9885146021842957, + -0.10021290116839938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09307864308357239, + 0.03840361535549164, + 0.042425754921049136 + ], + [ + 0.0980973094701767, + 0.9820225238800049, + -0.16127224266529083, + -0.04853500385697072 + ], + [ + -0.022702213376760483, + 0.164219930768013, + 0.9861624836921692, + -0.10261200633313922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08639077842235565, + 0.04321001097559929, + 0.04239625037194063 + ], + [ + 0.09261272847652435, + 0.9806010127067566, + -0.17275570333003998, + -0.04713422184189161 + ], + [ + -0.027447279542684555, + 0.17594967782497406, + 0.9840164184570312, + -0.11053768736429703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07420744001865387, + 0.04774467647075653, + 0.041238154254407966 + ], + [ + 0.08167071640491486, + 0.9801908135414124, + -0.1804323047399521, + -0.04771831789587298 + ], + [ + -0.0334094762802124, + 0.18362782895565033, + 0.9824279546737671, + -0.11457809579168629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06434112787246704, + 0.05213944986462593, + 0.039806187520615564 + ], + [ + 0.07303920388221741, + 0.9796071648597717, + -0.1871766448020935, + -0.04729495691692727 + ], + [ + -0.03903302177786827, + 0.19034191966056824, + 0.9809415936470032, + -0.1131737639888739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05821879208087921, + 0.054883211851119995, + 0.04221101964895542 + ], + [ + 0.06763423979282379, + 0.9795976877212524, + -0.18924580514431, + -0.05187224441995988 + ], + [ + -0.04274580627679825, + 0.1923510879278183, + 0.980394721031189, + -0.10777453115353218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.051942091435194016, + 0.05863000079989433, + 0.04339181187793485 + ], + [ + 0.062262121587991714, + 0.9796562790870667, + -0.190779909491539, + -0.055581868892042044 + ], + [ + -0.0475277416408062, + 0.19384418427944183, + 0.9798803925514221, + -0.10484010484228787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.05063077434897423, + 0.06381705403327942, + 0.040749561964956105 + ], + [ + 0.06216574087738991, + 0.9789945483207703, + -0.19417811930179596, + -0.05516823094624739 + ], + [ + -0.052645161747932434, + 0.19749997556209564, + 0.9788882732391357, + -0.10732050641224934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04961514472961426, + 0.06491951644420624, + 0.04106394774638689 + ], + [ + 0.06151943653821945, + 0.9785534739494324, + -0.1965920627117157, + -0.0573796839095079 + ], + [ + -0.05377327278256416, + 0.19992852210998535, + 0.9783337712287903, + -0.10355508854755989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04558997601270676, + 0.06412158906459808, + 0.041990693664958334 + ], + [ + 0.057594262063503265, + 0.9781025052070618, + -0.19999592006206512, + -0.058915793399016064 + ], + [ + -0.053599677979946136, + 0.20306901633739471, + 0.9776962995529175, + -0.10120469755851305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607544, + -0.03938813880085945, + 0.06819803267717361, + 0.036259936773751535 + ], + [ + 0.052565593272447586, + 0.977608323097229, + -0.2037617564201355, + -0.06057501246786525 + ], + [ + -0.05864516645669937, + 0.2067137360572815, + 0.9766423106193542, + -0.11059176041784449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.04150507599115372, + 0.06588971614837646, + 0.03965652911708905 + ], + [ + 0.05446356534957886, + 0.9763911962509155, + -0.2090309113264084, + -0.056866062451631595 + ], + [ + -0.05565829947590828, + 0.21198473870754242, + 0.9756867289543152, + -0.0923742549541669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03953487426042557, + 0.06778249144554138, + 0.03667502321748652 + ], + [ + 0.05318856239318848, + 0.9755423069000244, + -0.21327950060367584, + -0.05567614988893525 + ], + [ + -0.05769271031022072, + 0.21622709929943085, + 0.9746370315551758, + -0.08271893005595249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.034961801022291183, + 0.07318919152021408, + 0.02831872453292211 + ], + [ + 0.05014246329665184, + 0.9748436808586121, + -0.21717625856399536, + -0.055734211868709985 + ], + [ + -0.06375514715909958, + 0.2201305627822876, + 0.9733847379684448, + -0.07973075310389201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03524046018719673, + 0.07438088953495026, + 0.02583550355182244 + ], + [ + 0.05080832168459892, + 0.974373459815979, + -0.2191229611635208, + -0.05588118135929108 + ], + [ + -0.06475277245044708, + 0.22215865552425385, + 0.9728579521179199, + -0.07086522223857733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.03681790083646774, + 0.07488847523927689, + 0.02476268115843463 + ], + [ + 0.05266831815242767, + 0.9735798835754395, + -0.22218969464302063, + -0.05412755904034672 + ], + [ + -0.06472935527563095, + 0.22535893321037292, + 0.9721231460571289, + -0.06391413283781108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017395, + -0.03757404536008835, + 0.07595515251159668, + 0.021668108619558507 + ], + [ + 0.053659066557884216, + 0.9734908938407898, + -0.2223425805568695, + -0.057957878944456066 + ], + [ + -0.06558734178543091, + 0.22561851143836975, + 0.9720054268836975, + -0.05925468673818132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.039605412632226944, + 0.0693020299077034, + 0.034897321596359596 + ], + [ + 0.05432456359267235, + 0.972733736038208, + -0.2254725694656372, + -0.05592915645012489 + ], + [ + -0.058482490479946136, + 0.22851794958114624, + 0.9717815518379211, + -0.04964834814652419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.996643602848053, + -0.03472062572836876, + 0.07413497567176819, + 0.022666303367696258 + ], + [ + 0.050829771906137466, + 0.9723463654518127, + -0.2279449999332428, + -0.057748279924321376 + ], + [ + -0.0641704797744751, + 0.23094817996025085, + 0.9708476066589355, + -0.04978215910940089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04096035286784172, + 0.07396215945482254, + 0.023067317549616863 + ], + [ + 0.057165201753377914, + 0.9709324836730957, + -0.23242676258087158, + -0.05365251286799072 + ], + [ + -0.062291987240314484, + 0.2358226180076599, + 0.9697976112365723, + -0.04692469872852676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.030447332188487053, + 0.07498908042907715, + 0.01513686672044106 + ], + [ + 0.04709552973508835, + 0.9717099070549011, + -0.23143444955348969, + -0.06411663150558104 + ], + [ + -0.06582106649875641, + 0.23420687019824982, + 0.9699560403823853, + -0.050174791232133524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887695, + -0.03605753555893898, + 0.07364329695701599, + 0.017831263286817788 + ], + [ + 0.05283621326088905, + 0.9692109823226929, + -0.2404961884021759, + -0.052138991946848026 + ], + [ + -0.0627041906118393, + 0.24357736110687256, + 0.9678524136543274, + -0.049238359851714895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.027423828840255737, + 0.07060058414936066, + 0.02050761655609832 + ], + [ + 0.04404309391975403, + 0.9682877659797668, + -0.245924711227417, + -0.0517877022552694 + ], + [ + -0.06161748245358467, + 0.24832779169082642, + 0.9667143225669861, + -0.03843230470760256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.02494669333100319, + 0.07098055630922318, + 0.015241144912747237 + ], + [ + 0.04198500141501427, + 0.9673789739608765, + -0.249830424785614, + -0.05396147909072729 + ], + [ + -0.062432654201984406, + 0.25210243463516235, + 0.9656844735145569, + -0.03753051646053791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.022420700639486313, + 0.0718754455447197, + 0.012102323503066332 + ], + [ + 0.040134165436029434, + 0.9659827947616577, + -0.2554730474948883, + -0.049125122387185055 + ], + [ + -0.06370256096124649, + 0.2576325833797455, + 0.964140772819519, + -0.047175217572695174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188293, + -0.018108654767274857, + 0.07375975698232651, + 0.005087013293503442 + ], + [ + 0.03651212900876999, + 0.9658660292625427, + -0.25645601749420166, + -0.05351876769310389 + ], + [ + -0.06659797579050064, + 0.25840842723846436, + 0.963737428188324, + -0.055432960976902236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.019618939608335495, + 0.06999560445547104, + 0.011188011492292087 + ], + [ + 0.037083908915519714, + 0.9654900431632996, + -0.25778627395629883, + -0.05797099595268567 + ], + [ + -0.06252256780862808, + 0.2597000002861023, + 0.9636632204055786, + -0.05085231463114421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.02203492261469364, + 0.06698434054851532, + 0.013112313886228789 + ], + [ + 0.038790106773376465, + 0.9647510647773743, + -0.26028966903686523, + -0.05407737322852143 + ], + [ + -0.058887749910354614, + 0.26224005222320557, + 0.9632042050361633, + -0.05638995620175305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.025051329284906387, + 0.06388658285140991, + 0.015089246032074986 + ], + [ + 0.0407622866332531, + 0.9652762413024902, + -0.25803136825561523, + -0.05791957133855575 + ], + [ + -0.05520417541265488, + 0.26002728939056396, + 0.9640219211578369, + -0.07070407478982567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.028435396030545235, + 0.06179877370595932, + 0.012538135204559717 + ], + [ + 0.04351149871945381, + 0.9650570750236511, + -0.2584019601345062, + -0.055478363025646946 + ], + [ + -0.05229157954454422, + 0.26049235463142395, + 0.9640587568283081, + -0.08031992159592799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.026608727872371674, + 0.05980280041694641, + 0.009008734286404573 + ], + [ + 0.041225872933864594, + 0.9651437401771545, + -0.25845301151275635, + -0.0524420366073266 + ], + [ + -0.05084118992090225, + 0.2603641748428345, + 0.9641709923744202, + -0.08436386803021798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03089982084929943, + 0.053920429199934006, + 0.007475155039539195 + ], + [ + 0.04373984783887863, + 0.9656163454055786, + -0.25626519322395325, + -0.05245207002402371 + ], + [ + -0.044147904962301254, + 0.2581283152103424, + 0.965101420879364, + -0.08395081599298705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03488101065158844, + 0.04706127941608429, + 0.004419957968191459 + ], + [ + 0.045669130980968475, + 0.9665557742118835, + -0.25235751271247864, + -0.05173376173927234 + ], + [ + -0.03668486326932907, + 0.2540734112262726, + 0.9664889574050903, + -0.08120449231221126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03776445984840393, + 0.038437116891145706, + 0.0013949783781591132 + ], + [ + 0.0461643785238266, + 0.9674650430679321, + -0.24875743687152863, + -0.04832652154513913 + ], + [ + -0.027792375534772873, + 0.2501704692840576, + 0.9678028225898743, + -0.07903546042676665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04203120619058609, + 0.029186103492975235, + -0.0038268447766064578 + ], + [ + 0.04788491129875183, + 0.9687319993972778, + -0.24344474077224731, + -0.0457484222884871 + ], + [ + -0.01804123818874359, + 0.24452337622642517, + 0.9694755673408508, + -0.07591848147348461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271545, + -0.04421382397413254, + 0.019324898719787598, + -0.009541086890758612 + ], + [ + 0.04755266755819321, + 0.9699230194091797, + -0.23872177302837372, + -0.04182957108968344 + ], + [ + -0.008188864216208458, + 0.23936264216899872, + 0.9708957076072693, + -0.072984857016649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04726714268326759, + 0.008033093996345997, + -0.013077058638724633 + ], + [ + 0.047837208956480026, + 0.9712949395179749, + -0.23301881551742554, + -0.0401370062914669 + ], + [ + 0.003211629344150424, + 0.2331351339817047, + 0.9724390506744385, + -0.0693379413877797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.048086944967508316, + -0.002156302332878113, + -0.015783018918118924 + ], + [ + 0.046333786100149155, + 0.9726343154907227, + -0.22767460346221924, + -0.03792159606376265 + ], + [ + 0.013045470230281353, + 0.22731077671051025, + 0.9737348556518555, + -0.06942400603722304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061279, + -0.046852003782987595, + -0.013223135843873024, + -0.011906625060603405 + ], + [ + 0.04276834800839424, + 0.9742439985275269, + -0.22140346467494965, + -0.03864267248755846 + ], + [ + 0.023255756124854088, + 0.22057540714740753, + 0.9750926494598389, + -0.07640087413482177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04715019091963768, + -0.020617427304387093, + -0.015040512217415704 + ], + [ + 0.04158389940857887, + 0.9754133224487305, + -0.21642473340034485, + -0.038009372270769545 + ], + [ + 0.030314980074763298, + 0.21528062224388123, + 0.9760816097259521, + -0.07555101290345193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.046040020883083344, + -0.02804003469645977, + -0.01295791393878241 + ], + [ + 0.03913160413503647, + 0.9768373966217041, + -0.21037447452545166, + -0.0390746036846923 + ], + [ + 0.0370761975646019, + 0.2089713215827942, + 0.9772186875343323, + -0.08195319830989227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04606097564101219, + -0.03358866646885872, + -0.012843887264338823 + ], + [ + 0.03823528811335564, + 0.978065550327301, + -0.204757958650589, + -0.038575154428298654 + ], + [ + 0.04228327050805092, + 0.20314070582389832, + 0.9782361388206482, + -0.08594377545210032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622803, + -0.04786644130945206, + -0.03947734832763672, + -0.012370111022749517 + ], + [ + 0.03909345716238022, + 0.9792292714118958, + -0.1989516168832779, + -0.03575784926358451 + ], + [ + 0.0481804758310318, + 0.19702498614788055, + 0.9792138934135437, + -0.08704103128268169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.997665524482727, + -0.05180840939283371, + -0.04449084773659706, + -0.01232642962032149 + ], + [ + 0.0423891544342041, + 0.9806056618690491, + -0.19135227799415588, + -0.031995950352687104 + ], + [ + 0.0535416342318058, + 0.18901965022087097, + 0.9805125594139099, + -0.08895857329042549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.056758083403110504, + -0.04876594990491867, + -0.011935939463094259 + ], + [ + 0.0469999760389328, + 0.982166051864624, + -0.18204638361930847, + -0.026850360822983275 + ], + [ + 0.05822886526584625, + 0.17924398183822632, + 0.9820799231529236, + -0.09281406689148683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144043, + -0.061164163053035736, + -0.05301344022154808, + -0.011647420265098922 + ], + [ + 0.05142729729413986, + 0.9843155145645142, + -0.16875486075878143, + -0.025945979140253147 + ], + [ + 0.06250370293855667, + 0.1654748171567917, + 0.9842313528060913, + -0.09479764571301957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06664244085550308, + -0.0575336217880249, + -0.010172283784764953 + ], + [ + 0.056910090148448944, + 0.9859931468963623, + -0.1567760407924652, + -0.019248917472795543 + ], + [ + 0.06717569380998611, + 0.15289300680160522, + 0.9859569668769836, + -0.09385731713129924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06931956112384796, + -0.061401091516017914, + -0.008913745052921467 + ], + [ + 0.05990174412727356, + 0.9877932071685791, + -0.14379283785820007, + -0.013310602269111535 + ], + [ + 0.07061923295259476, + 0.13949695229530334, + 0.9877011179924011, + -0.09449713562543577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.0695200189948082, + -0.06400157511234283, + -0.009663006988091347 + ], + [ + 0.06083834916353226, + 0.9897998571395874, + -0.12882152199745178, + -0.011835111020148819 + ], + [ + 0.07230442762374878, + 0.12435134500265121, + 0.9896003007888794, + -0.09459101664714324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06904090940952301, + -0.0674002468585968, + -0.008563998136191795 + ], + [ + 0.06089574098587036, + 0.9913562536239624, + -0.11620894074440002, + -0.007182872519852258 + ], + [ + 0.07484082877635956, + 0.11156237125396729, + 0.9909352660179138, + -0.09236499100414097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740051, + -0.0688813105225563, + -0.06971269845962524, + -0.007711887431259338 + ], + [ + 0.061374958604574203, + 0.9926167726516724, + -0.10461846739053726, + -0.0019232630443114496 + ], + [ + 0.07640424370765686, + 0.09983623772859573, + 0.9920660853385925, + -0.09142449933748979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06817160546779633, + -0.07074913382530212, + -0.00826368119694993 + ], + [ + 0.061275944113731384, + 0.9935474991798401, + -0.09543921798467636, + 0.004406189249478217 + ], + [ + 0.07679887115955353, + 0.09064225107431412, + 0.9929178953170776, + -0.08830352451047327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.0672144666314125, + -0.07272934168577194, + -0.007195690543287329 + ], + [ + 0.060706935822963715, + 0.9942457675933838, + -0.08826125413179398, + 0.010760961514380243 + ], + [ + 0.07824327796697617, + 0.08341220766305923, + 0.9934386610984802, + -0.08197908310426606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06683296710252762, + -0.07361272722482681, + -0.006452855334067956 + ], + [ + 0.06083381921052933, + 0.994861900806427, + -0.0809260830283165, + 0.014651626826096805 + ], + [ + 0.07864303141832352, + 0.07604695111513138, + 0.9939980506896973, + -0.07854627875181346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.0678880587220192, + -0.07447841018438339, + -0.00543281432464082 + ], + [ + 0.062438614666461945, + 0.9953603148460388, + -0.07320692390203476, + 0.016550571288372208 + ], + [ + 0.07910273224115372, + 0.06818390637636185, + 0.9945319294929504, + -0.0761747919723519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.069198839366436, + -0.07591947913169861, + -0.004424611273675392 + ], + [ + 0.06413831561803818, + 0.9956768751144409, + -0.06718528270721436, + 0.020635321586687343 + ], + [ + 0.0802404135465622, + 0.06196051836013794, + 0.9948478937149048, + -0.07260800335142348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.0705689936876297, + -0.07807497680187225, + -0.0024436697531013915 + ], + [ + 0.06591843068599701, + 0.9959818124771118, + -0.06062209978699684, + 0.02339123353266563 + ], + [ + 0.08203929662704468, + 0.05513886734843254, + 0.9951026439666748, + -0.06989688023160666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07169889658689499, + -0.07908991724252701, + -0.002115855220323189 + ], + [ + 0.06750068813562393, + 0.996227502822876, + -0.054538484662771225, + 0.025048330808297183 + ], + [ + 0.0827018991112709, + 0.04888821020722389, + 0.9953745007514954, + -0.06602284372744398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.07499485462903976, + -0.07985445111989975, + -0.001190633477611292 + ], + [ + 0.07123138755559921, + 0.996256411075592, + -0.048981986939907074, + 0.026866206058706994 + ], + [ + 0.08322890847921371, + 0.04299904406070709, + 0.9956023693084717, + -0.06305153482617476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554321, + -0.07863131165504456, + -0.07973217219114304, + -0.0012528563419786781 + ], + [ + 0.07529625296592712, + 0.996189534664154, + -0.04401031881570816, + 0.027997823575368293 + ], + [ + 0.08288893848657608, + 0.03772997111082077, + 0.995844304561615, + -0.06005237179879959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933647513389587, + -0.08295077830553055, + -0.07965943962335587, + -0.0007236067731028941 + ], + [ + 0.07997908443212509, + 0.9960015416145325, + -0.03980320692062378, + 0.02947388120696076 + ], + [ + 0.08264263719320297, + 0.033168017864227295, + 0.9960271716117859, + -0.05764383624315772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.08643079549074173, + -0.079750657081604, + -0.0013925480942886606 + ], + [ + 0.08376192301511765, + 0.9958269000053406, + -0.03623088449239731, + 0.031101105425857072 + ], + [ + 0.0825493186712265, + 0.029299400746822357, + 0.9961562156677246, + -0.05436897531279133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770325, + -0.08973576873540878, + -0.08051719516515732, + -0.0012407316050181785 + ], + [ + 0.08739734441041946, + 0.9956555962562561, + -0.032118503004312515, + 0.03208985545027714 + ], + [ + 0.08304957300424576, + 0.024847231805324554, + 0.9962356090545654, + -0.053156850190880976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.09170776605606079, + -0.08202848583459854, + -0.0012472518496852141 + ], + [ + 0.08968321979045868, + 0.995575487613678, + -0.028041932731866837, + 0.03265088517059628 + ], + [ + 0.08423721045255661, + 0.02047228068113327, + 0.9962354302406311, + -0.051949200900191936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022949, + -0.09405223280191422, + -0.08429194986820221, + -0.0010142262499683937 + ], + [ + 0.09240105003118515, + 0.9954494833946228, + -0.02328922040760517, + 0.03313576344512085 + ], + [ + 0.08609877526760101, + 0.015314066782593727, + 0.9961689114570618, + -0.04961059433845884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024902, + -0.09507060796022415, + -0.08720631897449493, + -0.0007139619129399454 + ], + [ + 0.09367165714502335, + 0.9954021573066711, + -0.020005470141768456, + 0.036874979423979916 + ], + [ + 0.08870728313922882, + 0.01166953332722187, + 0.9959893822669983, + -0.046813061957558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.09544503688812256, + -0.08839315921068192, + -0.0024974389550968617 + ], + [ + 0.0944184809923172, + 0.995408296585083, + -0.01573241874575615, + 0.03890958078301106 + ], + [ + 0.08948885649442673, + 0.007252783980220556, + 0.9959614276885986, + -0.04543785180132359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.09536831825971603, + -0.0915817841887474, + -0.00086091467553479 + ], + [ + 0.09469663351774216, + 0.9954378604888916, + -0.011661822907626629, + 0.04053228654158421 + ], + [ + 0.09227614849805832, + 0.0028869500383734703, + 0.9957292675971985, + -0.04408738142850562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.09652624279260635, + -0.09105435758829117, + -0.004199618839014034 + ], + [ + 0.0962834283709526, + 0.9953289031982422, + -0.007065927609801292, + 0.04126580273732543 + ], + [ + 0.09131107479333878, + -0.0017635824624449015, + 0.9958208799362183, + -0.042051582353619436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.09647815674543381, + -0.09241335839033127, + -0.004477854728157448 + ], + [ + 0.09662140160799026, + 0.9953168630599976, + -0.0029333564452826977, + 0.042050071958149984 + ], + [ + 0.0922635868191719, + -0.0060220458544790745, + 0.995716392993927, + -0.0403952529685747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.09635921567678452, + -0.09481746703386307, + -0.004170621319427194 + ], + [ + 0.09692727774381638, + 0.9952905178070068, + 0.0013931263238191605, + 0.04222045632907086 + ], + [ + 0.09423667937517166, + -0.010570736601948738, + 0.9954937100410461, + -0.03673271555294339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.0948014110326767, + -0.09748154133558273, + -0.0035332293225786623 + ], + [ + 0.0958503782749176, + 0.9953769445419312, + 0.0061239511705935, + 0.04046727613044473 + ], + [ + 0.0964503213763237, + -0.015410713851451874, + 0.9952185153961182, + -0.033513192310690505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.09554288536310196, + -0.09889417141675949, + -0.005365520612233214 + ], + [ + 0.0968770906329155, + 0.9952577352523804, + 0.008767124265432358, + 0.04278537256117815 + ], + [ + 0.09758754819631577, + -0.018264420330524445, + 0.9950593113899231, + -0.030872831085266977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.09555571526288986, + -0.1013667955994606, + -0.005334600301570872 + ], + [ + 0.09731114655733109, + 0.9951754212379456, + 0.012505126185715199, + 0.042570277004956435 + ], + [ + 0.09968281537294388, + -0.022247314453125, + 0.9947705268859863, + -0.028369695210877136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.09563429653644562, + -0.10289280861616135, + -0.007201694563413278 + ], + [ + 0.09764714539051056, + 0.9951125979423523, + 0.01469507347792387, + 0.04428885455052249 + ], + [ + 0.10098458081483841, + -0.024596549570560455, + 0.9945839047431946, + -0.02638181440341167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.09531968086957932, + -0.10433410853147507, + -0.00939648701594426 + ], + [ + 0.09759130328893661, + 0.9950834512710571, + 0.016876792535185814, + 0.04523501781444264 + ], + [ + 0.10221245139837265, + -0.026889516040682793, + 0.9943990707397461, + -0.024113829890823266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.09422576427459717, + -0.10631398856639862, + -0.010638277808952535 + ], + [ + 0.09672302007675171, + 0.9951380491256714, + 0.018571535125374794, + 0.04631248392467188 + ], + [ + 0.10404717922210693, + -0.028666192665696144, + 0.9941591620445251, + -0.022888141727218266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622742, + -0.0927882194519043, + -0.10825425386428833, + -0.01203683720758328 + ], + [ + 0.09555050730705261, + 0.9952113032341003, + 0.020603543147444725, + 0.047011211299552366 + ], + [ + 0.10582409799098969, + -0.03073679469525814, + 0.9939097166061401, + -0.02240403311756941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9896503686904907, + -0.0917322188615799, + -0.11035078763961792, + -0.013798368515239821 + ], + [ + 0.09473170340061188, + 0.9952543377876282, + 0.022241652011871338, + 0.04904526066448953 + ], + [ + 0.10778681933879852, + -0.03246517479419708, + 0.9936438202857971, + -0.022345524157087016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754456, + -0.09037180989980698, + -0.11118438839912415, + -0.017214032361267978 + ], + [ + 0.09365765005350113, + 0.995298445224762, + 0.024683302268385887, + 0.05038592432362911 + ], + [ + 0.10843096673488617, + -0.03484189510345459, + 0.9934931993484497, + -0.022775565027299098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.09128565341234207, + -0.10880491137504578, + -0.02042676008855685 + ], + [ + 0.0950760468840599, + 0.9950129389762878, + 0.030162647366523743, + 0.04597387508704112 + ], + [ + 0.10550887882709503, + -0.04020162671804428, + 0.9936054348945618, + -0.04238612005033363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724731, + -0.0911080613732338, + -0.11110899597406387, + -0.021558075576511203 + ], + [ + 0.09525392204523087, + 0.9949195981025696, + 0.032583244144916534, + 0.048915993243965325 + ], + [ + 0.1075759157538414, + -0.04282870143651962, + 0.993273913860321, + -0.038582464519283204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.09012183547019958, + -0.11706908047199249, + -0.020408389134666857 + ], + [ + 0.09481452405452728, + 0.9948744773864746, + 0.03514283895492554, + 0.05312120398649803 + ], + [ + 0.11330190300941467, + -0.045857034623622894, + 0.9925017952919006, + -0.01949320755835273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.09003256261348724, + -0.11436064541339874, + -0.023659806058574945 + ], + [ + 0.09521777927875519, + 0.9946237802505493, + 0.040707141160964966, + 0.04886903976782774 + ], + [ + 0.11008085310459137, + -0.05116282403469086, + 0.9926049709320068, + -0.037390410755641576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.09317120909690857, + -0.11693821847438812, + -0.025487722864008355 + ], + [ + 0.09878641366958618, + 0.9941719770431519, + 0.04316605255007744, + 0.05368758661147111 + ], + [ + 0.11223486065864563, + -0.05423273518681526, + 0.9922006726264954, + -0.029552082594834335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9884978532791138, + -0.09257038682699203, + -0.11959405243396759, + -0.02509104456975419 + ], + [ + 0.09880081564188004, + 0.9939848184585571, + 0.04725014045834541, + 0.052072629151053915 + ], + [ + 0.11450071632862091, + -0.058522652834653854, + 0.9916979074478149, + -0.02355890775210838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444946, + -0.09110705554485321, + -0.11785479635000229, + -0.02923888962429303 + ], + [ + 0.09744705259799957, + 0.994024395942688, + 0.049189068377017975, + 0.053388191100496515 + ], + [ + 0.11266907304525375, + -0.060124851763248444, + 0.9918118119239807, + -0.03268209702980061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.09047552943229675, + -0.11960691213607788, + -0.0275664041376012 + ], + [ + 0.09737388789653778, + 0.9938284158706665, + 0.05313626676797867, + 0.050303589425280563 + ], + [ + 0.11406120657920837, + -0.06418189406394958, + 0.9913983941078186, + -0.038874078991735346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.09348472207784653, + -0.12423595041036606, + -0.026836503051921853 + ], + [ + 0.10086613148450851, + 0.9934059977531433, + 0.054502878338098526, + 0.05424162146086112 + ], + [ + 0.11832154542207718, + -0.06637126952409744, + 0.9907547235488892, + -0.02293624166303721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.09305234998464584, + -0.12582187354564667, + -0.027236890582702098 + ], + [ + 0.10070245712995529, + 0.9933472275733948, + 0.05586007609963417, + 0.055054655012029864 + ], + [ + 0.11978689581155777, + -0.06784240901470184, + 0.9904789328575134, + -0.01802102431463891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.09121833741664886, + -0.12577815353870392, + -0.027558151428770813 + ], + [ + 0.09902217984199524, + 0.9934374094009399, + 0.057243041694164276, + 0.054454589651053785 + ], + [ + 0.119731105864048, + -0.06900269538164139, + 0.9904054999351501, + -0.020049095163360633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685181, + -0.09039635956287384, + -0.12600620090961456, + -0.02839691365758578 + ], + [ + 0.09821051359176636, + 0.9935184121131897, + 0.057234786450862885, + 0.05662612020969391 + ], + [ + 0.12001567333936691, + -0.06891750544309616, + 0.9903770089149475, + -0.017011938451064967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133423, + -0.09025000780820847, + -0.12632746994495392, + -0.027053012679784723 + ], + [ + 0.09827960282564163, + 0.9934183955192566, + 0.05883049964904785, + 0.055340901017189026 + ], + [ + 0.12018658220767975, + -0.07053257524967194, + 0.9902425408363342, + -0.02035507134711132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.0910235345363617, + -0.12735259532928467, + -0.0235838129861742 + ], + [ + 0.09938836097717285, + 0.9931811690330505, + 0.06093505769968033, + 0.05254671719466519 + ], + [ + 0.12093768268823624, + -0.07284121960401535, + 0.9899839758872986, + -0.027435483060713514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.1056254431605339, + -0.1236414983868599, + -0.034512789881764316 + ], + [ + 0.11176148802042007, + 0.9927705526351929, + 0.04377209022641182, + 0.08997345918423345 + ], + [ + 0.11812419444322586, + -0.057007815688848495, + 0.9913610816001892, + -0.023984530396186393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.11250335723161697, + -0.13109606504440308, + -0.023274428225480592 + ], + [ + 0.11918199807405472, + 0.9918863773345947, + 0.044239342212677, + 0.09204004796651694 + ], + [ + 0.12505531311035156, + -0.05919851362705231, + 0.9903820753097534, + -0.024325123457954484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636597, + -0.11088694632053375, + -0.13320301473140717, + -0.01937170342948192 + ], + [ + 0.11870886385440826, + 0.9915525317192078, + 0.05226680636405945, + 0.07708332506764648 + ], + [ + 0.12628208100795746, + -0.06728817522525787, + 0.9897096157073975, + -0.03971564842260674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.10610239207744598, + -0.13848407566547394, + -0.011752533097552437 + ], + [ + 0.1153840571641922, + 0.9914590716362, + 0.06078978255391121, + 0.059473523042268224 + ], + [ + 0.13085134327411652, + -0.07583639770746231, + 0.988497257232666, + -0.05199984654099642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.10311172902584076, + -0.14245112240314484, + -0.006935728503725467 + ], + [ + 0.11378641426563263, + 0.9911117553710938, + 0.06892167031764984, + 0.04394375351377022 + ], + [ + 0.13407833874225616, + -0.08405661582946777, + 0.9873993396759033, + -0.06118361668135876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.10613180696964264, + -0.14284540712833405, + -0.012900138920188969 + ], + [ + 0.11666357517242432, + 0.9908770322799683, + 0.06747051328420639, + 0.050422645506695805 + ], + [ + 0.1343814581632614, + -0.0830584242939949, + 0.9874426126480103, + -0.07120755140661686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.10455378890037537, + -0.14430680871009827, + -0.018003402290563297 + ], + [ + 0.11519041657447815, + 0.9910532236099243, + 0.06741401553153992, + 0.053565249840418494 + ], + [ + 0.13596734404563904, + -0.08295774459838867, + 0.9872339367866516, + -0.07542232036526897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.10444070398807526, + -0.14927938580513, + -0.007731689904362726 + ], + [ + 0.11634883284568787, + 0.9904941916465759, + 0.0733771026134491, + 0.04383460724583039 + ], + [ + 0.1401968002319336, + -0.08951753377914429, + 0.9860687255859375, + -0.09051658511161806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809753, + -0.10444523394107819, + -0.15275369584560394, + -0.005354538329072996 + ], + [ + 0.11693863570690155, + 0.9902874231338501, + 0.07520769536495209, + 0.043149666685579166 + ], + [ + 0.14341498911380768, + -0.09177164733409882, + 0.9853984713554382, + -0.09510842876301873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.10379937291145325, + -0.15568995475769043, + -0.005180023349503165 + ], + [ + 0.11653591692447662, + 0.9903490543365479, + 0.07502059638500214, + 0.046051765468894924 + ], + [ + 0.1464003026485443, + -0.09183898568153381, + 0.9849530458450317, + -0.0971561898278375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065002, + -0.10240726172924042, + -0.15848848223686218, + -0.0030136419460177425 + ], + [ + 0.11551395058631897, + 0.9904093146324158, + 0.07580187171697617, + 0.046613605692982674 + ], + [ + 0.14920580387115479, + -0.0927477702498436, + 0.9844467639923096, + -0.09847023636102677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.10228833556175232, + -0.16093888878822327, + 0.0006235324467221918 + ], + [ + 0.11631129682064056, + 0.9899656176567078, + 0.08024775236845016, + 0.041093070798704764 + ], + [ + 0.1511155664920807, + -0.09749417752027512, + 0.9836965799331665, + -0.10410641783323045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.10206608474254608, + -0.16337890923023224, + 4.915502718371399e-05 + ], + [ + 0.11675001680850983, + 0.9896928071975708, + 0.08293089270591736, + 0.03977121933657899 + ], + [ + 0.15323050320148468, + -0.10045203566551208, + 0.9830716252326965, + -0.10285966509045699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.10184565931558609, + -0.16516520082950592, + -0.0012384007613246237 + ], + [ + 0.11711373180150986, + 0.9894329309463501, + 0.08548008650541306, + 0.03945604673562906 + ], + [ + 0.15471412241458893, + -0.10319850593805313, + 0.9825546145439148, + -0.10287801185861614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.10170579701662064, + -0.16763797402381897, + -0.0022097366456037895 + ], + [ + 0.1176675483584404, + 0.9891297817230225, + 0.08818519860506058, + 0.039735210257080884 + ], + [ + 0.1568467617034912, + -0.10619892925024033, + 0.9818965792655945, + -0.1007338084980973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.10047782957553864, + -0.1694483458995819, + -0.0036301998867311006 + ], + [ + 0.1170346736907959, + 0.9889762997627258, + 0.09071221947669983, + 0.040058942444813554 + ], + [ + 0.15846583247184753, + -0.10876592993736267, + 0.9813554883003235, + -0.10153102619398355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.098045215010643, + -0.16996802389621735, + -0.01012026698161394 + ], + [ + 0.11479306221008301, + 0.9891512989997864, + 0.09166397899389267, + 0.04243615994659754 + ], + [ + 0.15913687646389008, + -0.10939318686723709, + 0.9811771512031555, + -0.09717386643856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.09745955467224121, + -0.1728684902191162, + -0.006185070312239674 + ], + [ + 0.11492407321929932, + 0.9889113903045654, + 0.09405716508626938, + 0.04144458868819424 + ], + [ + 0.16178485751152039, + -0.11205323785543442, + 0.9804436564445496, + -0.10070195074519542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.09616538882255554, + -0.1743066906929016, + -0.0073986856633017194 + ], + [ + 0.11393052339553833, + 0.9889422655105591, + 0.09493681788444519, + 0.04234379313440404 + ], + [ + 0.16324961185455322, + -0.11289544403553009, + 0.9801041483879089, + -0.09949378026092155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035645, + -0.09488837420940399, + -0.17515265941619873, + -0.008975159290891425 + ], + [ + 0.11276309192180634, + 0.9890628457069397, + 0.0950743705034256, + 0.04327244472045165 + ], + [ + 0.16421553492546082, + -0.1129196435213089, + 0.9799399971961975, + -0.09943595242041808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.09463026374578476, + -0.17648129165172577, + -0.010031202470517565 + ], + [ + 0.1126355305314064, + 0.9890897274017334, + 0.09494620561599731, + 0.04464707189900243 + ], + [ + 0.16557104885578156, + -0.11290109157562256, + 0.979714035987854, + -0.09908005230319807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.09488288313150406, + -0.17737092077732086, + -0.011797119597466581 + ], + [ + 0.11293945461511612, + 0.9890859127044678, + 0.09462426602840424, + 0.04662555270852187 + ], + [ + 0.16645686328411102, + -0.11272227764129639, + 0.9795845150947571, + -0.09969608136731337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.0948750451207161, + -0.17863698303699493, + -0.012852360470554767 + ], + [ + 0.11332901567220688, + 0.988900363445282, + 0.09608621895313263, + 0.04583485078735229 + ], + [ + 0.16753800213336945, + -0.11434487998485565, + 0.9792120456695557, + -0.10005645136802625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860474, + -0.09527027606964111, + -0.1800309717655182, + -0.013705194203390015 + ], + [ + 0.114105224609375, + 0.9886906147003174, + 0.09731853753328323, + 0.04600986010498471 + ], + [ + 0.16872337460517883, + -0.11582087725400925, + 0.9788349866867065, + -0.10011991610129675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.09509126842021942, + -0.1814223676919937, + -0.014519779033895232 + ], + [ + 0.11435167491436005, + 0.9885132312774658, + 0.09881967306137085, + 0.04548842468832293 + ], + [ + 0.16994152963161469, + -0.11747035384178162, + 0.9784275889396667, + -0.10093655095905321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.0954979658126831, + -0.18299457430839539, + -0.01569991110800168 + ], + [ + 0.11483760178089142, + 0.9885226488113403, + 0.09815937280654907, + 0.048691870386783895 + ], + [ + 0.17152026295661926, + -0.11706013977527618, + 0.9782012701034546, + -0.09920141605230479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.09442396461963654, + -0.18489977717399597, + -0.01544563201948618 + ], + [ + 0.1141623705625534, + 0.9884998798370361, + 0.099171482026577, + 0.048049222668394065 + ], + [ + 0.17340925335884094, + -0.11811920255422592, + 0.9777408242225647, + -0.10074264768224497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.09225362539291382, + -0.18598614633083344, + -0.016814251256804177 + ], + [ + 0.11208336055278778, + 0.9887478947639465, + 0.0990702360868454, + 0.04856015662861685 + ], + [ + 0.1747538298368454, + -0.1177576333284378, + 0.9775450229644775, + -0.10239972638396118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.09108749777078629, + -0.18740954995155334, + -0.01776194142607542 + ], + [ + 0.11109723895788193, + 0.9888483881950378, + 0.09917785227298737, + 0.04875699889201384 + ], + [ + 0.1762857735157013, + -0.11782152950763702, + 0.9772621989250183, + -0.10284228365008649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.09031878411769867, + -0.1887170821428299, + -0.01783333967766191 + ], + [ + 0.11049221456050873, + 0.988909125328064, + 0.09924842417240143, + 0.04808975728149088 + ], + [ + 0.1776600331068039, + -0.11790375411510468, + 0.9770033955574036, + -0.10506711988112866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.09068617969751358, + -0.18996351957321167, + -0.018040691211055483 + ], + [ + 0.11101716011762619, + 0.9888496994972229, + 0.0992543026804924, + 0.047418114374208654 + ], + [ + 0.1788443922996521, + -0.11811961978673935, + 0.9767612218856812, + -0.10713743470672868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621643, + -0.09112417697906494, + -0.19134095311164856, + -0.01774948436098221 + ], + [ + 0.11153890192508698, + 0.988839864730835, + 0.09876619279384613, + 0.04719575223250267 + ], + [ + 0.1802055835723877, + -0.11786462366580963, + 0.9765418171882629, + -0.10959882636864982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.09132130444049835, + -0.19269326329231262, + -0.017756688454721725 + ], + [ + 0.11170653998851776, + 0.9889262914657593, + 0.09770605713129044, + 0.04780178378598812 + ], + [ + 0.181636780500412, + -0.11698395758867264, + 0.9763825535774231, + -0.11096553269487161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.09194756299257278, + -0.19426679611206055, + -0.0174530947373973 + ], + [ + 0.11235930770635605, + 0.9889426827430725, + 0.09678748995065689, + 0.04832297410720434 + ], + [ + 0.18321934342384338, + -0.11635323613882065, + 0.9761621952056885, + -0.11205107371649173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.09236060827970505, + -0.1952887624502182, + -0.01800749328656074 + ], + [ + 0.11276378482580185, + 0.9889675378799438, + 0.0960601419210434, + 0.04844533405624903 + ], + [ + 0.18426208198070526, + -0.11581338942050934, + 0.9760301113128662, + -0.1131872461965451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.09304553270339966, + -0.19625785946846008, + -0.01803515907854606 + ], + [ + 0.11348238587379456, + 0.988932192325592, + 0.09557624906301498, + 0.048057050105088796 + ], + [ + 0.1851927936077118, + -0.1155664399266243, + 0.9758831858634949, + -0.1153410596979989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.09423211216926575, + -0.19758786261081696, + -0.017265106903182136 + ], + [ + 0.11480601131916046, + 0.9887989163398743, + 0.09537453949451447, + 0.04779238237275017 + ], + [ + 0.1863873153924942, + -0.11574555933475494, + 0.9756345152854919, + -0.1168068278166983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9753864407539368, + -0.09552070498466492, + -0.19873878359794617, + -0.016587509472782792 + ], + [ + 0.11616867780685425, + 0.9886807799339294, + 0.09494808316230774, + 0.048019780390537704 + ], + [ + 0.18741971254348755, + -0.11569829285144806, + 0.9754423499107361, + -0.11823997864356409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335815, + -0.09635034203529358, + -0.1995343267917633, + -0.01594367148911851 + ], + [ + 0.1170622855424881, + 0.9885968565940857, + 0.09472435712814331, + 0.04783155769109726 + ], + [ + 0.18813228607177734, + -0.11572767794132233, + 0.9753016829490662, + -0.12045821773572865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.0967891588807106, + -0.2004728466272354, + -0.015529005270865226 + ], + [ + 0.11754768341779709, + 0.9885750412940979, + 0.09435015916824341, + 0.04790585439047243 + ], + [ + 0.18905039131641388, + -0.11554768681526184, + 0.9751454591751099, + -0.12204515860121476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.09714441001415253, + -0.2013595551252365, + -0.015008817899685637 + ], + [ + 0.11791388690471649, + 0.9885806441307068, + 0.09383318573236465, + 0.04775453451543282 + ], + [ + 0.189944788813591, + -0.1152011975646019, + 0.9750126600265503, + -0.12430718231659671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.09762518852949142, + -0.20222583413124084, + -0.014598006586361133 + ], + [ + 0.11839186400175095, + 0.9885784387588501, + 0.09325264394283295, + 0.0475266743483197 + ], + [ + 0.19081228971481323, + -0.1148129403591156, + 0.9748890399932861, + -0.12648842450645237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9741423726081848, + -0.09781992435455322, + -0.20366127789020538, + -0.013641198823212556 + ], + [ + 0.11860299110412598, + 0.9886284470558167, + 0.09245079755783081, + 0.04794040932359858 + ], + [ + 0.19230179488658905, + -0.11421507596969604, + 0.9746665954589844, + -0.12706941781390427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.09773191809654236, + -0.20458616316318512, + -0.013482370772040805 + ], + [ + 0.11847157776355743, + 0.988715648651123, + 0.09168357402086258, + 0.048077393227662794 + ], + [ + 0.19331713020801544, + -0.11353353410959244, + 0.9745453596115112, + -0.12835097618592092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.973677396774292, + -0.0979643389582634, + -0.20580418407917023, + -0.012769288709785182 + ], + [ + 0.11873745173215866, + 0.9887366890907288, + 0.09111108630895615, + 0.04773482345044613 + ], + [ + 0.19456051290035248, + -0.11314947158098221, + 0.9743425250053406, + -0.12913411575504857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.09835473448038101, + -0.2063547670841217, + -0.013245926720973772 + ], + [ + 0.11907441169023514, + 0.9887531995773315, + 0.090489462018013, + 0.047502232190126024 + ], + [ + 0.19513386487960815, + -0.11266501247882843, + 0.9742840528488159, + -0.13057549432811574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.09844247996807098, + -0.20692245662212372, + -0.01326451396139768 + ], + [ + 0.11909666657447815, + 0.9888111352920532, + 0.0898246318101883, + 0.047533178959901515 + ], + [ + 0.1957646757364273, + -0.11207835376262665, + 0.9742251634597778, + -0.13192756749116458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.09812191873788834, + -0.20800474286079407, + -0.012575734706006494 + ], + [ + 0.11871661990880966, + 0.9889377355575562, + 0.08892975747585297, + 0.04812401284774144 + ], + [ + 0.19697779417037964, + -0.11123950779438019, + 0.9740767478942871, + -0.13206680122858439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.09829660505056381, + -0.20870326459407806, + -0.01184539945843892 + ], + [ + 0.11887537688016891, + 0.9889628291130066, + 0.08843759447336197, + 0.04803633245711143 + ], + [ + 0.1977066546678543, + -0.11086181551218033, + 0.9739721417427063, + -0.1319444783222981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.09785573184490204, + -0.20849496126174927, + -0.011430033793052035 + ], + [ + 0.11828659474849701, + 0.9890846610069275, + 0.08786271512508392, + 0.047759218017260234 + ], + [ + 0.19762128591537476, + -0.11016274988651276, + 0.9740687608718872, + -0.1334039996067683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.09647294133901596, + -0.20772293210029602, + -0.011615472614892526 + ], + [ + 0.11665081232786179, + 0.9893409013748169, + 0.0871616005897522, + 0.0479737802193715 + ], + [ + 0.19710007309913635, + -0.10907578468322754, + 0.9742966890335083, + -0.134744852131758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.09505336731672287, + -0.20731209218502045, + -0.010834958662207309 + ], + [ + 0.1150783821940422, + 0.989561140537262, + 0.08675079047679901, + 0.048421635198542194 + ], + [ + 0.1969020515680313, + -0.10832169651985168, + 0.9744208455085754, + -0.1355237946041629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.973919689655304, + -0.09286005795001984, + -0.20702049136161804, + -0.009779050229833674 + ], + [ + 0.11279778182506561, + 0.9898317456245422, + 0.08665876090526581, + 0.04868446523562456 + ], + [ + 0.19686833024024963, + -0.10775011777877808, + 0.9744910597801208, + -0.13614601630430956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.09080660343170166, + -0.20616234838962555, + -0.009321045432972092 + ], + [ + 0.11068245768547058, + 0.9900410175323486, + 0.0869951918721199, + 0.04846434085032879 + ], + [ + 0.19620944559574127, + -0.10757755488157272, + 0.9746429920196533, + -0.1380322811822606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.08831210434436798, + -0.20570972561836243, + -0.008893884998610891 + ], + [ + 0.10809850692749023, + 0.9903258681297302, + 0.08700229972600937, + 0.04898086345921724 + ], + [ + 0.19603630900382996, + -0.10703111439943314, + 0.9747379422187805, + -0.1391861034764184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129883, + -0.08584735542535782, + -0.20573335886001587, + -0.009002691793900267 + ], + [ + 0.10556920617818832, + 0.9906105995178223, + 0.08686628937721252, + 0.04989256142423703 + ], + [ + 0.19634440541267395, + -0.10639943182468414, + 0.9747450947761536, + -0.1398196523006146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777283, + -0.08371412754058838, + -0.2064916342496872, + -0.00856653040864019 + ], + [ + 0.1036105751991272, + 0.9907628893852234, + 0.08748546987771988, + 0.04961515459048951 + ], + [ + 0.19726048409938812, + -0.10668084770441055, + 0.9745293855667114, + -0.141632778585976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.08187540620565414, + -0.20737075805664062, + -0.009228807952032127 + ], + [ + 0.10188858956098557, + 0.9909200668334961, + 0.08772731572389603, + 0.0499639537726712 + ], + [ + 0.1983051300048828, + -0.10664794594049454, + 0.9743209481239319, + -0.14368889555971848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530396, + -0.07997071743011475, + -0.20942778885364532, + -0.009265259863474427 + ], + [ + 0.10039535164833069, + 0.9909796714782715, + 0.08876939862966537, + 0.04897043591317458 + ], + [ + 0.20043973624706268, + -0.10753565281629562, + 0.9737864136695862, + -0.1464242512981097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.07701306790113449, + -0.21328267455101013, + -0.009084537622128793 + ], + [ + 0.09784286469221115, + 0.9912249445915222, + 0.08888120949268341, + 0.049171439653787855 + ], + [ + 0.204566091299057, + -0.10743407905101776, + 0.9729391932487488, + -0.14706443271830552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.07502195239067078, + -0.2183000147342682, + -0.009273506704176591 + ], + [ + 0.09627111256122589, + 0.9914239645004272, + 0.08837667852640152, + 0.0505181302021966 + ], + [ + 0.2097976803779602, + -0.10700594633817673, + 0.9718717336654663, + -0.14727378570371205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.07415057718753815, + -0.22328127920627594, + -0.010663988536749127 + ], + [ + 0.0962403267621994, + 0.9913062453269958, + 0.0897204726934433, + 0.04848125617091472 + ], + [ + 0.2146873027086258, + -0.10869064927101135, + 0.9706161618232727, + -0.1493017573769276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.07436057180166245, + -0.22939182817935944, + -0.012457685338126287 + ], + [ + 0.09724108129739761, + 0.991174578666687, + 0.0900953859090805, + 0.047806167188617917 + ], + [ + 0.2206677943468094, + -0.10974293947219849, + 0.9691554307937622, + -0.1507898916800817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.075393907725811, + -0.23730406165122986, + -0.013864434730166044 + ], + [ + 0.09924861043691635, + 0.9909639954566956, + 0.09022247046232224, + 0.047392076024642356 + ], + [ + 0.22835755348205566, + -0.11093304306268692, + 0.9672366380691528, + -0.15214793091146356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.07403167337179184, + -0.24615532159805298, + -0.016844446212053298 + ], + [ + 0.09895602613687515, + 0.9909713864326477, + 0.09046213328838348, + 0.047244821660793745 + ], + [ + 0.23723581433296204, + -0.1117810606956482, + 0.9649995565414429, + -0.15395074773293277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447266, + -0.07028083503246307, + -0.2563932538032532, + -0.02012266008517681 + ], + [ + 0.09669665992259979, + 0.9910615086555481, + 0.09190692752599716, + 0.04642842834831303 + ], + [ + 0.2476421743631363, + -0.1133919432759285, + 0.9621931314468384, + -0.15634253644026241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.06318016350269318, + -0.26793599128723145, + -0.024308381108646717 + ], + [ + 0.09126824140548706, + 0.99140864610672, + 0.09369607269763947, + 0.04655171557624116 + ], + [ + 0.2597143054008484, + -0.11452996730804443, + 0.9588698148727417, + -0.15822881798968358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.053399331867694855, + -0.28061285614967346, + -0.0295607528816431 + ], + [ + 0.08347515016794205, + 0.9918422698974609, + 0.09633699059486389, + 0.046407674596859856 + ], + [ + 0.27317938208580017, + -0.11574725806713104, + 0.9549741148948669, + -0.16081015085562683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.040249817073345184, + -0.2958751320838928, + -0.03473473566337528 + ], + [ + 0.07252354174852371, + 0.9924487471580505, + 0.09892350435256958, + 0.047868266160416804 + ], + [ + 0.2896592617034912, + -0.11586835980415344, + 0.9500905275344849, + -0.16222723388773763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.02490105852484703, + -0.3097083270549774, + -0.044387607085399135 + ], + [ + 0.05914822593331337, + 0.9930567741394043, + 0.10168454796075821, + 0.04933028007801781 + ], + [ + 0.3050259053707123, + -0.11497042328119278, + 0.9453787803649902, + -0.16988360076887996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.012554572895169258, + -0.32818034291267395, + -0.05078647916133587 + ], + [ + 0.04996383190155029, + 0.9931305646896362, + 0.10580794513225555, + 0.05021863021911719 + ], + [ + 0.32459756731987, + -0.11633610725402832, + 0.9386705160140991, + -0.16934376358985903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0002573709934949875, + -0.3476983904838562, + -0.05588010837379684 + ], + [ + 0.0404190793633461, + 0.9931393265724182, + 0.1097295805811882, + 0.05078890696804748 + ], + [ + 0.34534120559692383, + -0.1169368103146553, + 0.9311633706092834, + -0.16983153357719766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192627, + 0.012436185963451862, + -0.3662859797477722, + -0.06144734163824309 + ], + [ + 0.03115358203649521, + 0.9931231737136841, + 0.11285322904586792, + 0.05189541782706212 + ], + [ + 0.36517053842544556, + -0.11641193926334381, + 0.9236334562301636, + -0.17034602909006624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.022697875276207924, + -0.38441959023475647, + -0.0655176994892267 + ], + [ + 0.023564675822854042, + 0.9930619597434998, + 0.11520680785179138, + 0.052453433378384665 + ], + [ + 0.384367436170578, + -0.11538071930408478, + 0.915941596031189, + -0.17199331235427123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.029455576092004776, + -0.3999384641647339, + -0.07097716931349192 + ], + [ + 0.018857046961784363, + 0.9930316209793091, + 0.11632957309484482, + 0.05321532710431478 + ], + [ + 0.4005780816078186, + -0.11410752683877945, + 0.9091296195983887, + -0.17386518887475005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.03700459748506546, + -0.4142109751701355, + -0.07462752428319719 + ], + [ + 0.012702034786343575, + 0.993096649646759, + 0.11660902947187424, + 0.054793216867579354 + ], + [ + 0.4156665802001953, + -0.11130888015031815, + 0.9026802778244019, + -0.1769552290439606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.04418061673641205, + -0.42662155628204346, + -0.07642186131232823 + ], + [ + 0.00687362439930439, + 0.9930614829063416, + 0.1173952966928482, + 0.05536891930760481 + ], + [ + 0.4288480281829834, + -0.10898153483867645, + 0.8967788815498352, + -0.17873951529081053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.04922556132078171, + -0.4364371597766876, + -0.07694965455776606 + ], + [ + 0.0022470448166131973, + 0.9931711554527283, + 0.11664480715990067, + 0.057806831318089086 + ], + [ + 0.43919870257377625, + -0.10577289015054703, + 0.892141580581665, + -0.17779484099557258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.051780350506305695, + -0.4422224760055542, + -0.07658744839012113 + ], + [ + -0.00010766647756099701, + 0.99323970079422, + 0.116081602871418, + 0.05756337448763542 + ], + [ + 0.4452436566352844, + -0.10389294475317001, + 0.8893617391586304, + -0.18049487121339539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.05171838775277138, + -0.44711071252822876, + -0.07004201213518778 + ], + [ + 2.9165297746658325e-05, + 0.9933696985244751, + 0.11496375501155853, + 0.057310752494212906 + ], + [ + 0.4500919580459595, + -0.10267363488674164, + 0.8870599269866943, + -0.18102530730076327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.051662374287843704, + -0.44594472646713257, + -0.06794305637351468 + ], + [ + -0.0009096004068851471, + 0.9935625791549683, + 0.11328089237213135, + 0.05808977181585426 + ], + [ + 0.44892632961273193, + -0.10081858932971954, + 0.887863039970398, + -0.1822969137858122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.04776440188288689, + -0.4419002830982208, + -0.06428640056879092 + ], + [ + 0.0016431137919425964, + 0.9938464760780334, + 0.1107543483376503, + 0.05870947332208992 + ], + [ + 0.444471150636673, + -0.09993892163038254, + 0.8902009129524231, + -0.1825753795922312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.041424691677093506, + -0.4345242381095886, + -0.05950039120820852 + ], + [ + 0.006396599113941193, + 0.9941283464431763, + 0.10801819711923599, + 0.05818665895897608 + ], + [ + 0.43644750118255615, + -0.0999642089009285, + 0.8941592574119568, + -0.18500479952647136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791626, + 0.0338175967335701, + -0.4252876937389374, + -0.05287147262412258 + ], + [ + 0.011889135465025902, + 0.9944684505462646, + 0.10436084866523743, + 0.05896932122289625 + ], + [ + 0.42646440863609314, + -0.0994429886341095, + 0.8990212678909302, + -0.18408494697422045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.02482655830681324, + -0.41355443000793457, + -0.04412326682836581 + ], + [ + 0.018159927800297737, + 0.9948529005050659, + 0.09968909621238708, + 0.059952208425244714 + ], + [ + 0.41390079259872437, + -0.09824123978614807, + 0.9050053954124451, + -0.18200736336219006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.009677340276539326, + -0.3984796106815338, + -0.035755999271686253 + ], + [ + 0.030192993581295013, + 0.9951463937759399, + 0.09365888684988022, + 0.06107890116862762 + ], + [ + 0.39745190739631653, + -0.09792830795049667, + 0.9123826026916504, + -0.17745657513538998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.005942344665527344, + -0.3809187710285187, + -0.025614586822752257 + ], + [ + 0.04245951399207115, + 0.9952561855316162, + 0.08753432333469391, + 0.05980894531831782 + ], + [ + 0.3785916268825531, + -0.09710693359375, + 0.9204556941986084, + -0.17809267837522377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.02467264048755169, + -0.3598748743534088, + -0.016096937439889984 + ], + [ + 0.057661354541778564, + 0.9950268268585205, + 0.08122081309556961, + 0.05682213788485935 + ], + [ + 0.3560812175273895, + -0.09650342911481857, + 0.9294586181640625, + -0.18082969468882962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.04396728426218033, + -0.33740484714508057, + -0.007419792314370469 + ], + [ + 0.07322211563587189, + 0.9945314526557922, + 0.07446920871734619, + 0.05435068905353546 + ], + [ + 0.3322855234146118, + -0.09473130106925964, + 0.9384094476699829, + -0.180526003241539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.06606294214725494, + -0.31522223353385925, + 0.00131687162778317 + ], + [ + 0.09117239713668823, + 0.9936740398406982, + 0.06557057797908783, + 0.05621319638612943 + ], + [ + 0.30889639258384705, + -0.09081625938415527, + 0.9467499256134033, + -0.1759979602108654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.0867420881986618, + -0.2908088266849518, + 0.01007527648670297 + ], + [ + 0.10839028656482697, + 0.9923473000526428, + 0.05914688482880592, + 0.053719544390009505 + ], + [ + 0.2834528386592865, + -0.08787843585014343, + 0.9549512267112732, + -0.18010203434616073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.957180917263031, + -0.10843473672866821, + -0.26841503381729126, + 0.021960241768437513 + ], + [ + 0.12702696025371552, + 0.9904906153678894, + 0.05284423381090164, + 0.05202250280059301 + ], + [ + 0.26013243198394775, + -0.08467743545770645, + 0.9618528485298157, + -0.18407519815059808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.128010556101799, + -0.24506095051765442, + 0.029243500237790952 + ], + [ + 0.14353950321674347, + 0.9885507822036743, + 0.04651626572012901, + 0.051833097297602736 + ], + [ + 0.23630061745643616, + -0.07987895607948303, + 0.9683911204338074, + -0.18512927188068373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.1475183516740799, + -0.2223912924528122, + 0.036177812908322386 + ], + [ + 0.1605565994977951, + 0.9861482381820679, + 0.041632238775491714, + 0.05063055516180829 + ], + [ + 0.21316926181316376, + -0.07582873106002808, + 0.9740682244300842, + -0.18694619617910468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.1638677418231964, + -0.20116622745990753, + 0.04295801278681327 + ], + [ + 0.1746748685836792, + 0.9839277863502502, + 0.037077896296978, + 0.050268657247607526 + ], + [ + 0.19185717403888702, + -0.07094679027795792, + 0.9788551330566406, + -0.18894136242377452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.17610272765159607, + -0.1806613802909851, + 0.04881348062911604 + ], + [ + 0.18486613035202026, + 0.9822182655334473, + 0.03273899108171463, + 0.050581288942669195 + ], + [ + 0.17168349027633667, + -0.06507810205221176, + 0.9830003380775452, + -0.1922532932753237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.18913325667381287, + -0.16122466325759888, + 0.05594905861931988 + ], + [ + 0.19656822085380554, + 0.979989230632782, + 0.031337715685367584, + 0.0472505415447502 + ], + [ + 0.15207141637802124, + -0.062046147882938385, + 0.9864200949668884, + -0.2016029558884792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.19852980971336365, + -0.1449819803237915, + 0.06118066156139741 + ], + [ + 0.2046114206314087, + 0.9784380197525024, + 0.02816375158727169, + 0.048212956799528535 + ], + [ + 0.13626453280448914, + -0.056964434683322906, + 0.9890334010124207, + -0.2018256050653947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.20980796217918396, + -0.12796364724636078, + 0.06789331927768186 + ], + [ + 0.21499767899513245, + 0.9762121438980103, + 0.02803308144211769, + 0.043859616487135746 + ], + [ + 0.11903809756040573, + -0.05468526855111122, + 0.9913825988769531, + -0.22033101269322586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.970149576663971, + -0.21279112994670868, + -0.11631737649440765, + 0.06939144351034084 + ], + [ + 0.21684689819812775, + 0.9759286046028137, + 0.02325509488582611, + 0.049085547348372956 + ], + [ + 0.10856898128986359, + -0.047783978283405304, + 0.992939829826355, + -0.20443657418856256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897217, + -0.21740037202835083, + -0.10408660769462585, + 0.07172595262527466 + ], + [ + 0.22077131271362305, + 0.9750796556472778, + 0.021900998428463936, + 0.048438184772833036 + ], + [ + 0.09673145413398743, + -0.04423462599515915, + 0.9943270683288574, + -0.20753316122751972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.22146070003509521, + -0.09397425502538681, + 0.07780830214420954 + ], + [ + 0.22446614503860474, + 0.9742201566696167, + 0.02258334681391716, + 0.04490225149525536 + ], + [ + 0.0865502879023552, + -0.043014127761125565, + 0.9953184723854065, + -0.22183711760573918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9713939428329468, + -0.2210748940706253, + -0.08671591430902481, + 0.08043408399272678 + ], + [ + 0.2237585335969925, + 0.9743863940238953, + 0.022433090955018997, + 0.044002194573672916 + ], + [ + 0.07953541725873947, + -0.041194792836904526, + 0.9959805011749268, + -0.22428391631851852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.21781934797763824, + -0.08145803958177567, + 0.08130609845885864 + ], + [ + 0.22027860581874847, + 0.9751792550086975, + 0.02242249622941017, + 0.043108571177491777 + ], + [ + 0.07455214112997055, + -0.03975122049450874, + 0.9964244961738586, + -0.22523910647783524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.2119612991809845, + -0.0784216895699501, + 0.0810380096332385 + ], + [ + 0.21434932947158813, + 0.9764789938926697, + 0.023304712027311325, + 0.04151021182759959 + ], + [ + 0.07163744419813156, + -0.03951137140393257, + 0.996647834777832, + -0.22691798964117327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.20344486832618713, + -0.07777990400791168, + 0.07972672283649444 + ], + [ + 0.2058640420436859, + 0.9782768487930298, + 0.024379855021834373, + 0.03991996110058748 + ], + [ + 0.07113032042980194, + -0.03980662673711777, + 0.9966723918914795, + -0.22787487025444325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751465, + -0.19288700819015503, + -0.07931981980800629, + 0.07816326203636634 + ], + [ + 0.1953589916229248, + 0.9804229736328125, + 0.024610796943306923, + 0.03907860908418512 + ], + [ + 0.07301986217498779, + -0.03956543654203415, + 0.9965453743934631, + -0.22816211497172334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.18199658393859863, + -0.08247476816177368, + 0.07571706056085407 + ], + [ + 0.18456736207008362, + 0.982511043548584, + 0.024634940549731255, + 0.03787046779010795 + ], + [ + 0.07654890418052673, + -0.03936030715703964, + 0.9962886571884155, + -0.2292342590980041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1702432483434677, + -0.08704868704080582, + 0.07261296258204514 + ], + [ + 0.17297138273715973, + 0.9846154451370239, + 0.024766409769654274, + 0.03647659241787007 + ], + [ + 0.08149316161870956, + -0.03936639428138733, + 0.9958961606025696, + -0.23010982802281013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.15885408222675323, + -0.09249308705329895, + 0.06920844883872912 + ], + [ + 0.1617366224527359, + 0.9865297079086304, + 0.024503173306584358, + 0.03486207225001775 + ], + [ + 0.08735474944114685, + -0.03904515877366066, + 0.9954118132591248, + -0.23152737457018632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916687, + -0.14746220409870148, + -0.09873469173908234, + 0.06603836103254913 + ], + [ + 0.15045319497585297, + 0.9883372187614441, + 0.023524729534983635, + 0.03418976858847289 + ], + [ + 0.09411415457725525, + -0.03800627589225769, + 0.9948356747627258, + -0.23183053734465542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.13747529685497284, + -0.10522107034921646, + 0.06353532874431365 + ], + [ + 0.14056672155857086, + 0.9898151755332947, + 0.022515583783388138, + 0.03280825266917037 + ], + [ + 0.10105407983064651, + -0.036966193467378616, + 0.9941939115524292, + -0.23259570565488605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.12813040614128113, + -0.11093787103891373, + 0.060962660448291364 + ], + [ + 0.13122212886810303, + 0.991130530834198, + 0.021000951528549194, + 0.03164966471302204 + ], + [ + 0.10726305097341537, + -0.03525463491678238, + 0.9936054348945618, + -0.2335717681126717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.11832474917173386, + -0.11610306054353714, + 0.058253059115929484 + ], + [ + 0.12137790769338608, + 0.9924135804176331, + 0.01956387795507908, + 0.030361623352027346 + ], + [ + 0.11290735751390457, + -0.033385537564754486, + 0.9930444955825806, + -0.2341862537412562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.10830871760845184, + -0.12030729651451111, + 0.055390149934424295 + ], + [ + 0.11122792959213257, + 0.9936354756355286, + 0.0178004652261734, + 0.029204315981931156 + ], + [ + 0.11761365830898285, + -0.03094721958041191, + 0.992577075958252, + -0.23643047279781765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.09908399730920792, + -0.12443291395902634, + 0.052325216069435465 + ], + [ + 0.10182847827672958, + 0.9946752786636353, + 0.015877142548561096, + 0.02854120563238095 + ], + [ + 0.12219717353582382, + -0.02834581583738327, + 0.9921010136604309, + -0.23715140819549563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.09001149982213974, + -0.1283700168132782, + 0.0496559118740579 + ], + [ + 0.09270647913217545, + 0.9955779910087585, + 0.015163253992795944, + 0.026928878007217858 + ], + [ + 0.1264374852180481, + -0.026876460760831833, + 0.9916104078292847, + -0.2397541468978947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614136, + -0.08049169927835464, + -0.13254374265670776, + 0.04757322412398127 + ], + [ + 0.08308481425046921, + 0.9964421391487122, + 0.01414218358695507, + 0.026830831536243105 + ], + [ + 0.13093385100364685, + -0.02498348243534565, + 0.9910762310028076, + -0.24151306198193478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773499, + -0.0703352764248848, + -0.13583122193813324, + 0.04507277705348455 + ], + [ + 0.07289371639490128, + 0.9972421526908875, + 0.013948282226920128, + 0.026065789055652343 + ], + [ + 0.13447557389736176, + -0.023685382679104805, + 0.9906337857246399, + -0.24115966718930465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.060889843851327896, + -0.13881294429302216, + 0.04277941050628821 + ], + [ + 0.06331786513328552, + 0.9979069232940674, + 0.013138719834387302, + 0.026252424146215883 + ], + [ + 0.13772238790988922, + -0.021776240319013596, + 0.990231454372406, + -0.2425329834732235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.05374547094106674, + -0.1416022777557373, + 0.04096951285361225 + ], + [ + 0.05623587220907211, + 0.9983243346214294, + 0.013641752302646637, + 0.024892257494676825 + ], + [ + 0.14063182473182678, + -0.021447502076625824, + 0.9898296594619751, + -0.24283804170086853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.045408640056848526, + -0.14387789368629456, + 0.038650280667039065 + ], + [ + 0.0478987880051136, + 0.9987556338310242, + 0.013889262452721596, + 0.024554661938395256 + ], + [ + 0.14306816458702087, + -0.020621849223971367, + 0.9894979596138, + -0.24288500127119897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.038164395838975906, + -0.1461172252893448, + 0.036693032744985365 + ], + [ + 0.04070153459906578, + 0.9990674257278442, + 0.014412548393011093, + 0.023765395767986773 + ], + [ + 0.14543090760707855, + -0.020194444805383682, + 0.989162266254425, + -0.24412565929257973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.03220750764012337, + -0.14786958694458008, + 0.033791707701280586 + ], + [ + 0.0347265787422657, + 0.9992918968200684, + 0.014485127292573452, + 0.023031525421314515 + ], + [ + 0.14729833602905273, + -0.019453296437859535, + 0.9889007806777954, + -0.24457700626972395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.988215982913971, + -0.029091212898492813, + -0.1502760350704193, + 0.0320452056825161 + ], + [ + 0.031473349779844284, + 0.9994134306907654, + 0.01349729299545288, + 0.02355573276678721 + ], + [ + 0.14979523420333862, + -0.01806792989373207, + 0.988551914691925, + -0.24422226181397072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.987951397895813, + -0.02778010256588459, + -0.1522507518529892, + 0.02999876086942406 + ], + [ + 0.03019012324512005, + 0.9994524717330933, + 0.013540053740143776, + 0.022353775694202153 + ], + [ + 0.15179122984409332, + -0.017973383888602257, + 0.9882491230964661, + -0.24479084616033442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.027334081009030342, + -0.1539868861436844, + 0.026934646961525976 + ], + [ + 0.02979983203113079, + 0.9994616508483887, + 0.01372696366161108, + 0.021394416047100965 + ], + [ + 0.15352876484394073, + -0.018146833404898643, + 0.9879775643348694, + -0.2459784595630108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.02814178727567196, + -0.15723510086536407, + 0.025422473810613157 + ], + [ + 0.030611323192715645, + 0.9994428157806396, + 0.013306012377142906, + 0.022039532475173474 + ], + [ + 0.15677304565906525, + -0.017948338761925697, + 0.9874715805053711, + -0.24535311162471773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/push_in/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..50debbcf4688e31713bd211a4fe94c576e43f082 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/push_in/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010043199872598052, + 0.005771652329713106, + 0.0026174275238369394 + ], + [ + 0.0011594925308600068, + 0.9996362328529358, + -0.026945147663354874, + 0.0011673889504984403 + ], + [ + -0.005742491688579321, + 0.026951376348733902, + 0.999620258808136, + 0.005236663182990419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295654, + -0.005417153239250183, + 0.013236249797046185, + 0.005663122309164869 + ], + [ + 0.005993630737066269, + 0.999017596244812, + -0.04390867426991463, + -0.0018343808802051677 + ], + [ + -0.01298538688570261, + 0.04398351535201073, + 0.9989478588104248, + 0.00473803139777265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917786, + -0.023633664473891258, + 0.018150687217712402, + 0.009371223014134627 + ], + [ + 0.024496281519532204, + 0.9985045790672302, + -0.048873111605644226, + -0.005286727415827605 + ], + [ + -0.016968492418527603, + 0.04929602891206741, + 0.9986400604248047, + 0.0007620333344675603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04377982020378113, + 0.02065206505358219, + 0.012219166344939135 + ], + [ + 0.044819705188274384, + 0.9975928664207458, + -0.0529114305973053, + -0.01055977550199908 + ], + [ + -0.018285902217030525, + 0.05377501994371414, + 0.9983856081962585, + 0.001078774187809382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056863486766815186, + 0.023121442645788193, + 0.014843324191358864 + ], + [ + 0.0581679567694664, + 0.9964825510978699, + -0.06032449007034302, + -0.014926101725835066 + ], + [ + -0.019609853625297546, + 0.0615556538105011, + 0.9979109764099121, + -0.0004991765619597882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.0669407993555069, + 0.027335239574313164, + 0.015237332273943301 + ], + [ + 0.06877684593200684, + 0.9949638843536377, + -0.07291490584611893, + -0.015025076609200392 + ], + [ + -0.022316595539450645, + 0.07460407167673111, + 0.9969635009765625, + -0.0005793656473262947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07772161066532135, + 0.03150692582130432, + 0.015205151181763563 + ], + [ + 0.08019189536571503, + 0.9930015206336975, + -0.08670175075531006, + -0.01520032920102533 + ], + [ + -0.02454782836139202, + 0.08892291784286499, + 0.9957359433174133, + -0.00429816373074666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08712751418352127, + 0.0332910530269146, + 0.015138952558239301 + ], + [ + 0.0900096669793129, + 0.9910994172096252, + -0.09808236360549927, + -0.018173789369881663 + ], + [ + -0.024449072778224945, + 0.10065130889415741, + 0.9946213364601135, + -0.00737227255749142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08894763141870499, + 0.03417264297604561, + 0.014060660609259056 + ], + [ + 0.0921560600399971, + 0.9898726940155029, + -0.1079784631729126, + -0.021359016087192755 + ], + [ + -0.02422213740646839, + 0.11063636839389801, + 0.9935657382011414, + -0.013667566529833353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08436749130487442, + 0.03339671716094017, + 0.015243045539937468 + ], + [ + 0.08777566999197006, + 0.9890100955963135, + -0.11897231638431549, + -0.022880186478042196 + ], + [ + -0.022992298007011414, + 0.1214129626750946, + 0.9923357367515564, + -0.016744023443669334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.079302579164505, + 0.03451511636376381, + 0.015322393922405874 + ], + [ + 0.08318085968494415, + 0.9878548979759216, + -0.13123910129070282, + -0.02496087171901495 + ], + [ + -0.02368832752108574, + 0.1336183398962021, + 0.990749716758728, + -0.018817393615459782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07875555753707886, + 0.035701934248209, + 0.018973957747220993 + ], + [ + 0.0831107646226883, + 0.9860875010490417, + -0.14395850896835327, + -0.030544182820579944 + ], + [ + -0.023867696523666382, + 0.1463865339756012, + 0.9889394640922546, + -0.023638065025592462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177673, + -0.09256604313850403, + 0.03465414047241211, + 0.040432751178741455 + ], + [ + 0.09669160842895508, + 0.9843844771385193, + -0.14709854125976562, + -0.04840880350934135 + ], + [ + -0.020496666431427002, + 0.14972901344299316, + 0.9885146021842957, + -0.08922940558857388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09307864308357239, + 0.03840361535549164, + 0.042885285361200315 + ], + [ + 0.0980973094701767, + 0.9820225238800049, + -0.16127224266529083, + -0.05046475718800838 + ], + [ + -0.022702213376760483, + 0.164219930768013, + 0.9861624836921692, + -0.0908117714855406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08639077842235565, + 0.04321001097559929, + 0.04295022487162779 + ], + [ + 0.09261272847652435, + 0.9806010127067566, + -0.17275570333003998, + -0.04934903855125109 + ], + [ + -0.027447279542684555, + 0.17594967782497406, + 0.9840164184570312, + -0.09792209225587356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07420744001865387, + 0.04774467647075653, + 0.041891072906999505 + ], + [ + 0.08167071640491486, + 0.9801908135414124, + -0.1804323047399521, + -0.05018576821710309 + ], + [ + -0.0334094762802124, + 0.18362782895565033, + 0.9824279546737671, + -0.1011431835910194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06434112787246704, + 0.05213944986462593, + 0.040563769270785345 + ], + [ + 0.07303920388221741, + 0.9796071648597717, + -0.1871766448020935, + -0.050014617567897865 + ], + [ + -0.03903302177786827, + 0.19034191966056824, + 0.9809415936470032, + -0.09892076647434479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05821879208087921, + 0.054883211851119995, + 0.043055376754357264 + ], + [ + 0.06763423979282379, + 0.9795976877212524, + -0.18924580514431, + -0.05478371834525695 + ], + [ + -0.04274580627679825, + 0.1923510879278183, + 0.980394721031189, + -0.09269153544536003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.051942091435194016, + 0.05863000079989433, + 0.0443439230020357 + ], + [ + 0.062262121587991714, + 0.9796562790870667, + -0.190779909491539, + -0.05868000417438328 + ], + [ + -0.0475277416408062, + 0.19384418427944183, + 0.9798803925514221, + -0.08892751727093998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.05063077434897423, + 0.06381705403327942, + 0.041840451777490795 + ], + [ + 0.06216574087738991, + 0.9789945483207703, + -0.19417811930179596, + -0.05848751503687639 + ], + [ + -0.052645161747932434, + 0.19749997556209564, + 0.9788882732391357, + -0.09058737353636669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04961514472961426, + 0.06491951644420624, + 0.04222916983641111 + ], + [ + 0.06151943653821945, + 0.9785534739494324, + -0.1965920627117157, + -0.06090825939407715 + ], + [ + -0.05377327278256416, + 0.19992852210998535, + 0.9783337712287903, + -0.08599525162806877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04558997601270676, + 0.06412158906459808, + 0.04319639875848069 + ], + [ + 0.057594262063503265, + 0.9781025052070618, + -0.19999592006206512, + -0.06267640044291814 + ], + [ + -0.053599677979946136, + 0.20306901633739471, + 0.9776962995529175, + -0.08282066457546675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607544, + -0.03938813880085945, + 0.06819803267717361, + 0.03760058186056777 + ], + [ + 0.052565593272447586, + 0.977608323097229, + -0.2037617564201355, + -0.06458058545732091 + ], + [ + -0.05864516645669937, + 0.2067137360572815, + 0.9766423106193542, + -0.09139280901250676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.04150507599115372, + 0.06588971614837646, + 0.04100811303808139 + ], + [ + 0.05446356534957886, + 0.9763911962509155, + -0.2090309113264084, + -0.06115387601730151 + ], + [ + -0.05565829947590828, + 0.21198473870754242, + 0.9756867289543152, + -0.07236016820638608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03953487426042557, + 0.06778249144554138, + 0.03812336705179296 + ], + [ + 0.05318856239318848, + 0.9755423069000244, + -0.21327950060367584, + -0.06023340417533858 + ], + [ + -0.05769271031022072, + 0.21622709929943085, + 0.9746370315551758, + -0.06189335245861966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.034961801022291183, + 0.07318919152021408, + 0.02994515101114909 + ], + [ + 0.05014246329665184, + 0.9748436808586121, + -0.21717625856399536, + -0.06056035094790989 + ], + [ + -0.06375514715909958, + 0.2201305627822876, + 0.9733847379684448, + -0.05809998114903768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03524046018719673, + 0.07438088953495026, + 0.027551985618013603 + ], + [ + 0.05080832168459892, + 0.974373459815979, + -0.2191229611635208, + -0.06093786507844925 + ], + [ + -0.06475277245044708, + 0.22215865552425385, + 0.9728579521179199, + -0.048414654112779176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.03681790083646774, + 0.07488847523927689, + 0.026554883984673736 + ], + [ + 0.05266831815242767, + 0.9735798835754395, + -0.22218969464302063, + -0.05944491925402584 + ], + [ + -0.06472935527563095, + 0.22535893321037292, + 0.9721231460571289, + -0.04064964729114475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017395, + -0.03757404536008835, + 0.07595515251159668, + 0.023550757698905772 + ], + [ + 0.053659066557884216, + 0.9734908938407898, + -0.2223425805568695, + -0.06346893435996821 + ], + [ + -0.06558734178543091, + 0.22561851143836975, + 0.9720054268836975, + -0.03516224453337172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.039605412632226944, + 0.0693020299077034, + 0.036674296722198144 + ], + [ + 0.05432456359267235, + 0.972733736038208, + -0.2254725694656372, + -0.061710504385141224 + ], + [ + -0.058482490479946136, + 0.22851794958114624, + 0.9717815518379211, + -0.02473087245837236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.996643602848053, + -0.03472062572836876, + 0.07413497567176819, + 0.024630563406862763 + ], + [ + 0.050829771906137466, + 0.9723463654518127, + -0.2279449999332428, + -0.06378784829862097 + ], + [ + -0.0641704797744751, + 0.23094817996025085, + 0.9708476066589355, + -0.02405884645433507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04096035286784172, + 0.07396215945482254, + 0.02509021421846671 + ], + [ + 0.057165201753377914, + 0.9709324836730957, + -0.23242676258087158, + -0.06000948415225388 + ], + [ + -0.062291987240314484, + 0.2358226180076599, + 0.9697976112365723, + -0.0204003196177829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.030447332188487053, + 0.07498908042907715, + 0.017251943347927852 + ], + [ + 0.04709552973508835, + 0.9717099070549011, + -0.23143444955348969, + -0.07064426982632051 + ], + [ + -0.06582106649875641, + 0.23420687019824982, + 0.9699560403823853, + -0.022817056759809835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887695, + -0.03605753555893898, + 0.07364329695701599, + 0.0199713249077909 + ], + [ + 0.05283621326088905, + 0.9692109823226929, + -0.2404961884021759, + -0.05912777007135571 + ], + [ + -0.0627041906118393, + 0.24357736110687256, + 0.9678524136543274, + -0.02111273415577717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.027423828840255737, + 0.07060058414936066, + 0.022619599842617653 + ], + [ + 0.04404309391975403, + 0.9682877659797668, + -0.245924711227417, + -0.0591444243860041 + ], + [ + -0.06161748245358467, + 0.24832779169082642, + 0.9667143225669861, + -0.00951350018636793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.02494669333100319, + 0.07098055630922318, + 0.017425162029954103 + ], + [ + 0.04198500141501427, + 0.9673789739608765, + -0.249830424785614, + -0.0616485690841308 + ], + [ + -0.062432654201984406, + 0.25210243463516235, + 0.9656844735145569, + -0.00781714804470539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.022420700639486313, + 0.0718754455447197, + 0.014375307678412169 + ], + [ + 0.040134165436029434, + 0.9659827947616577, + -0.2554730474948883, + -0.05720418457292084 + ], + [ + -0.06370256096124649, + 0.2576325833797455, + 0.964140772819519, + -0.0166852956972061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188293, + -0.018108654767274857, + 0.07375975698232651, + 0.0074826293322456695 + ], + [ + 0.03651212900876999, + 0.9658660292625427, + -0.25645601749420166, + -0.061848108432231805 + ], + [ + -0.06659797579050064, + 0.25840842723846436, + 0.963737428188324, + -0.0241320872408712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.019618939608335495, + 0.06999560445547104, + 0.013521198307474454 + ], + [ + 0.037083908915519714, + 0.9654900431632996, + -0.25778627395629883, + -0.06656387175122896 + ], + [ + -0.06252256780862808, + 0.2597000002861023, + 0.9636632204055786, + -0.018730207284291582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.02203492261469364, + 0.06698434054851532, + 0.015402376810964357 + ], + [ + 0.038790106773376465, + 0.9647510647773743, + -0.26028966903686523, + -0.06297616533234589 + ], + [ + -0.058887749910354614, + 0.26224005222320557, + 0.9632042050361633, + -0.0234598979099184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.025051329284906387, + 0.06388658285140991, + 0.017328006627722683 + ], + [ + 0.0407622866332531, + 0.9652762413024902, + -0.25803136825561523, + -0.06696169620905167 + ], + [ + -0.05520417541265488, + 0.26002728939056396, + 0.9640219211578369, + -0.036922110031303176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.028435396030545235, + 0.06179877370595932, + 0.01475655272220954 + ], + [ + 0.04351149871945381, + 0.9650570750236511, + -0.2584019601345062, + -0.06475433082534716 + ], + [ + -0.05229157954454422, + 0.26049235463142395, + 0.9640587568283081, + -0.045712684171322064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.026608727872371674, + 0.05980280041694641, + 0.011206614985488928 + ], + [ + 0.041225872933864594, + 0.9651437401771545, + -0.25845301151275635, + -0.061940737030445 + ], + [ + -0.05084118992090225, + 0.2603641748428345, + 0.9641709923744202, + -0.04892852386602989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03089982084929943, + 0.053920429199934006, + 0.009502931864152098 + ], + [ + 0.04373984783887863, + 0.9656163454055786, + -0.25626519322395325, + -0.06208939352988178 + ], + [ + -0.044147904962301254, + 0.2581283152103424, + 0.965101420879364, + -0.04765640358384858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03488101065158844, + 0.04706127941608429, + 0.006230007176502393 + ], + [ + 0.045669130980968475, + 0.9665557742118835, + -0.25235751271247864, + -0.06143981992052151 + ], + [ + -0.03668486326932907, + 0.2540734112262726, + 0.9664889574050903, + -0.044031840104323164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03776445984840393, + 0.038437116891145706, + 0.0029061812644776627 + ], + [ + 0.0461643785238266, + 0.9674650430679321, + -0.24875743687152863, + -0.05810672846487445 + ], + [ + -0.027792375534772873, + 0.2501704692840576, + 0.9678028225898743, + -0.040985093042891246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04203120619058609, + 0.029186103492975235, + -0.002654411559367282 + ], + [ + 0.04788491129875183, + 0.9687319993972778, + -0.24344474077224731, + -0.05552782640497909 + ], + [ + -0.01804123818874359, + 0.24452337622642517, + 0.9694755673408508, + -0.036973736460647014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271545, + -0.04421382397413254, + 0.019324898719787598, + -0.008748270533023737 + ], + [ + 0.04755266755819321, + 0.9699230194091797, + -0.23872177302837372, + -0.05162328485495005 + ], + [ + -0.008188864216208458, + 0.23936264216899872, + 0.9708957076072693, + -0.03315323824301744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04726714268326759, + 0.008033093996345997, + -0.012740629915800742 + ], + [ + 0.047837208956480026, + 0.9712949395179749, + -0.23301881551742554, + -0.049895913949888994 + ], + [ + 0.003211629344150424, + 0.2331351339817047, + 0.9724390506744385, + -0.0286118614877391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.048086944967508316, + -0.002156302332878113, + -0.015875168590464145 + ], + [ + 0.046333786100149155, + 0.9726343154907227, + -0.22767460346221924, + -0.047651279972404495 + ], + [ + 0.013045470230281353, + 0.22731077671051025, + 0.9737348556518555, + -0.027811405368340317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061279, + -0.046852003782987595, + -0.013223135843873024, + -0.012483018161490177 + ], + [ + 0.04276834800839424, + 0.9742439985275269, + -0.22140346467494965, + -0.04829359274262037 + ], + [ + 0.023255756124854088, + 0.22057540714740753, + 0.9750926494598389, + -0.03389683556862366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04715019091963768, + -0.020617427304387093, + -0.01595684231983291 + ], + [ + 0.04158389940857887, + 0.9754133224487305, + -0.21642473340034485, + -0.04762824931078487 + ], + [ + 0.030314980074763298, + 0.21528062224388123, + 0.9760816097259521, + -0.03216960802674293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.046040020883083344, + -0.02804003469645977, + -0.014228103544690415 + ], + [ + 0.03913160413503647, + 0.9768373966217041, + -0.21037447452545166, + -0.048604387573452076 + ], + [ + 0.0370761975646019, + 0.2089713215827942, + 0.9772186875343323, + -0.03768602699423447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04606097564101219, + -0.03358866646885872, + -0.01439413340905538 + ], + [ + 0.03823528811335564, + 0.978065550327301, + -0.204757958650589, + -0.048025521750633536 + ], + [ + 0.04228327050805092, + 0.20314070582389832, + 0.9782361388206482, + -0.040794415198839626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622803, + -0.04786644130945206, + -0.03947734832763672, + -0.014225883807382014 + ], + [ + 0.03909345716238022, + 0.9792292714118958, + -0.1989516168832779, + -0.04511027569826852 + ], + [ + 0.0481804758310318, + 0.19702498614788055, + 0.9792138934135437, + -0.04100960894272877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.997665524482727, + -0.05180840939283371, + -0.04449084773659706, + -0.014455906093184255 + ], + [ + 0.0423891544342041, + 0.9806056618690491, + -0.19135227799415588, + -0.04115469186351849 + ], + [ + 0.0535416342318058, + 0.18901965022087097, + 0.9805125594139099, + -0.04202805762616997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.056758083403110504, + -0.04876594990491867, + -0.014311716509744143 + ], + [ + 0.0469999760389328, + 0.982166051864624, + -0.18204638361930847, + -0.03571928720443677 + ], + [ + 0.05822886526584625, + 0.17924398183822632, + 0.9820799231529236, + -0.04496914755839568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144043, + -0.061164163053035736, + -0.05301344022154808, + -0.014275436959842331 + ], + [ + 0.05142729729413986, + 0.9843155145645142, + -0.16875486075878143, + -0.03431160471632949 + ], + [ + 0.06250370293855667, + 0.1654748171567917, + 0.9842313528060913, + -0.046006689761948376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06664244085550308, + -0.0575336217880249, + -0.01307355189202433 + ], + [ + 0.056910090148448944, + 0.9859931468963623, + -0.1567760407924652, + -0.027154717820449772 + ], + [ + 0.06717569380998611, + 0.15289300680160522, + 0.9859569668769836, + -0.04413811965630604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06931956112384796, + -0.061401091516017914, + -0.01206251897681982 + ], + [ + 0.05990174412727356, + 0.9877932071685791, + -0.14379283785820007, + -0.020684593954147436 + ], + [ + 0.07061923295259476, + 0.13949695229530334, + 0.9877011179924011, + -0.04384579624121005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.0695200189948082, + -0.06400157511234283, + -0.012999841246085289 + ], + [ + 0.06083834916353226, + 0.9897998571395874, + -0.12882152199745178, + -0.018551446782409126 + ], + [ + 0.07230442762374878, + 0.12435134500265121, + 0.9896003007888794, + -0.04299647105045808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06904090940952301, + -0.0674002468585968, + -0.012135635149211456 + ], + [ + 0.06089574098587036, + 0.9913562536239624, + -0.11620894074440002, + -0.01334095314049568 + ], + [ + 0.07484082877635956, + 0.11156237125396729, + 0.9909352660179138, + -0.03985389143737972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740051, + -0.0688813105225563, + -0.06971269845962524, + -0.011465648117546853 + ], + [ + 0.061374958604574203, + 0.9926167726516724, + -0.10461846739053726, + -0.007556565134571149 + ], + [ + 0.07640424370765686, + 0.09983623772859573, + 0.9920660853385925, + -0.03800555628079634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06817160546779633, + -0.07074913382530212, + -0.012133719286539106 + ], + [ + 0.061275944113731384, + 0.9935474991798401, + -0.09543921798467636, + -0.0008144175462647639 + ], + [ + 0.07679887115955353, + 0.09064225107431412, + 0.9929178953170776, + -0.033990066988855344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.0672144666314125, + -0.07272934168577194, + -0.011236209525830217 + ], + [ + 0.060706935822963715, + 0.9942457675933838, + -0.08826125413179398, + 0.005857558507058356 + ], + [ + 0.07824327796697617, + 0.08341220766305923, + 0.9934386610984802, + -0.026788046376572713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06683296710252762, + -0.07361272722482681, + -0.0106053681518787 + ], + [ + 0.06083381921052933, + 0.994861900806427, + -0.0809260830283165, + 0.01008656573219177 + ], + [ + 0.07864303141832352, + 0.07604695111513138, + 0.9939980506896973, + -0.02247459384111257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.0678880587220192, + -0.07447841018438339, + -0.009697817301011494 + ], + [ + 0.062438614666461945, + 0.9953603148460388, + -0.07320692390203476, + 0.012358379919623207 + ], + [ + 0.07910273224115372, + 0.06818390637636185, + 0.9945319294929504, + -0.019222963531302584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.069198839366436, + -0.07591947913169861, + -0.008837025445432235 + ], + [ + 0.06413831561803818, + 0.9956768751144409, + -0.06718528270721436, + 0.01673053592507146 + ], + [ + 0.0802404135465622, + 0.06196051836013794, + 0.9948478937149048, + -0.014787783887651226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.0705689936876297, + -0.07807497680187225, + -0.007048091461929756 + ], + [ + 0.06591843068599701, + 0.9959818124771118, + -0.06062209978699684, + 0.01981608405804787 + ], + [ + 0.08203929662704468, + 0.05513886734843254, + 0.9951026439666748, + -0.011211339689982239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07169889658689499, + -0.07908991724252701, + -0.006847730610901729 + ], + [ + 0.06750068813562393, + 0.996227502822876, + -0.054538484662771225, + 0.02178534454642198 + ], + [ + 0.0827018991112709, + 0.04888821020722389, + 0.9953745007514954, + -0.006470523169662193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.07499485462903976, + -0.07985445111989975, + -0.0060365018789043535 + ], + [ + 0.07123138755559921, + 0.996256411075592, + -0.048981986939907074, + 0.02389379488543058 + ], + [ + 0.08322890847921371, + 0.04299904406070709, + 0.9956023693084717, + -0.0026346389108743394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554321, + -0.07863131165504456, + -0.07973217219114304, + -0.006159451553741327 + ], + [ + 0.07529625296592712, + 0.996189534664154, + -0.04401031881570816, + 0.02528949626363241 + ], + [ + 0.08288893848657608, + 0.03772997111082077, + 0.995844304561615, + 0.0012303546357613354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933647513389587, + -0.08295077830553055, + -0.07965943962335587, + -0.005693811125671253 + ], + [ + 0.07997908443212509, + 0.9960015416145325, + -0.03980320692062378, + 0.026990433253793633 + ], + [ + 0.08264263719320297, + 0.033168017864227295, + 0.9960271716117859, + 0.004501448823218679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.08643079549074173, + -0.079750657081604, + -0.006436606747313188 + ], + [ + 0.08376192301511765, + 0.9958269000053406, + -0.03623088449239731, + 0.028809579398132796 + ], + [ + 0.0825493186712265, + 0.029299400746822357, + 0.9961562156677246, + 0.008635776789269904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770325, + -0.08973576873540878, + -0.08051719516515732, + -0.006402090269451341 + ], + [ + 0.08739734441041946, + 0.9956555962562561, + -0.032118503004312515, + 0.030030977052564804 + ], + [ + 0.08304957300424576, + 0.024847231805324554, + 0.9962356090545654, + 0.010704406799796305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.09170776605606079, + -0.08202848583459854, + -0.006575597938086488 + ], + [ + 0.08968321979045868, + 0.995575487613678, + -0.028041932731866837, + 0.030829357916218603 + ], + [ + 0.08423721045255661, + 0.02047228068113327, + 0.9962354302406311, + 0.012763527901763591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022949, + -0.09405223280191422, + -0.08429194986820221, + -0.006561645172918455 + ], + [ + 0.09240105003118515, + 0.9954494833946228, + -0.02328922040760517, + 0.031603054067868196 + ], + [ + 0.08609877526760101, + 0.015314066782593727, + 0.9961689114570618, + 0.01594924000529653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024902, + -0.09507060796022415, + -0.08720631897449493, + -0.006527716511239609 + ], + [ + 0.09367165714502335, + 0.9954021573066711, + -0.020005470141768456, + 0.03554128141452869 + ], + [ + 0.08870728313922882, + 0.01166953332722187, + 0.9959893822669983, + 0.01958623019357523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.09544503688812256, + -0.08839315921068192, + -0.008465865944536069 + ], + [ + 0.0944184809923172, + 0.995408296585083, + -0.01573241874575615, + 0.037847306354878804 + ], + [ + 0.08948885649442673, + 0.007252783980220556, + 0.9959614276885986, + 0.021810825794744193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.09536831825971603, + -0.0915817841887474, + -0.007122917013226921 + ], + [ + 0.09469663351774216, + 0.9954378604888916, + -0.011661822907626629, + 0.03973489694106273 + ], + [ + 0.09227614849805832, + 0.0028869500383734703, + 0.9957292675971985, + 0.02399667105677291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.09652624279260635, + -0.09105435758829117, + -0.010503382056664963 + ], + [ + 0.0962834283709526, + 0.9953289031982422, + -0.007065927609801292, + 0.04077662313356996 + ], + [ + 0.09131107479333878, + -0.0017635824624449015, + 0.9958208799362183, + 0.02688986318042646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.09647815674543381, + -0.09241335839033127, + -0.010954688393120839 + ], + [ + 0.09662140160799026, + 0.9953168630599976, + -0.0029333564452826977, + 0.0418444862927541 + ], + [ + 0.0922635868191719, + -0.0060220458544790745, + 0.995716392993927, + 0.029389998506213363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.09635921567678452, + -0.09481746703386307, + -0.010896988638923464 + ], + [ + 0.09692727774381638, + 0.9952905178070068, + 0.0013931263238191605, + 0.042319284948623845 + ], + [ + 0.09423667937517166, + -0.010570736601948738, + 0.9954937100410461, + 0.0338877784072334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.0948014110326767, + -0.09748154133558273, + -0.01053190408513332 + ], + [ + 0.0958503782749176, + 0.9953769445419312, + 0.0061239511705935, + 0.040906944419615544 + ], + [ + 0.0964503213763237, + -0.015410713851451874, + 0.9952185153961182, + 0.037938393410056455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.09554288536310196, + -0.09889417141675949, + -0.012550139903194375 + ], + [ + 0.0968770906329155, + 0.9952577352523804, + 0.008767124265432358, + 0.043422300392427504 + ], + [ + 0.09758754819631577, + -0.018264420330524445, + 0.9950593113899231, + 0.04141780264818898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.09555571526288986, + -0.1013667955994606, + -0.012785492969565413 + ], + [ + 0.09731114655733109, + 0.9951754212379456, + 0.012505126185715199, + 0.0434894572203167 + ], + [ + 0.09968281537294388, + -0.022247314453125, + 0.9947705268859863, + 0.04475018967134066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.09563429653644562, + -0.10289280861616135, + -0.014852698281025275 + ], + [ + 0.09764714539051056, + 0.9951125979423523, + 0.01469507347792387, + 0.04538156514247067 + ], + [ + 0.10098458081483841, + -0.024596549570560455, + 0.9945839047431946, + 0.04757442466723613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.09531968086957932, + -0.10433410853147507, + -0.017243838768738966 + ], + [ + 0.09759130328893661, + 0.9950834512710571, + 0.016876792535185814, + 0.04650438340683269 + ], + [ + 0.10221245139837265, + -0.026889516040682793, + 0.9943990707397461, + 0.05067857884857645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.09422576427459717, + -0.10631398856639862, + -0.01872541027255038 + ], + [ + 0.09672302007675171, + 0.9951380491256714, + 0.018571535125374794, + 0.047725190442755944 + ], + [ + 0.10404717922210693, + -0.028666192665696144, + 0.9941591620445251, + 0.052735931283006306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622742, + -0.0927882194519043, + -0.10825425386428833, + -0.02036408750483623 + ], + [ + 0.09555050730705261, + 0.9952113032341003, + 0.020603543147444725, + 0.04859609923397119 + ], + [ + 0.10582409799098969, + -0.03073679469525814, + 0.9939097166061401, + 0.05405056046751829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9896503686904907, + -0.0917322188615799, + -0.11035078763961792, + -0.02238120755387677 + ], + [ + 0.09473170340061188, + 0.9952543377876282, + 0.022241652011871338, + 0.05077516693207953 + ], + [ + 0.10778681933879852, + -0.03246517479419708, + 0.9936438202857971, + 0.054937884087363886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754456, + -0.09037180989980698, + -0.11118438839912415, + -0.025956736406327313 + ], + [ + 0.09365765005350113, + 0.995298445224762, + 0.024683302268385887, + 0.05232683356182698 + ], + [ + 0.10843096673488617, + -0.03484189510345459, + 0.9934931993484497, + 0.05534526774198072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.09128565341234207, + -0.10880491137504578, + -0.029075355608111773 + ], + [ + 0.0950760468840599, + 0.9950129389762878, + 0.030162647366523743, + 0.048371418852072495 + ], + [ + 0.10550887882709503, + -0.04020162671804428, + 0.9936054348945618, + 0.03659277349256743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724731, + -0.0911080613732338, + -0.11110899597406387, + -0.03048478123596591 + ], + [ + 0.09525392204523087, + 0.9949195981025696, + 0.032583244144916534, + 0.05153379234620649 + ], + [ + 0.1075759157538414, + -0.04282870143651962, + 0.993273913860321, + 0.04121902941479388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.09012183547019958, + -0.11706908047199249, + -0.029913998232820097 + ], + [ + 0.09481452405452728, + 0.9948744773864746, + 0.03514283895492554, + 0.05597468236318001 + ], + [ + 0.11330190300941467, + -0.045857034623622894, + 0.9925017952919006, + 0.061094545050818704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.09003256261348724, + -0.11436064541339874, + -0.033043243630956384 + ], + [ + 0.09521777927875519, + 0.9946237802505493, + 0.040707141160964966, + 0.052209112888727434 + ], + [ + 0.11008085310459137, + -0.05116282403469086, + 0.9926049709320068, + 0.044054099679805156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.09317120909690857, + -0.11693821847438812, + -0.035182600805902076 + ], + [ + 0.09878641366958618, + 0.9941719770431519, + 0.04316605255007744, + 0.0572663106263066 + ], + [ + 0.11223486065864563, + -0.05423273518681526, + 0.9922006726264954, + 0.05270728940924264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9884978532791138, + -0.09257038682699203, + -0.11959405243396759, + -0.03510832417533438 + ], + [ + 0.09880081564188004, + 0.9939848184585571, + 0.04725014045834541, + 0.05603033322363328 + ], + [ + 0.11450071632862091, + -0.058522652834653854, + 0.9916979074478149, + 0.0595063870597599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444946, + -0.09110705554485321, + -0.11785479635000229, + -0.03921121854621631 + ], + [ + 0.09744705259799957, + 0.994024395942688, + 0.049189068377017975, + 0.05755034304009034 + ], + [ + 0.11266907304525375, + -0.060124851763248444, + 0.9918118119239807, + 0.05124044090222855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.09047552943229675, + -0.11960691213607788, + -0.03778921714068478 + ], + [ + 0.09737388789653778, + 0.9938284158706665, + 0.05313626676797867, + 0.05484515068750096 + ], + [ + 0.11406120657920837, + -0.06418189406394958, + 0.9913983941078186, + 0.045860826487565405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.09348472207784653, + -0.12423595041036606, + -0.03756114492495345 + ], + [ + 0.10086613148450851, + 0.9934059977531433, + 0.054502878338098526, + 0.058946570787483304 + ], + [ + 0.11832154542207718, + -0.06637126952409744, + 0.9907547235488892, + 0.0625904481475934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.09305234998464584, + -0.12582187354564667, + -0.038205976994373864 + ], + [ + 0.10070245712995529, + 0.9933472275733948, + 0.05586007609963417, + 0.05992450780020311 + ], + [ + 0.11978689581155777, + -0.06784240901470184, + 0.9904789328575134, + 0.06832842111396485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.09121833741664886, + -0.12577815353870392, + -0.03863092904799005 + ], + [ + 0.09902217984199524, + 0.9934374094009399, + 0.057243041694164276, + 0.05949393434720671 + ], + [ + 0.119731105864048, + -0.06900269538164139, + 0.9904054999351501, + 0.0671404488480244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685181, + -0.09039635956287384, + -0.12600620090961456, + -0.03959746484955152 + ], + [ + 0.09821051359176636, + 0.9935184121131897, + 0.057234786450862885, + 0.06171365678310394 + ], + [ + 0.12001567333936691, + -0.06891750544309616, + 0.9903770089149475, + 0.07102157345248594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133423, + -0.09025000780820847, + -0.12632746994495392, + -0.03839009331587034 + ], + [ + 0.09827960282564163, + 0.9934183955192566, + 0.05883049964904785, + 0.06062056124210358 + ], + [ + 0.12018658220767975, + -0.07053257524967194, + 0.9902425408363342, + 0.06851284898435459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.0910235345363617, + -0.12735259532928467, + -0.03512174042626324 + ], + [ + 0.09938836097717285, + 0.9931811690330505, + 0.06093505769968033, + 0.05806732925976443 + ], + [ + 0.12093768268823624, + -0.07284121960401535, + 0.9899839758872986, + 0.06225537287437509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.1056254431605339, + -0.1236414983868599, + -0.045820174776972866 + ], + [ + 0.11176148802042007, + 0.9927705526351929, + 0.04377209022641182, + 0.09397654777758906 + ], + [ + 0.11812419444322586, + -0.057007815688848495, + 0.9913610816001892, + 0.06667840612622408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.11250335723161697, + -0.13109606504440308, + -0.03537560346034857 + ], + [ + 0.11918199807405472, + 0.9918863773345947, + 0.044239342212677, + 0.09612367955537943 + ], + [ + 0.12505531311035156, + -0.05919851362705231, + 0.9903820753097534, + 0.067094760416792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636597, + -0.11088694632053375, + -0.13320301473140717, + -0.03178121505830533 + ], + [ + 0.11870886385440826, + 0.9915525317192078, + 0.05226680636405945, + 0.08195262583147767 + ], + [ + 0.12628208100795746, + -0.06728817522525787, + 0.9897096157073975, + 0.05248806791252688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.10610239207744598, + -0.13848407566547394, + -0.024772403459263664 + ], + [ + 0.1153840571641922, + 0.9914590716362, + 0.06078978255391121, + 0.065188801743918 + ], + [ + 0.13085134327411652, + -0.07583639770746231, + 0.988497257232666, + 0.04093579302788673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.10311172902584076, + -0.14245112240314484, + -0.02045032216761357 + ], + [ + 0.11378641426563263, + 0.9911117553710938, + 0.06892167031764984, + 0.05048247608236778 + ], + [ + 0.13407833874225616, + -0.08405661582946777, + 0.9873993396759033, + 0.03249273092891926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.10613180696964264, + -0.14284540712833405, + -0.02657422917520898 + ], + [ + 0.11666357517242432, + 0.9908770322799683, + 0.06747051328420639, + 0.05688136130826086 + ], + [ + 0.1343814581632614, + -0.0830584242939949, + 0.9874426126480103, + 0.023316869633192704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.10455378890037537, + -0.14430680871009827, + -0.03194072655059843 + ], + [ + 0.11519041657447815, + 0.9910532236099243, + 0.06741401553153992, + 0.060076176126798 + ], + [ + 0.13596734404563904, + -0.08295774459838867, + 0.9872339367866516, + 0.019925914555151247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.10444070398807526, + -0.14927938580513, + -0.02227686082896514 + ], + [ + 0.11634883284568787, + 0.9904941916465759, + 0.0733771026134491, + 0.05098417109021774 + ], + [ + 0.1401968002319336, + -0.08951753377914429, + 0.9860687255859375, + 0.005561906099319468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809753, + -0.10444523394107819, + -0.15275369584560394, + -0.020368790484837487 + ], + [ + 0.11693863570690155, + 0.9902874231338501, + 0.07520769536495209, + 0.05054187605905737 + ], + [ + 0.14341498911380768, + -0.09177164733409882, + 0.9853984713554382, + 0.001746976541148297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.10379937291145325, + -0.15568995475769043, + -0.020615950487872476 + ], + [ + 0.11653591692447662, + 0.9903490543365479, + 0.07502059638500214, + 0.05348970493954471 + ], + [ + 0.1464003026485443, + -0.09183898568153381, + 0.9849530458450317, + 0.0004972745465417275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065002, + -0.10240726172924042, + -0.15848848223686218, + -0.018862490169703962 + ], + [ + 0.11551395058631897, + 0.9904093146324158, + 0.07580187171697617, + 0.05419379286468029 + ], + [ + 0.14920580387115479, + -0.0927477702498436, + 0.9844467639923096, + -2.555996179580411e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.10228833556175232, + -0.16093888878822327, + -0.01560791103790204 + ], + [ + 0.11631129682064056, + 0.9899656176567078, + 0.08024775236845016, + 0.04918643385808692 + ], + [ + 0.1511155664920807, + -0.09749417752027512, + 0.9836965799331665, + -0.004895993532278584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.10206608474254608, + -0.16337890923023224, + -0.01656801608255786 + ], + [ + 0.11675001680850983, + 0.9896928071975708, + 0.08293089270591736, + 0.04820607081692443 + ], + [ + 0.15323050320148468, + -0.10045203566551208, + 0.9830716252326965, + -0.0028720382505502337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.10184565931558609, + -0.16516520082950592, + -0.018178421359222673 + ], + [ + 0.11711373180150986, + 0.9894329309463501, + 0.08548008650541306, + 0.0482232350951586 + ], + [ + 0.15471412241458893, + -0.10319850593805313, + 0.9825546145439148, + -0.0021031795977017667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.10170579701662064, + -0.16763797402381897, + -0.0195466553266996 + ], + [ + 0.1176675483584404, + 0.9891297817230225, + 0.08818519860506058, + 0.04885521797606578 + ], + [ + 0.1568467617034912, + -0.10619892925024033, + 0.9818965792655945, + 0.0008127608105667761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.10047782957553864, + -0.1694483458995819, + -0.02129917270702939 + ], + [ + 0.1170346736907959, + 0.9889762997627258, + 0.09071221947669983, + 0.04951782345007628 + ], + [ + 0.15846583247184753, + -0.10876592993736267, + 0.9813554883003235, + 0.0007983495091271262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.098045215010643, + -0.16996802389621735, + -0.027988700263011153 + ], + [ + 0.11479306221008301, + 0.9891512989997864, + 0.09166397899389267, + 0.052072629533134976 + ], + [ + 0.15913687646389008, + -0.10939318686723709, + 0.9811771512031555, + 0.005975526380233284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.09745955467224121, + -0.1728684902191162, + -0.024506175258539174 + ], + [ + 0.11492407321929932, + 0.9889113903045654, + 0.09405716508626938, + 0.051413040372551 + ], + [ + 0.16178485751152039, + -0.11205323785543442, + 0.9804436564445496, + 0.00320831711730387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.09616538882255554, + -0.1743066906929016, + -0.026021195352714285 + ], + [ + 0.11393052339553833, + 0.9889422655105591, + 0.09493681788444519, + 0.05248661555795588 + ], + [ + 0.16324961185455322, + -0.11289544403553009, + 0.9801041483879089, + 0.0052182014044533515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035645, + -0.09488837420940399, + -0.17515265941619873, + -0.027837753381866677 + ], + [ + 0.11276309192180634, + 0.9890628457069397, + 0.0950743705034256, + 0.05351122308235902 + ], + [ + 0.16421553492546082, + -0.1129196435213089, + 0.9799399971961975, + 0.006096047277633972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.09463026374578476, + -0.17648129165172577, + -0.029187718743824552 + ], + [ + 0.1126355305314064, + 0.9890897274017334, + 0.09494620561599731, + 0.05495319849150813 + ], + [ + 0.16557104885578156, + -0.11290109157562256, + 0.979714035987854, + 0.007264975534799781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.09488288313150406, + -0.17737092077732086, + -0.03120180152866066 + ], + [ + 0.11293945461511612, + 0.9890859127044678, + 0.09462426602840424, + 0.05697760916291139 + ], + [ + 0.16645686328411102, + -0.11272227764129639, + 0.9795845150947571, + 0.007472139087497685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.0948750451207161, + -0.17863698303699493, + -0.03254823295924908 + ], + [ + 0.11332901567220688, + 0.988900363445282, + 0.09608621895313263, + 0.05642897236423615 + ], + [ + 0.16753800213336945, + -0.11434487998485565, + 0.9792120456695557, + 0.00790795366733503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860474, + -0.09527027606964111, + -0.1800309717655182, + -0.03370863551066981 + ], + [ + 0.114105224609375, + 0.9886906147003174, + 0.09731853753328323, + 0.05682303094201618 + ], + [ + 0.16872337460517883, + -0.11582087725400925, + 0.9788349866867065, + 0.008639526863892875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.09509126842021942, + -0.1814223676919937, + -0.0348328817412894 + ], + [ + 0.11435167491436005, + 0.9885132312774658, + 0.09881967306137085, + 0.05655284962083539 + ], + [ + 0.16994152963161469, + -0.11747035384178162, + 0.9784275889396667, + 0.00861388848632829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.0954979658126831, + -0.18299457430839539, + -0.036345452824846296 + ], + [ + 0.11483760178089142, + 0.9885226488113403, + 0.09815937280654907, + 0.05976626116495866 + ], + [ + 0.17152026295661926, + -0.11706013977527618, + 0.9782012701034546, + 0.011159752882443953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.09442396461963654, + -0.18489977717399597, + -0.036464153698239576 + ], + [ + 0.1141623705625534, + 0.9884998798370361, + 0.099171482026577, + 0.059322562078252816 + ], + [ + 0.17340925335884094, + -0.11811920255422592, + 0.9777408242225647, + 0.010402249430234628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.09225362539291382, + -0.18598614633083344, + -0.038115228699822715 + ], + [ + 0.11208336055278778, + 0.9887478947639465, + 0.0990702360868454, + 0.059906662300101714 + ], + [ + 0.1747538298368454, + -0.1177576333284378, + 0.9775450229644775, + 0.0095584215453038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.09108749777078629, + -0.18740954995155334, + -0.03938612026663927 + ], + [ + 0.11109723895788193, + 0.9888483881950378, + 0.09917785227298737, + 0.060200597231204696 + ], + [ + 0.1762857735157013, + -0.11782152950763702, + 0.9772621989250183, + 0.00991873930280026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.09031878411769867, + -0.1887170821428299, + -0.03976968426862334 + ], + [ + 0.11049221456050873, + 0.988909125328064, + 0.09924842417240143, + 0.059626326245120445 + ], + [ + 0.1776600331068039, + -0.11790375411510468, + 0.9770033955574036, + 0.008499086781954164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.09068617969751358, + -0.18996351957321167, + -0.04028428281920079 + ], + [ + 0.11101716011762619, + 0.9888496994972229, + 0.0992543026804924, + 0.05904019938893298 + ], + [ + 0.1788443922996521, + -0.11811961978673935, + 0.9767612218856812, + 0.0072354605055262936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621643, + -0.09112417697906494, + -0.19134095311164856, + -0.04031790447158691 + ], + [ + 0.11153890192508698, + 0.988839864730835, + 0.09876619279384613, + 0.05884509804921272 + ], + [ + 0.1802055835723877, + -0.11786462366580963, + 0.9765418171882629, + 0.005583028992017118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.09132130444049835, + -0.19269326329231262, + -0.040649306914235794 + ], + [ + 0.11170653998851776, + 0.9889262914657593, + 0.09770605713129044, + 0.059409597410987586 + ], + [ + 0.181636780500412, + -0.11698395758867264, + 0.9763825535774231, + 0.0050320527301384935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.09194756299257278, + -0.19426679611206055, + -0.04069869427217378 + ], + [ + 0.11235930770635605, + 0.9889426827430725, + 0.09678748995065689, + 0.059904383161129095 + ], + [ + 0.18321934342384338, + -0.11635323613882065, + 0.9761621952056885, + 0.0047546590431633284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.09236060827970505, + -0.1952887624502182, + -0.041542292863894735 + ], + [ + 0.11276378482580185, + 0.9889675378799438, + 0.0960601419210434, + 0.0600218126980158 + ], + [ + 0.18426208198070526, + -0.11581338942050934, + 0.9760301113128662, + 0.004436895423210595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.09304553270339966, + -0.19625785946846008, + -0.04185448903112839 + ], + [ + 0.11348238587379456, + 0.988932192325592, + 0.09557624906301498, + 0.05965690255547181 + ], + [ + 0.1851927936077118, + -0.1155664399266243, + 0.9758831858634949, + 0.0030994637144936485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.09423211216926575, + -0.19758786261081696, + -0.04141473455561532 + ], + [ + 0.11480601131916046, + 0.9887989163398743, + 0.09537453949451447, + 0.05944927053319084 + ], + [ + 0.1863873153924942, + -0.11574555933475494, + 0.9756345152854919, + 0.0024373907181951815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9753864407539368, + -0.09552070498466492, + -0.19873878359794617, + -0.04104766745406848 + ], + [ + 0.11616867780685425, + 0.9886807799339294, + 0.09494808316230774, + 0.059705698318206345 + ], + [ + 0.18741971254348755, + -0.11569829285144806, + 0.9754423499107361, + 0.0018144644223726733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335815, + -0.09635034203529358, + -0.1995343267917633, + -0.040672284638525076 + ], + [ + 0.1170622855424881, + 0.9885968565940857, + 0.09472435712814331, + 0.05957090109586716 + ], + [ + 0.18813228607177734, + -0.11572767794132233, + 0.9753016829490662, + 0.00041250365539494127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.0967891588807106, + -0.2004728466272354, + -0.040545275020930506 + ], + [ + 0.11754768341779709, + 0.9885750412940979, + 0.09435015916824341, + 0.05967946399608229 + ], + [ + 0.18905039131641388, + -0.11554768681526184, + 0.9751454591751099, + -0.00036034061867964984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.09714441001415253, + -0.2013595551252365, + -0.040307838928241 + ], + [ + 0.11791388690471649, + 0.9885806441307068, + 0.09383318573236465, + 0.05954383221001197 + ], + [ + 0.189944788813591, + -0.1152011975646019, + 0.9750126600265503, + -0.001805591697876259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.09762518852949142, + -0.20222583413124084, + -0.04017871039099673 + ], + [ + 0.11839186400175095, + 0.9885784387588501, + 0.09325264394283295, + 0.05932273529151566 + ], + [ + 0.19081228971481323, + -0.1148129403591156, + 0.9748890399932861, + -0.0031691271397802437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9741423726081848, + -0.09781992435455322, + -0.20366127789020538, + -0.03957754959726436 + ], + [ + 0.11860299110412598, + 0.9886284470558167, + 0.09245079755783081, + 0.059714057901476186 + ], + [ + 0.19230179488658905, + -0.11421507596969604, + 0.9746665954589844, + -0.002945210358016502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.09773191809654236, + -0.20458616316318512, + -0.03971136604937223 + ], + [ + 0.11847157776355743, + 0.988715648651123, + 0.09168357402086258, + 0.059831697589311846 + ], + [ + 0.19331713020801544, + -0.11353353410959244, + 0.9745453596115112, + -0.003409263415214338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.973677396774292, + -0.0979643389582634, + -0.20580418407917023, + -0.03933034152684049 + ], + [ + 0.11873745173215866, + 0.9887366890907288, + 0.09111108630895615, + 0.05949360467493534 + ], + [ + 0.19456051290035248, + -0.11314947158098221, + 0.9743425250053406, + -0.003385636032137096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.09835473448038101, + -0.2063547670841217, + -0.040054409282329756 + ], + [ + 0.11907441169023514, + 0.9887531995773315, + 0.090489462018013, + 0.0592581281104149 + ], + [ + 0.19513386487960815, + -0.11266501247882843, + 0.9742840528488159, + -0.004001839599038798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.09844247996807098, + -0.20692245662212372, + -0.04032360444275233 + ], + [ + 0.11909666657447815, + 0.9888111352920532, + 0.0898246318101883, + 0.05927947696584922 + ], + [ + 0.1957646757364273, + -0.11207835376262665, + 0.9742251634597778, + -0.004528892269501303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.09812191873788834, + -0.20800474286079407, + -0.03995413675776914 + ], + [ + 0.11871661990880966, + 0.9889377355575562, + 0.08892975747585297, + 0.05982929716507594 + ], + [ + 0.19697779417037964, + -0.11123950779438019, + 0.9740767478942871, + -0.003854989967285047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.09829660505056381, + -0.20870326459407806, + -0.039494122545688584 + ], + [ + 0.11887537688016891, + 0.9889628291130066, + 0.08843759447336197, + 0.05975242403264229 + ], + [ + 0.1977066546678543, + -0.11086181551218033, + 0.9739721417427063, + -0.002913980911939562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.09785573184490204, + -0.20849496126174927, + -0.03922936196128528 + ], + [ + 0.11828659474849701, + 0.9890846610069275, + 0.08786271512508392, + 0.059474246700604756 + ], + [ + 0.19762128591537476, + -0.11016274988651276, + 0.9740687608718872, + -0.0035281648238499885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.09647294133901596, + -0.20772293210029602, + -0.039489404529205754 + ], + [ + 0.11665081232786179, + 0.9893409013748169, + 0.0871616005897522, + 0.05966982405919295 + ], + [ + 0.19710007309913635, + -0.10907578468322754, + 0.9742966890335083, + -0.004005894714441044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.09505336731672287, + -0.20731209218502045, + -0.03883095059830409 + ], + [ + 0.1150783821940422, + 0.989561140537262, + 0.08675079047679901, + 0.06013669921164839 + ], + [ + 0.1969020515680313, + -0.10832169651985168, + 0.9744208455085754, + -0.00393533854403047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.973919689655304, + -0.09286005795001984, + -0.20702049136161804, + -0.037912604184104845 + ], + [ + 0.11279778182506561, + 0.9898317456245422, + 0.08665876090526581, + 0.06046116864069914 + ], + [ + 0.19686833024024963, + -0.10775011777877808, + 0.9744910597801208, + -0.0037151799752161985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.09080660343170166, + -0.20616234838962555, + -0.03751418709309183 + ], + [ + 0.11068245768547058, + 0.9900410175323486, + 0.0869951918721199, + 0.060361119226003304 + ], + [ + 0.19620944559574127, + -0.10757755488157272, + 0.9746429920196533, + -0.004747769453077227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.08831210434436798, + -0.20570972561836243, + -0.03720094980592402 + ], + [ + 0.10809850692749023, + 0.9903258681297302, + 0.08700229972600937, + 0.06095297478903563 + ], + [ + 0.19603630900382996, + -0.10703111439943314, + 0.9747379422187805, + -0.005055497752295579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129883, + -0.08584735542535782, + -0.20573335886001587, + -0.037488849174517856 + ], + [ + 0.10556920617818832, + 0.9906105995178223, + 0.08686628937721252, + 0.061920201491851075 + ], + [ + 0.19634440541267395, + -0.10639943182468414, + 0.9747450947761536, + -0.004854946870070223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777283, + -0.08371412754058838, + -0.2064916342496872, + -0.03733416834257097 + ], + [ + 0.1036105751991272, + 0.9907628893852234, + 0.08748546987771988, + 0.06180330124866759 + ], + [ + 0.19726048409938812, + -0.10668084770441055, + 0.9745293855667114, + -0.005865009485656367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.08187540620565414, + -0.20737075805664062, + -0.03829616207279202 + ], + [ + 0.10188858956098557, + 0.9909200668334961, + 0.08772731572389603, + 0.06226077409636261 + ], + [ + 0.1983051300048828, + -0.10664794594049454, + 0.9743209481239319, + -0.007117412232945097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530396, + -0.07997071743011475, + -0.20942778885364532, + -0.03879994803514236 + ], + [ + 0.10039535164833069, + 0.9909796714782715, + 0.08876939862966537, + 0.0614891972583838 + ], + [ + 0.20043973624706268, + -0.10753565281629562, + 0.9737864136695862, + -0.009095398088296236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.07701306790113449, + -0.21328267455101013, + -0.039345156404579806 + ], + [ + 0.09784286469221115, + 0.9912249445915222, + 0.08888120949268341, + 0.06178193604334807 + ], + [ + 0.204566091299057, + -0.10743407905101776, + 0.9729391932487488, + -0.009023487351388998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.07502195239067078, + -0.2183000147342682, + -0.04043256863633282 + ], + [ + 0.09627111256122589, + 0.9914239645004272, + 0.08837667852640152, + 0.06313257918844366 + ], + [ + 0.2097976803779602, + -0.10700594633817673, + 0.9718717336654663, + -0.008553632265991623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.07415057718753815, + -0.22328127920627594, + -0.04272489016636824 + ], + [ + 0.0962403267621994, + 0.9913062453269958, + 0.0897204726934433, + 0.06136419583971684 + ], + [ + 0.2146873027086258, + -0.10869064927101135, + 0.9706161618232727, + -0.009931231576662786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.07436057180166245, + -0.22939182817935944, + -0.04559206051958932 + ], + [ + 0.09724108129739761, + 0.991174578666687, + 0.0900953859090805, + 0.06081994515326288 + ], + [ + 0.2206677943468094, + -0.10974293947219849, + 0.9691554307937622, + -0.010800773898760468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.075393907725811, + -0.23730406165122986, + -0.04834451206410542 + ], + [ + 0.09924861043691635, + 0.9909639954566956, + 0.09022247046232224, + 0.06050132386959516 + ], + [ + 0.22835755348205566, + -0.11093304306268692, + 0.9672366380691528, + -0.011609274097996891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.07403167337179184, + -0.24615532159805298, + -0.05282099321484566 + ], + [ + 0.09895602613687515, + 0.9909713864326477, + 0.09046213328838348, + 0.06046621037217287 + ], + [ + 0.23723581433296204, + -0.1117810606956482, + 0.9649995565414429, + -0.012912351007644943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447266, + -0.07028083503246307, + -0.2563932538032532, + -0.05781465978958668 + ], + [ + 0.09669665992259979, + 0.9910615086555481, + 0.09190692752599716, + 0.059939532223929705 + ], + [ + 0.2476421743631363, + -0.1133919432759285, + 0.9621931314468384, + -0.014891922244658837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.06318016350269318, + -0.26793599128723145, + -0.06392626699983564 + ], + [ + 0.09126824140548706, + 0.99140864610672, + 0.09369607269763947, + 0.060405921197345114 + ], + [ + 0.2597143054008484, + -0.11452996730804443, + 0.9588698148727417, + -0.016447212884568754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.053399331867694855, + -0.28061285614967346, + -0.07129292123210736 + ], + [ + 0.08347515016794205, + 0.9918422698974609, + 0.09633699059486389, + 0.06073471422378834 + ], + [ + 0.27317938208580017, + -0.11574725806713104, + 0.9549741148948669, + -0.018788359409723523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.040249817073345184, + -0.2958751320838928, + -0.07898956311182079 + ], + [ + 0.07252354174852371, + 0.9924487471580505, + 0.09892350435256958, + 0.06266451681144217 + ], + [ + 0.2896592617034912, + -0.11586835980415344, + 0.9500905275344849, + -0.020119676350528345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.02490105852484703, + -0.3097083270549774, + -0.09097621012956669 + ], + [ + 0.05914822593331337, + 0.9930567741394043, + 0.10168454796075821, + 0.0646264172071575 + ], + [ + 0.3050259053707123, + -0.11497042328119278, + 0.9453787803649902, + -0.0276727756883344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.012554572895169258, + -0.32818034291267395, + -0.10043427462761219 + ], + [ + 0.04996383190155029, + 0.9931305646896362, + 0.10580794513225555, + 0.06622547320066355 + ], + [ + 0.32459756731987, + -0.11633610725402832, + 0.9386705160140991, + -0.027339762449264518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0002573709934949875, + -0.3476983904838562, + -0.10877781222518693 + ], + [ + 0.0404190793633461, + 0.9931393265724182, + 0.1097295805811882, + 0.06748280897099748 + ], + [ + 0.34534120559692383, + -0.1169368103146553, + 0.9311633706092834, + -0.028167362663990406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192627, + 0.012436185963451862, + -0.3662859797477722, + -0.1174859658902527 + ], + [ + 0.03115358203649521, + 0.9931231737136841, + 0.11285322904586792, + 0.0691609973135667 + ], + [ + 0.36517053842544556, + -0.11641193926334381, + 0.9236334562301636, + -0.029038004589895916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.022697875276207924, + -0.38441959023475647, + -0.12465917490995848 + ], + [ + 0.023564675822854042, + 0.9930619597434998, + 0.11520680785179138, + 0.07017755766327564 + ], + [ + 0.384367436170578, + -0.11538071930408478, + 0.915941596031189, + -0.03107922065716523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.029455576092004776, + -0.3999384641647339, + -0.13284799154752341 + ], + [ + 0.018857046961784363, + 0.9930316209793091, + 0.11632957309484482, + 0.07121161148907282 + ], + [ + 0.4005780816078186, + -0.11410752683877945, + 0.9091296195983887, + -0.033222059689016425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.03700459748506546, + -0.4142109751701355, + -0.13906034264299605 + ], + [ + 0.012702034786343575, + 0.993096649646759, + 0.11660902947187424, + 0.07293239922987091 + ], + [ + 0.4156665802001953, + -0.11130888015031815, + 0.9026802778244019, + -0.036538296937942485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.04418061673641205, + -0.42662155628204346, + -0.1431498483205453 + ], + [ + 0.00687362439930439, + 0.9930614829063416, + 0.1173952966928482, + 0.07373074776469132 + ], + [ + 0.4288480281829834, + -0.10898153483867645, + 0.8967788815498352, + -0.03847410048429781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.04922556132078171, + -0.4364371597766876, + -0.14558592583888616 + ], + [ + 0.0022470448166131973, + 0.9931711554527283, + 0.11664480715990067, + 0.07615097193127005 + ], + [ + 0.43919870257377625, + -0.10577289015054703, + 0.892141580581665, + -0.03749223345110558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.051780350506305695, + -0.4422224760055542, + -0.14651151510894808 + ], + [ + -0.00010766647756099701, + 0.99323970079422, + 0.116081602871418, + 0.07591815784764595 + ], + [ + 0.4452436566352844, + -0.10389294475317001, + 0.8893617391586304, + -0.03986929707292816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.05171838775277138, + -0.44711071252822876, + -0.14112115104993184 + ], + [ + 2.9165297746658325e-05, + 0.9933696985244751, + 0.11496375501155853, + 0.07558704175246067 + ], + [ + 0.4500919580459595, + -0.10267363488674164, + 0.8870599269866943, + -0.04000552403621184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.051662374287843704, + -0.44594472646713257, + -0.13921798274048375 + ], + [ + -0.0009096004068851471, + 0.9935625791549683, + 0.11328089237213135, + 0.07619535034028893 + ], + [ + 0.44892632961273193, + -0.10081858932971954, + 0.887863039970398, + -0.04039059885037251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.04776440188288689, + -0.4419002830982208, + -0.13529259990423154 + ], + [ + 0.0016431137919425964, + 0.9938464760780334, + 0.1107543483376503, + 0.07650589852506279 + ], + [ + 0.444471150636673, + -0.09993892163038254, + 0.8902009129524231, + -0.03953454913491876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.041424691677093506, + -0.4345242381095886, + -0.12969276813360361 + ], + [ + 0.006396599113941193, + 0.9941283464431763, + 0.10801819711923599, + 0.07563575233977575 + ], + [ + 0.43644750118255615, + -0.0999642089009285, + 0.8941592574119568, + -0.040563688713770626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791626, + 0.0338175967335701, + -0.4252876937389374, + -0.12193528613728336 + ], + [ + 0.011889135465025902, + 0.9944684505462646, + 0.10436084866523743, + 0.0759168094676784 + ], + [ + 0.42646440863609314, + -0.0994429886341095, + 0.8990212678909302, + -0.03809004022270185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.02482655830681324, + -0.41355443000793457, + -0.11163514386384915 + ], + [ + 0.018159927800297737, + 0.9948529005050659, + 0.09968909621238708, + 0.07622624037102757 + ], + [ + 0.41390079259872437, + -0.09824123978614807, + 0.9050053954124451, + -0.0342671663333208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.009677340276539326, + -0.3984796106815338, + -0.10114752512711746 + ], + [ + 0.030192993581295013, + 0.9951463937759399, + 0.09365888684988022, + 0.07644856465168488 + ], + [ + 0.39745190739631653, + -0.09792830795049667, + 0.9123826026916504, + -0.027732250591119112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.005942344665527344, + -0.3809187710285187, + -0.08844990546249937 + ], + [ + 0.04245951399207115, + 0.9952561855316162, + 0.08753432333469391, + 0.07424836788549383 + ], + [ + 0.3785916268825531, + -0.09710693359375, + 0.9204556941986084, + -0.026256824545880658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.02467264048755169, + -0.3598748743534088, + -0.0757684978027629 + ], + [ + 0.057661354541778564, + 0.9950268268585205, + 0.08122081309556961, + 0.070289520569082 + ], + [ + 0.3560812175273895, + -0.09650342911481857, + 0.9294586181640625, + -0.026714334070173068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.04396728426218033, + -0.33740484714508057, + -0.06365393350521724 + ], + [ + 0.07322211563587189, + 0.9945314526557922, + 0.07446920871734619, + 0.06676222383975983 + ], + [ + 0.3322855234146118, + -0.09473130106925964, + 0.9384094476699829, + -0.02412442862987517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.06606294214725494, + -0.31522223353385925, + -0.05148958800694882 + ], + [ + 0.09117239713668823, + 0.9936740398406982, + 0.06557057797908783, + 0.06719766927835269 + ], + [ + 0.30889639258384705, + -0.09081625938415527, + 0.9467499256134033, + -0.017397117971355056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.0867420881986618, + -0.2908088266849518, + -0.0388899703995667 + ], + [ + 0.10839028656482697, + 0.9923473000526428, + 0.05914688482880592, + 0.06367846431417598 + ], + [ + 0.2834528386592865, + -0.08787843585014343, + 0.9549512267112732, + -0.019311101301612996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.957180917263031, + -0.10843473672866821, + -0.26841503381729126, + -0.02346384087756563 + ], + [ + 0.12702696025371552, + 0.9904906153678894, + 0.05284423381090164, + 0.06096537313782252 + ], + [ + 0.26013243198394775, + -0.08467743545770645, + 0.9618528485298157, + -0.021300100707090805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.128010556101799, + -0.24506095051765442, + -0.012437806730596433 + ], + [ + 0.14353950321674347, + 0.9885507822036743, + 0.04651626572012901, + 0.05974483821923152 + ], + [ + 0.23630061745643616, + -0.07987895607948303, + 0.9683911204338074, + -0.020420012935104523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.1475183516740799, + -0.2223912924528122, + -0.001837792639166884 + ], + [ + 0.1605565994977951, + 0.9861482381820679, + 0.041632238775491714, + 0.05774717717471286 + ], + [ + 0.21316926181316376, + -0.07582873106002808, + 0.9740682244300842, + -0.02043880738763726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.1638677418231964, + -0.20116622745990753, + 0.008398686530880436 + ], + [ + 0.1746748685836792, + 0.9839277863502502, + 0.037077896296978, + 0.05663844968837041 + ], + [ + 0.19185717403888702, + -0.07094679027795792, + 0.9788551330566406, + -0.020779070334556768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.17610272765159607, + -0.1806613802909851, + 0.017622370527595535 + ], + [ + 0.18486613035202026, + 0.9822182655334473, + 0.03273899108171463, + 0.05623366176190539 + ], + [ + 0.17168349027633667, + -0.06507810205221176, + 0.9830003380775452, + -0.022538704991850067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.18913325667381287, + -0.16122466325759888, + 0.02797589054983905 + ], + [ + 0.19656822085380554, + 0.979989230632782, + 0.031337715685367584, + 0.05268776913802339 + ], + [ + 0.15207141637802124, + -0.062046147882938385, + 0.9864200949668884, + -0.030454853941232707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.19852980971336365, + -0.1449819803237915, + 0.03590175217160811 + ], + [ + 0.2046114206314087, + 0.9784380197525024, + 0.02816375158727169, + 0.05312355964038617 + ], + [ + 0.13626453280448914, + -0.056964434683322906, + 0.9890334010124207, + -0.02937875565810079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.20980796217918396, + -0.12796364724636078, + 0.04547233834990069 + ], + [ + 0.21499767899513245, + 0.9762121438980103, + 0.02803308144211769, + 0.04877139571417346 + ], + [ + 0.11903809756040573, + -0.05468526855111122, + 0.9913825988769531, + -0.04662722400111009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.970149576663971, + -0.21279112994670868, + -0.11631737649440765, + 0.048911631922436576 + ], + [ + 0.21684689819812775, + 0.9759286046028137, + 0.02325509488582611, + 0.05318003414023636 + ], + [ + 0.10856898128986359, + -0.047783978283405304, + 0.992939829826355, + -0.02961127081742651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897217, + -0.21740037202835083, + -0.10408660769462585, + 0.053310629725456235 + ], + [ + 0.22077131271362305, + 0.9750796556472778, + 0.021900998428463936, + 0.05231297680248435 + ], + [ + 0.09673145413398743, + -0.04423462599515915, + 0.9943270683288574, + -0.03161375683087567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.22146070003509521, + -0.09397425502538681, + 0.06110176791747411 + ], + [ + 0.22446614503860474, + 0.9742201566696167, + 0.02258334681391716, + 0.04891706870661842 + ], + [ + 0.0865502879023552, + -0.043014127761125565, + 0.9953184723854065, + -0.044891611403889115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9713939428329468, + -0.2210748940706253, + -0.08671591430902481, + 0.06494380528282406 + ], + [ + 0.2237585335969925, + 0.9743863940238953, + 0.022433090955018997, + 0.0480094732143558 + ], + [ + 0.07953541725873947, + -0.041194792836904526, + 0.9959805011749268, + -0.046369450724023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.21781934797763824, + -0.08145803958177567, + 0.0666854246877707 + ], + [ + 0.22027860581874847, + 0.9751792550086975, + 0.02242249622941017, + 0.04713312178277052 + ], + [ + 0.07455214112997055, + -0.03975122049450874, + 0.9964244961738586, + -0.04639368408765547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.2119612991809845, + -0.0784216895699501, + 0.06689529467660647 + ], + [ + 0.21434932947158813, + 0.9764789938926697, + 0.023304712027311325, + 0.04571302741543096 + ], + [ + 0.07163744419813156, + -0.03951137140393257, + 0.996647834777832, + -0.04718064507867535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.20344486832618713, + -0.07777990400791168, + 0.06563327014446259 + ], + [ + 0.2058640420436859, + 0.9782768487930298, + 0.024379855021834373, + 0.044337507480612166 + ], + [ + 0.07113032042980194, + -0.03980662673711777, + 0.9966723918914795, + -0.047281240270687974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751465, + -0.19288700819015503, + -0.07931981980800629, + 0.06372298714824212 + ], + [ + 0.1953589916229248, + 0.9804229736328125, + 0.024610796943306923, + 0.043559036220017916 + ], + [ + 0.07301986217498779, + -0.03956543654203415, + 0.9965453743934631, + -0.04673975194111847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.18199658393859863, + -0.08247476816177368, + 0.06063193202528179 + ], + [ + 0.18456736207008362, + 0.982511043548584, + 0.024634940549731255, + 0.042376345805187 + ], + [ + 0.07654890418052673, + -0.03936030715703964, + 0.9962886571884155, + -0.047007102996875064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1702432483434677, + -0.08704868704080582, + 0.056616836330956884 + ], + [ + 0.17297138273715973, + 0.9846154451370239, + 0.024766409769654274, + 0.041027684811439015 + ], + [ + 0.08149316161870956, + -0.03936639428138733, + 0.9958961606025696, + -0.04710326859584221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.15885408222675323, + -0.09249308705329895, + 0.052132801998120086 + ], + [ + 0.1617366224527359, + 0.9865297079086304, + 0.024503173306584358, + 0.03938573501431025 + ], + [ + 0.08735474944114685, + -0.03904515877366066, + 0.9954118132591248, + -0.047759039814655596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916687, + -0.14746220409870148, + -0.09873469173908234, + 0.04772602931683899 + ], + [ + 0.15045319497585297, + 0.9883372187614441, + 0.023524729534983635, + 0.03855290218598695 + ], + [ + 0.09411415457725525, + -0.03800627589225769, + 0.9948356747627258, + -0.0473182797177225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.13747529685497284, + -0.10522107034921646, + 0.04393003529463059 + ], + [ + 0.14056672155857086, + 0.9898151755332947, + 0.022515583783388138, + 0.037003464006587994 + ], + [ + 0.10105407983064651, + -0.036966193467378616, + 0.9941939115524292, + -0.047352737519476135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.12813040614128113, + -0.11093787103891373, + 0.04019736663844341 + ], + [ + 0.13122212886810303, + 0.991130530834198, + 0.021000951528549194, + 0.03558061205041714 + ], + [ + 0.10726305097341537, + -0.03525463491678238, + 0.9936054348945618, + -0.047589212350356264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.11832474917173386, + -0.11610306054353714, + 0.0364217143983413 + ], + [ + 0.12137790769338608, + 0.9924135804176331, + 0.01956387795507908, + 0.03404030125811059 + ], + [ + 0.11290735751390457, + -0.033385537564754486, + 0.9930444955825806, + -0.047459938332565815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.10830871760845184, + -0.12030729651451111, + 0.032665438370572196 + ], + [ + 0.11122792959213257, + 0.9936354756355286, + 0.0178004652261734, + 0.032566626080208355 + ], + [ + 0.11761365830898285, + -0.03094721958041191, + 0.992577075958252, + -0.048943691783481166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.09908399730920792, + -0.12443291395902634, + 0.028714868292594564 + ], + [ + 0.10182847827672958, + 0.9946752786636353, + 0.015877142548561096, + 0.03155379165441562 + ], + [ + 0.12219717353582382, + -0.02834581583738327, + 0.9921010136604309, + -0.04890660047531127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.09001149982213974, + -0.1283700168132782, + 0.025188806105373253 + ], + [ + 0.09270647913217545, + 0.9955779910087585, + 0.015163253992795944, + 0.029818968298152473 + ], + [ + 0.1264374852180481, + -0.026876460760831833, + 0.9916104078292847, + -0.05075489822615924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614136, + -0.08049169927835464, + -0.13254374265670776, + 0.02219732809397909 + ], + [ + 0.08308481425046921, + 0.9964421391487122, + 0.01414218358695507, + 0.02953839488964305 + ], + [ + 0.13093385100364685, + -0.02498348243534565, + 0.9910762310028076, + -0.05176855279849124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773499, + -0.0703352764248848, + -0.13583122193813324, + 0.018951388219228156 + ], + [ + 0.07289371639490128, + 0.9972421526908875, + 0.013948282226920128, + 0.028748151022367753 + ], + [ + 0.13447557389736176, + -0.023685382679104805, + 0.9906337857246399, + -0.050653169934566186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.060889843851327896, + -0.13881294429302216, + 0.015965969984730082 + ], + [ + 0.06331786513328552, + 0.9979069232940674, + 0.013138719834387302, + 0.02879033071251634 + ], + [ + 0.13772238790988922, + -0.021776240319013596, + 0.990231454372406, + -0.05125750596197241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.05374547094106674, + -0.1416022777557373, + 0.0134962504172427 + ], + [ + 0.05623587220907211, + 0.9983243346214294, + 0.013641752302646637, + 0.02753899063373733 + ], + [ + 0.14063182473182678, + -0.021447502076625824, + 0.9898296594619751, + -0.05079416760012634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.045408640056848526, + -0.14387789368629456, + 0.010612537282017559 + ], + [ + 0.0478987880051136, + 0.9987556338310242, + 0.013889262452721596, + 0.02726128744200254 + ], + [ + 0.14306816458702087, + -0.020621849223971367, + 0.9894979596138, + -0.050059757859278936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.038164395838975906, + -0.1461172252893448, + 0.008094020273823003 + ], + [ + 0.04070153459906578, + 0.9990674257278442, + 0.014412548393011093, + 0.026586313359439374 + ], + [ + 0.14543090760707855, + -0.020194444805383682, + 0.989162266254425, + -0.05052039521372215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.03220750764012337, + -0.14786958694458008, + 0.0047233273617477475 + ], + [ + 0.0347265787422657, + 0.9992918968200684, + 0.014485127292573452, + 0.02587902907711955 + ], + [ + 0.14729833602905273, + -0.019453296437859535, + 0.9889007806777954, + -0.050177707504003466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.988215982913971, + -0.029091212898492813, + -0.1502760350704193, + 0.0023753218352794633 + ], + [ + 0.031473349779844284, + 0.9994134306907654, + 0.01349729299545288, + 0.026220582922299705 + ], + [ + 0.14979523420333862, + -0.01806792989373207, + 0.988551914691925, + -0.04904662737479576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.987951397895813, + -0.02778010256588459, + -0.1522507518529892, + -0.00019113180569859008 + ], + [ + 0.03019012324512005, + 0.9994524717330933, + 0.013540053740143776, + 0.025038641051222117 + ], + [ + 0.15179122984409332, + -0.017973383888602257, + 0.9882491230964661, + -0.04883033628137701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.027334081009030342, + -0.1539868861436844, + -0.0037311175440111755 + ], + [ + 0.02979983203113079, + 0.9994616508483887, + 0.01372696366161108, + 0.024128076331849154 + ], + [ + 0.15352876484394073, + -0.018146833404898643, + 0.9879775643348694, + -0.04922737196469916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.02814178727567196, + -0.15723510086536407, + -0.006024546362459662 + ], + [ + 0.030611323192715645, + 0.9994428157806396, + 0.013306012377142906, + 0.024700734950602054 + ], + [ + 0.15677304565906525, + -0.017948338761925697, + 0.9874715805053711, + -0.047858795523643485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/tilt_down/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..908f745dd2e2211574c841ae2726055a27301d22 --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/tilt_down/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0010107766866100161, + 0.005770525083707542, + 0.0026149610057473183 + ], + [ + 0.0011594925308600068, + 0.9996657534695913, + -0.02582673721326473, + 0.0011789039708673954 + ], + [ + -0.005742491688579321, + 0.025832983766515903, + 0.9996497864034457, + 0.004809475038200617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295657, + -0.005446757106865934, + 0.013224095240360658, + 0.005651809275150299 + ], + [ + 0.005993630737066271, + 0.9991133453128012, + -0.041673162836137756, + -0.0017968520987778902 + ], + [ + -0.012985386885702613, + 0.0417481597753394, + 0.9990437755173824, + 0.0038842298090457916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917788, + -0.023694452248130715, + 0.018071261040689766, + 0.009347952902317047 + ], + [ + 0.02449628151953221, + 0.9986629922987058, + -0.04552145943662016, + -0.005224069580435753 + ], + [ + -0.016968492418527607, + 0.04594391963177045, + 0.998799892371153, + -0.0005182744353078306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04387180368489857, + 0.02045593531194587, + 0.012183863669633865 + ], + [ + 0.044819705188274384, + 0.9978196654335851, + -0.04844648486135966, + -0.010469328612089157 + ], + [ + -0.018285902217030525, + 0.04930651789134255, + 0.9986162639957307, + -0.0006278678774833679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.056991937826341627, + 0.022802987964314007, + 0.014793919399380684 + ], + [ + 0.0581679567694664, + 0.9968044134131697, + -0.05474924789248231, + -0.014797203242778778 + ], + [ + -0.019609853625297546, + 0.055972401794107764, + 0.9982397034744819, + -0.002631464973092079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.06712278587617566, + 0.026885266544343582, + 0.015167241916060448 + ], + [ + 0.06877684593200684, + 0.9954309268867321, + -0.06623431482282363, + -0.014838115312159061 + ], + [ + -0.022316595539450645, + 0.06791001965991125, + 0.9974418374120777, + -0.0031356823164969683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07796597448197289, + 0.030897280822061342, + 0.015110899694263935 + ], + [ + 0.08019189536571503, + 0.9936500753658053, + -0.07892237509351069, + -0.014940964989364147 + ], + [ + -0.02454782836139202, + 0.08112205936368938, + 0.9964018093201668, + -0.007276860997080803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08742198880044463, + 0.032509903315997034, + 0.01502513699233532 + ], + [ + 0.0900096669793129, + 0.9919375843948498, + -0.08920781080494233, + -0.01783846504986286 + ], + [ + -0.024449072778224945, + 0.09174513100767727, + 0.9954823553736117, + -0.010772687382996082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08928720791303683, + 0.033275293628459664, + 0.013929227367043495 + ], + [ + 0.0921560600399971, + 0.9909097525195748, + -0.09800592445504923, + -0.020943714305758476 + ], + [ + -0.02422213740646839, + 0.10062650953726746, + 0.9946293720360945, + -0.01748897321522236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08473584610100718, + 0.03245074254546916, + 0.015100324526429176 + ], + [ + 0.08777566999197006, + 0.9902792337538853, + -0.10790004843880534, + -0.02237175777554512 + ], + [ + -0.022992298007011414, + 0.11030333545774614, + 0.9936319721741517, + -0.020984774455428123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.07972133396977603, + 0.03353656556396577, + 0.015160143375396729 + ], + [ + 0.08318085968494415, + 0.9893951836419647, + -0.11907212834535633, + -0.024343935772776604 + ], + [ + -0.02368832752108574, + 0.1214155616942573, + 0.9923190633020131, + -0.023474764078855515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07922776575050804, + 0.03464140710511342, + 0.018790870904922485 + ], + [ + 0.0831107646226883, + 0.9879313054134558, + -0.13070710697433588, + -0.02980593405663967 + ], + [ + -0.023867696523666382, + 0.1330966249705129, + 0.990815608168303, + -0.028709549456834793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177676, + -0.09306025887874034, + 0.03330420411333822, + 0.04024022817611694 + ], + [ + 0.0966916084289551, + 0.9864197468181665, + -0.13276619584522198, + -0.04759158939123154 + ], + [ + -0.020496666431427005, + 0.1353363216925219, + 0.990587692346784, + -0.09472115337848663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09366872488125051, + 0.036941053717675816, + 0.042655520141124725 + ], + [ + 0.0980973094701767, + 0.9844280014288072, + -0.14587146281857732, + -0.04949988052248955 + ], + [ + -0.022702213376760483, + 0.14875394692780844, + 0.9886136217839391, + -0.0967118889093399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08710373022110114, + 0.04175418334133234, + 0.04267323762178421 + ], + [ + 0.09261272847652435, + 0.9833619819184032, + -0.15627569123854015, + -0.04824163019657135 + ], + [ + -0.027447279542684555, + 0.1594119012850284, + 0.9868305055319317, + -0.1042298898100853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07505017372699671, + 0.046408724491919996, + 0.041564613580703735 + ], + [ + 0.08167071640491486, + 0.9832634844272355, + -0.16285812149462503, + -0.04895204305648804 + ], + [ + -0.0334094762802124, + 0.1660130892325508, + 0.9855574665613933, + -0.10786063969135284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.0653211030642445, + 0.05090634992373098, + 0.040184978395700455 + ], + [ + 0.07303920388221741, + 0.9829897986933526, + -0.16851216415669087, + -0.04865478724241257 + ], + [ + -0.03903302177786827, + 0.1716514877303424, + 0.984384184801215, + -0.10604726523160934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.05931217315773262, + 0.05369972820935599, + 0.04263319820165634 + ], + [ + 0.06763423979282379, + 0.9832099065621267, + -0.16948122076394295, + -0.053327981382608414 + ], + [ + -0.04274580627679825, + 0.17256982398389242, + 0.9840693095016256, + -0.1002330332994461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.05317657304903643, + 0.05751269368772566, + 0.043867867439985275 + ], + [ + 0.062262121587991714, + 0.9834900933579392, + -0.16991361124732948, + -0.05713093653321266 + ], + [ + -0.0475277416408062, + 0.17297243006622953, + 0.9837792892324349, + -0.09688381105661392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.052045952082953664, + 0.06266825806133551, + 0.04129500687122345 + ], + [ + 0.06216574087738991, + 0.9830940442168861, + -0.17222534041963392, + -0.05682787299156189 + ], + [ + -0.052645161747932434, + 0.1755487429255101, + 0.9830621194458662, + -0.09895393997430801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.05112658324664164, + 0.0637360077775064, + 0.041646558791399 + ], + [ + 0.06151943653821945, + 0.9829018720505428, + -0.17354898564753388, + -0.059143971651792526 + ], + [ + -0.05377327278256416, + 0.17688968561496, + 0.9827606122565508, + -0.09477517008781433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.047154271739902796, + 0.06298014571027735, + 0.04259354621171951 + ], + [ + 0.057594262063503265, + 0.9827283642379708, + -0.17586313103082296, + -0.0607960969209671 + ], + [ + -0.053599677979946136, + 0.1789452936470797, + 0.9823979140029083, + -0.0920126810669899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607546, + -0.04112980559873025, + 0.06716201478993368, + 0.03693025931715965 + ], + [ + 0.0525655932724476, + 0.9825273798384693, + -0.17854084864855835, + -0.06257779896259308 + ], + [ + -0.058645166456699385, + 0.18151670609621917, + 0.9816376403615795, + -0.10099228471517563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.043259121185149685, + 0.06475163674714023, + 0.04033232107758522 + ], + [ + 0.05446356534957886, + 0.9816512946466479, + -0.1827414176501941, + -0.05900996923446655 + ], + [ + -0.05565829947590828, + 0.18571309379120632, + 0.9810263856273057, + -0.08236721158027649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.04141504122477534, + 0.06665033225500612, + 0.03739919513463974 + ], + [ + 0.05318856239318848, + 0.9811253917883649, + -0.18591369911252392, + -0.05795477703213692 + ], + [ + -0.05769271031022072, + 0.18888546216597255, + 0.9803029041742544, + -0.07230614125728607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.037075697485643724, + 0.07214137468927169, + 0.0291319377720356 + ], + [ + 0.05014246329665184, + 0.9807477837175727, + -0.18873132788938968, + -0.058147281408309937 + ], + [ + -0.06375514715909958, + 0.191726815233148, + 0.9793753831403458, + -0.06891536712646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03747091101714229, + 0.07328258722071208, + 0.026693744584918022 + ], + [ + 0.05080832168459892, + 0.9805471124184589, + -0.1895939651746684, + -0.05840952321887016 + ], + [ + -0.06475277245044708, + 0.19267404752568593, + 0.9791239832796901, + -0.05963993817567825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.039145441115642214, + 0.07369854805577616, + 0.025658782571554184 + ], + [ + 0.05266831815242767, + 0.9800614837617712, + -0.1915868945283068, + -0.05678623914718628 + ], + [ + -0.06472935527563095, + 0.19480020507647175, + 0.9787047256348015, + -0.05228189006447792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017397, + -0.04001821966892575, + 0.07469629289537397, + 0.02260943315923214 + ], + [ + 0.05365906655788423, + 0.9801912345575433, + -0.1906459735116044, + -0.06071340665221214 + ], + [ + -0.06558734178543092, + 0.19396836812195614, + 0.9788128190635483, + -0.04720846563577652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.04190872440338627, + 0.06793393024092008, + 0.03578580915927887 + ], + [ + 0.05432456359267235, + 0.9797522198635501, + -0.19270285021434602, + -0.05881983041763306 + ], + [ + -0.058482490479946136, + 0.19577846824717784, + 0.9789027679724266, + -0.03718961030244827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9966436028480532, + -0.037270440055590284, + 0.07288642374877352, + 0.02364843338727951 + ], + [ + 0.05082977190613748, + 0.9796657987930619, + -0.19409095825686598, + -0.060768064111471176 + ], + [ + -0.06417047977447511, + 0.19714430297282096, + 0.9782720792232069, + -0.03692050278186798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.04358150498359611, + 0.07244862981205022, + 0.024078765884041786 + ], + [ + 0.057165201753377914, + 0.9786297791005624, + -0.19752428527402793, + -0.0568309985101223 + ], + [ + -0.062291987240314484, + 0.20095858620258972, + 0.9776171850758377, + -0.03366250917315483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.033194582773401156, + 0.07381410363537919, + 0.016194405034184456 + ], + [ + 0.04709552973508835, + 0.9795904221852357, + -0.19540893703135184, + -0.06738045066595078 + ], + [ + -0.06582106649875641, + 0.19824420711809052, + 0.977940086440092, + -0.03649592399597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887698, + -0.03883210996694325, + 0.07221875305485839, + 0.018901294097304344 + ], + [ + 0.05283621326088907, + 0.9776559341516662, + -0.20346306620349452, + -0.05563338100910187 + ], + [ + -0.06270419061183931, + 0.20659367641518855, + 0.976415525442704, + -0.03517554700374603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.03016667954628819, + 0.06947287467524396, + 0.021563608199357986 + ], + [ + 0.04404309391975403, + 0.9771729641759498, + -0.20782964038356977, + -0.05546606332063675 + ], + [ + -0.06161748245358467, + 0.2102924758961225, + 0.9756948027757798, + -0.023972902446985245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.0277845603463786, + 0.06991848888867927, + 0.01633315347135067 + ], + [ + 0.04198500141501427, + 0.9766540847661362, + -0.2106753880256992, + -0.05780502408742905 + ], + [ + -0.062432654201984406, + 0.21301378592459225, + 0.9750524431753069, + -0.02267383225262165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.025375972994438032, + 0.07088601754932336, + 0.01323881559073925 + ], + [ + 0.040134165436029434, + 0.9757277073543932, + -0.21527814304477813, + -0.05316465348005295 + ], + [ + -0.06370256096124649, + 0.2175120587881061, + 0.9739766332483035, + -0.03193025663495064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188296, + -0.021227201228636867, + 0.072923460255059, + 0.006284821312874556 + ], + [ + 0.036512129008769996, + 0.9758930678289158, + -0.21517340810575228, + -0.05768343806266785 + ], + [ + -0.06659797579050065, + 0.21721452265135044, + 0.9738493707490127, + -0.03978252410888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.022653432109643473, + 0.06907321802331239, + 0.01235460489988327 + ], + [ + 0.037083908915519714, + 0.975815589918452, + -0.21542683435413898, + -0.06226743385195732 + ], + [ + -0.06252256780862808, + 0.21741842413004037, + 0.9740739814612965, + -0.034791260957717896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.025009545997531336, + 0.0659314970431612, + 0.014257345348596573 + ], + [ + 0.038790106773376465, + 0.9754297549702738, + -0.21686890490577443, + -0.058526769280433655 + ], + [ + -0.058887749910354614, + 0.21888653737097769, + 0.973971698432311, + -0.039924927055835724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.027954481408075976, + 0.06267065929584917, + 0.016208626329898834 + ], + [ + 0.0407622866332531, + 0.9760928478320181, + -0.2134974506595077, + -0.06244063377380371 + ], + [ + -0.05520417541265488, + 0.2155487888549556, + 0.9749313695454734, + -0.05381309241056442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.031306841973961184, + 0.060394882437105044, + 0.013647343963384628 + ], + [ + 0.04351149871945381, + 0.9761295812142103, + -0.212785741376461, + -0.060116346925497055 + ], + [ + -0.05229157954454422, + 0.21492072182055535, + 0.9752305556999832, + -0.06301630288362503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.0294538513684792, + 0.05845399880468906, + 0.01010767463594675 + ], + [ + 0.041225872933864594, + 0.976456055042325, + -0.21174033846751925, + -0.0571913868188858 + ], + [ + -0.05084118992090225, + 0.21369606992997006, + 0.9755763403108695, + -0.06664619594812393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.03351567004969124, + 0.05233461067729581, + 0.008489043451845646 + ], + [ + 0.04373984783887863, + 0.9770567150858698, + -0.2084393227731882, + -0.057270731776952744 + ], + [ + -0.044147904962301254, + 0.2103255258185999, + 0.9766340936532099, + -0.06580360978841782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03720516119165505, + 0.04524626951537497, + 0.005324982572346926 + ], + [ + 0.045669130980968475, + 0.9780308909594951, + -0.20339605505942973, + -0.05658679082989693 + ], + [ + -0.03668486326932907, + 0.20511314190894522, + 0.9780505110138096, + -0.06261816620826721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03969174568857154, + 0.03644354135836792, + 0.002150579821318388 + ], + [ + 0.0461643785238266, + 0.9789807078989313, + -0.198659622266417, + -0.05321662500500679 + ], + [ + -0.027792375534772873, + 0.20005340769715096, + 0.9793907295780835, + -0.06001027673482895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04350711495171252, + 0.02693662709985599, + -0.00324062816798687 + ], + [ + 0.04788491129875183, + 0.9801883286718509, + -0.19219227039971612, + -0.05063812434673309 + ], + [ + -0.01804123818874359, + 0.19323033347170138, + 0.9809875612964974, + -0.05644610896706581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271548, + -0.04518737945665195, + 0.016923790319729664, + -0.009144678711891174 + ], + [ + 0.04755266755819322, + 0.9813385300467998, + -0.18631542594003564, + -0.04672642797231674 + ], + [ + -0.00818886421620846, + 0.18690316056061754, + 0.9823442156845006, + -0.05306904762983322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04763629650001604, + 0.005431080220091299, + -0.012908844277262688 + ], + [ + 0.047837208956480026, + 0.9826037381149442, + -0.17944782462016198, + -0.04501646012067795 + ], + [ + 0.003211629344150424, + 0.1795012781589705, + 0.983752503993035, + -0.0489749014377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.04789116489589819, + -0.0048415122609405566, + -0.015829093754291534 + ], + [ + 0.046333786100149155, + 0.9838423708042338, + -0.17293763656905328, + -0.04278643801808357 + ], + [ + 0.013045470230281353, + 0.17251284677119033, + 0.9849208475907976, + -0.04861770570278168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061282, + -0.046021668705910304, + -0.015873487000342443, + -0.012194821611046791 + ], + [ + 0.04276834800839425, + 0.9852846714210485, + -0.1654840750637118, + -0.043468132615089417 + ], + [ + 0.02325575612485409, + 0.1646089683610422, + 0.9860847188776259, + -0.05514885485172272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04587162347593441, + -0.023324085664653042, + -0.015498677268624306 + ], + [ + 0.04158389940857887, + 0.9863470565826092, + -0.15934333625446828, + -0.042818810790777206 + ], + [ + 0.030314980074763298, + 0.15816230330360437, + 0.9869476890760814, + -0.05386031046509743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.044297404540503196, + -0.03071916372019955, + -0.013593008741736412 + ], + [ + 0.03913160413503647, + 0.9875877353927976, + -0.15211569239317074, + -0.04383949562907219 + ], + [ + 0.0370761975646019, + 0.15069240957068863, + 0.9878852029503035, + -0.05981961265206337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04394890667672606, + -0.03630847826718405, + -0.013619010336697102 + ], + [ + 0.03823528811335564, + 0.9886441006432648, + -0.14533026054842307, + -0.043300338089466095 + ], + [ + 0.04228327050805092, + 0.14370565843491603, + 0.9887167306115283, + -0.06336909532546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622805, + -0.045348180048636194, + -0.04234618992175394, + -0.013297997415065765 + ], + [ + 0.039093457162380225, + 0.9896105338129452, + -0.1383571581697194, + -0.040434062480926514 + ], + [ + 0.04818047583103181, + 0.1364351194913945, + 0.9894767063403022, + -0.06402532011270523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976655244827273, + -0.048921103939025254, + -0.04764737564151474, + -0.013391167856752872 + ], + [ + 0.04238915443420411, + 0.9906625896684716, + -0.1295792877528892, + -0.0365753211081028 + ], + [ + 0.053541634231805815, + 0.12725706602443357, + 0.9904236197127418, + -0.06549331545829773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.05353493255887944, + -0.05228392580554481, + -0.013123827986419201 + ], + [ + 0.0469999760389328, + 0.9917711111545755, + -0.11908443350593899, + -0.03128482401371002 + ], + [ + 0.05822886526584625, + 0.116293217077202, + 0.9915065648532588, + -0.06889160722494125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144045, + -0.05759778202388107, + -0.05686805071418818, + -0.012961428612470627 + ], + [ + 0.051427297294139876, + 0.993186773332197, + -0.10457183425808138, + -0.03012879192829132 + ], + [ + 0.06250370293855669, + 0.10130415145009025, + 0.9928900945515368, + -0.07040216773748398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.06270231192079635, + -0.06180414742566941, + -0.011622917838394642 + ], + [ + 0.056910090148448944, + 0.9941869867212222, + -0.09139719977837693, + -0.023201817646622658 + ], + [ + 0.06717569380998611, + 0.08752500881626812, + 0.9938947554413441, + -0.06899771839380264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.06504479615067534, + -0.06591259430092547, + -0.010488132014870644 + ], + [ + 0.05990174412727356, + 0.9952137431732359, + -0.0772101401813182, + -0.016997598111629486 + ], + [ + 0.07061923295259476, + 0.07293010711511028, + 0.9948337035199883, + -0.0691714659333229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.06499366654191539, + -0.06859342510283083, + -0.011331424117088318 + ], + [ + 0.06083834916353226, + 0.9962805295608478, + -0.0610233409544606, + -0.015193278901278973 + ], + [ + 0.07230442762374878, + 0.056577178662757084, + 0.995776599032118, + -0.06879374384880066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.06420336403187371, + -0.07202338853236813, + -0.010349816642701626 + ], + [ + 0.06089574098587036, + 0.997026654123606, + -0.04721853953015606, + -0.01026191283017397 + ], + [ + 0.07484082877635956, + 0.042612322926009215, + 0.9962846250207072, + -0.06610944122076035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740053, + -0.06380068448358324, + -0.07439064407070102, + -0.009588767774403095 + ], + [ + 0.06137495860457422, + 0.9975199755408114, + -0.034452568345856464, + -0.0047399140894412994 + ], + [ + 0.07640424370765687, + 0.029720995724873037, + 0.9966338617847392, + -0.06471502780914307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.06293538102089438, + -0.07544498356313847, + -0.010198700241744518 + ], + [ + 0.061275944113731384, + 0.9978295357949738, + -0.02411420641920627, + 0.0017958858516067266 + ], + [ + 0.07679887115955353, + 0.01937457451290362, + 0.9968583602413926, + -0.06114679574966431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.061752446818299514, + -0.07742077872602497, + -0.009215950034558773 + ], + [ + 0.060706935822963715, + 0.9980307768281799, + -0.015788092412132082, + 0.0083092600107193 + ], + [ + 0.07824327796697617, + 0.01101050509721374, + 0.9968734817066159, + -0.05438356474041939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.06122015913459316, + -0.0783426526021387, + -0.008529111742973328 + ], + [ + 0.06083381921052933, + 0.9981211269649489, + -0.007310847878555335, + 0.012369096279144287 + ], + [ + 0.07864303141832352, + 0.0025087410653045522, + 0.9968996788880476, + -0.05051043629646301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.06211976922719687, + -0.0793533639601838, + -0.007565315812826157 + ], + [ + 0.062438614666461945, + 0.9980476123077209, + 0.0015406636431140634, + 0.014454475603997707 + ], + [ + 0.07910273224115372, + -0.006487538390363701, + 0.9968453820504688, + -0.04769887775182724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.06322841031013146, + -0.08095934047992176, + -0.006630818359553814 + ], + [ + 0.06413831561803818, + 0.9979032332134982, + 0.008685562281921782, + 0.018682928755879402 + ], + [ + 0.0802404135465622, + -0.013832206829263937, + 0.9966795410354685, + -0.043697893619537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.06433763378994779, + -0.08328477502526004, + -0.0047458806075155735 + ], + [ + 0.06591843068599701, + 0.9976907638204621, + 0.016369164765505376, + 0.02160365879535675 + ], + [ + 0.08203929662704468, + -0.021768264878430497, + 0.9963913434821267, + -0.04055410996079445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.06529144916011738, + -0.08445693250278417, + -0.004481792915612459 + ], + [ + 0.06750068813562393, + 0.9974408049938306, + 0.023569561372120244, + 0.02341683767735958 + ], + [ + 0.0827018991112709, + -0.029135781482517727, + 0.9961483624847041, + -0.036246683448553085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.06842181597256547, + -0.08555358954192192, + -0.003613567678257823 + ], + [ + 0.07123138755559921, + 0.9970017126241558, + 0.030226754346113972, + 0.025380000472068787 + ], + [ + 0.08322890847921371, + -0.036138932179077286, + 0.9958749786713859, + -0.03284308686852455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554324, + -0.07196056022779193, + -0.08580081716751399, + -0.0037061539478600025 + ], + [ + 0.07529625296592714, + 0.9965005583065428, + 0.03629234673306269, + 0.02664365991950035 + ], + [ + 0.0828889384865761, + -0.04252454972376407, + 0.9956510896486889, + -0.029411008581519127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.993364751338959, + -0.07617552322554089, + -0.08616117225244467, + -0.0032087089493870735 + ], + [ + 0.0799790844321251, + 0.9959287410337919, + 0.041584960773551116, + 0.028232157230377197 + ], + [ + 0.08264263719320299, + -0.04820012341585089, + 0.9954129756541817, + -0.02657119370996952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.07953963229226522, + -0.08662503453922113, + -0.003914577420800924 + ], + [ + 0.08376192301511765, + 0.9954121297105325, + 0.04624482447247237, + 0.029955342411994934 + ], + [ + 0.0825493186712265, + -0.053179799550765905, + 0.9951671064787588, + -0.02286659926176071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770327, + -0.0826717666489817, + -0.0877548056059332, + -0.0038214109372347593 + ], + [ + 0.08739734441041948, + 0.9948444015649478, + 0.05144201849189246, + 0.031060416251420975 + ], + [ + 0.08304957300424577, + -0.05873631838347608, + 0.9948129565800115, + -0.021226221695542336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.08441005918184734, + -0.08952054932934192, + -0.003911424893885851 + ], + [ + 0.08968321979045868, + 0.9943601977476411, + 0.05661005797403289, + 0.03174012154340744 + ], + [ + 0.08423721045255661, + -0.06420840914404098, + 0.9943748925522073, + -0.019592836499214172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022951, + -0.0864508721635618, + -0.09207172209624669, + -0.0037879357114434242 + ], + [ + 0.09240105003118516, + 0.993761774301402, + 0.06244675904436539, + 0.03236940875649452 + ], + [ + 0.08609877526760103, + -0.07045423790038284, + 0.9937923430761809, + -0.016830677166581154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024905, + -0.08710830409182291, + -0.09516042205273421, + -0.003620839212089777 + ], + [ + 0.09367165714502336, + 0.9933579431872135, + 0.06682567106462174, + 0.0362081304192543 + ], + [ + 0.08870728313922883, + -0.07518106715047813, + 0.9932164088147092, + -0.013613415881991386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.08726998874661283, + -0.09647307772630719, + -0.005481652449816465 + ], + [ + 0.0944184809923172, + 0.9929114889664646, + 0.07219391240545635, + 0.03837844356894493 + ], + [ + 0.08948885649442673, + -0.08068927247599615, + 0.9927139616356113, + -0.0118135130032897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.08680057445718856, + -0.09973965909698536, + -0.0039919158443808556 + ], + [ + 0.09469663351774216, + 0.9924956939003315, + 0.07736168171343012, + 0.04013359174132347 + ], + [ + 0.09227614849805832, + -0.08612747769633781, + 0.992001595974444, + -0.010045355185866356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.08788983591573801, + -0.09941623773900438, + -0.0073515004478394985 + ], + [ + 0.0962834283709526, + 0.9918840868973049, + 0.08303921383721466, + 0.04102121293544769 + ], + [ + 0.09131107479333878, + -0.09187701586533124, + 0.9915749841014182, + -0.007580859586596489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.08760616795604764, + -0.10086338718302634, + -0.007716271560639143 + ], + [ + 0.09662140160799026, + 0.9913999749325748, + 0.08826297171135485, + 0.04194727912545204 + ], + [ + 0.0922635868191719, + -0.09721731586309212, + 0.9909773931879001, + -0.005502627231180668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.08715191254976651, + -0.10334405952680896, + -0.007533804979175329 + ], + [ + 0.09692727774381638, + 0.99087319199002, + 0.09367749480533043, + 0.04226987063884735 + ], + [ + 0.09423667937517166, + -0.10283440535870451, + 0.9902244958988421, + -0.0014224685728549957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.08523530688357948, + -0.10594763279757348, + -0.007032566703855991 + ], + [ + 0.0958503782749176, + 0.99040986547658, + 0.09950408469119879, + 0.040687110275030136 + ], + [ + 0.0964503213763237, + -0.10873499957880205, + 0.9893806564489033, + 0.002212600549682975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.08572070730996666, + -0.10751958157467542, + -0.008957830257713795 + ], + [ + 0.0968770906329155, + 0.9899282677846876, + 0.10323200418664175, + 0.043103836476802826 + ], + [ + 0.09758754819631577, + -0.11266754623440996, + 0.9888289266902113, + 0.0052724857814610004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.0853755900027821, + -0.11007783882863147, + -0.009060046635568142 + ], + [ + 0.09731114655733109, + 0.9893711147527078, + 0.10805227674615386, + 0.043029867112636566 + ], + [ + 0.09968281537294388, + -0.11771050714807937, + 0.9880321759276574, + 0.008190247230231762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.08518228967291128, + -0.11169971470430466, + -0.011027196422219276 + ], + [ + 0.09764714539051056, + 0.9889742571112877, + 0.11133259423581104, + 0.04483520984649658 + ], + [ + 0.10098458081483841, + -0.1211358234181274, + 0.9874858207132947, + 0.010596305131912231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.08460250130646442, + -0.1131983415816051, + -0.013320162892341614 + ], + [ + 0.09759130328893661, + 0.9886056205191096, + 0.11460727811888859, + 0.045869700610637665 + ], + [ + 0.10221245139837265, + -0.12450424121164777, + 0.9869403486945321, + 0.01328237447887659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.0831904863962819, + -0.11515425216281995, + -0.014681844040751457 + ], + [ + 0.09672302007675171, + 0.9883626341729919, + 0.1174050344115827, + 0.04701883718371391 + ], + [ + 0.10404717922210693, + -0.12735237984631756, + 0.9863850979341175, + 0.01492389477789402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622744, + -0.08143629690426463, + -0.11703318629896821, + -0.016200462356209755 + ], + [ + 0.09555050730705264, + 0.9880992843182349, + 0.12053982082671792, + 0.04780365526676178 + ], + [ + 0.10582409799098971, + -0.13049090768339616, + 0.9857856756537904, + 0.01582326367497444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.989650368690491, + -0.08004169541366492, + -0.11910257472136755, + -0.018089788034558296 + ], + [ + 0.0947317034006119, + 0.9878401282759579, + 0.12327923157226015, + 0.04991021379828453 + ], + [ + 0.10778681933879855, + -0.1332861293081044, + 0.9851988819018396, + 0.016296179965138435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754458, + -0.07846953357817109, + -0.11988146040267623, + -0.021585384383797646 + ], + [ + 0.09365765005350114, + 0.987494584415566, + 0.12681761008483775, + 0.05135637894272804 + ], + [ + 0.1084309667348862, + -0.13673695227451743, + 0.9846551176369802, + 0.016284851357340813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.07949139679563155, + -0.11769748125482238, + -0.024751057848334312 + ], + [ + 0.0950760468840599, + 0.9864990312194294, + 0.13334239921913243, + 0.04717264696955681 + ], + [ + 0.10550887882709503, + -0.1431809016046213, + 0.9840564823517378, + -0.0028966732788830996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724734, + -0.0789411883158898, + -0.12005905472236865, + -0.026021428406238556 + ], + [ + 0.0952539220452309, + 0.9860023065243627, + 0.13684343614592112, + 0.05022489279508591 + ], + [ + 0.10757591575384143, + -0.14685953419164252, + 0.9832902129275737, + 0.0013182824477553368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.07719387421850049, + -0.12596912563884016, + -0.025161193683743477 + ], + [ + 0.09481452405452728, + 0.9855321854483351, + 0.14048685465285068, + 0.05454794317483902 + ], + [ + 0.11330190300941467, + -0.15088888105248346, + 0.982036265550742, + 0.020800668746232986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.07725447330661873, + -0.12335301335694056, + -0.028351524844765663 + ], + [ + 0.09521777927875519, + 0.9845286545175465, + 0.1470947450293907, + 0.05053907632827759 + ], + [ + 0.11008085310459137, + -0.157273765160072, + 0.9814006448309016, + 0.00333184446208179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.07995742066623869, + -0.1263417271725606, + -0.030335161834955215 + ], + [ + 0.09878641366958618, + 0.9836479967555879, + 0.15059165484635695, + 0.055476948618888855 + ], + [ + 0.11223486065864563, + -0.16137971958252426, + 0.9804896483052633, + 0.011577603407204151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.988497853279114, + -0.0789281957838609, + -0.12900524720018972, + -0.03009968437254429 + ], + [ + 0.09880081564188006, + 0.9828459714739451, + 0.15573115120893904, + 0.0540514811873436 + ], + [ + 0.11450071632862094, + -0.1666857348221109, + 0.9793393213478123, + 0.01797373965382576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444949, + -0.07752169948537577, + -0.12720312378889356, + -0.03422505408525467 + ], + [ + 0.0974470525979996, + 0.9824961399191644, + 0.15876208370063305, + 0.055469267070293427 + ], + [ + 0.11266907304525378, + -0.16938628735082634, + 0.9790883278484052, + 0.00927917193621397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.0765561401002354, + -0.1289604290847971, + -0.03267781063914299 + ], + [ + 0.09737388789653778, + 0.9816824549523138, + 0.16376184133318364, + 0.05257437005639076 + ], + [ + 0.11406120657920837, + -0.17446710659878867, + 0.9780344166133648, + 0.0034933737479150295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.07887984877031175, + -0.1339848278511858, + -0.03219882398843765 + ], + [ + 0.10086613148450851, + 0.9809248024556051, + 0.16617031036405938, + 0.05659409612417221 + ], + [ + 0.11832154542207718, + -0.17766405604085223, + 0.9769521742868424, + 0.0198271032422781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.07811974800032154, + -0.13559936826020977, + -0.03272143378853798 + ], + [ + 0.10070245712995529, + 0.9805253448636329, + 0.16860934348268045, + 0.057489581406116486 + ], + [ + 0.11978689581155777, + -0.18018712583950008, + 0.9763112764775264, + 0.02515369839966297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.07615116875327009, + -0.13543237606338582, + -0.03309454023838043 + ], + [ + 0.09902217984199524, + 0.9802666590676034, + 0.17109041276497622, + 0.05697426199913025 + ], + [ + 0.119731105864048, + -0.18242345815241973, + 0.9759027145097193, + 0.023545676842331886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685183, + -0.07515670465663261, + -0.13564856886473306, + -0.03399718925356865 + ], + [ + 0.09821051359176639, + 0.9801560428852717, + 0.1721882329994575, + 0.059169888496398926 + ], + [ + 0.12001567333936694, + -0.18342726297353765, + 0.9756795998389298, + 0.027004817500710487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133425, + -0.07482189680579059, + -0.1360344711110333, + -0.03272155299782753 + ], + [ + 0.09827960282564166, + 0.9796764337967109, + 0.17485771732574398, + 0.0579807311296463 + ], + [ + 0.12018658220767978, + -0.18610691736406476, + 0.9751509366055058, + 0.024078888818621635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.07531646028379327, + -0.13722754164859388, + -0.02935277670621872 + ], + [ + 0.09938836097717285, + 0.9789956285313495, + 0.1780153788166304, + 0.05530702322721481 + ], + [ + 0.12093768268823624, + -0.1894596368457814, + 0.9744122134873354, + 0.017409944906830788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.09010348857580684, + -0.13537102981316387, + -0.04016648232936859 + ], + [ + 0.11176148802042007, + 0.9804378783449925, + 0.16202139602146712, + 0.09197500348091125 + ], + [ + 0.11812419444322586, + -0.1749940674099179, + 0.9774578054997791, + 0.021346937865018845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.09588119661466141, + -0.14370100832719243, + -0.02932501584291458 + ], + [ + 0.11918199807405472, + 0.9793219454300279, + 0.16347547871317586, + 0.09408186376094818 + ], + [ + 0.12505531311035156, + -0.17814425735320444, + 0.9760254825989851, + 0.021384818479418755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636599, + -0.09385965273771392, + -0.14570286059574866, + -0.025576459243893623 + ], + [ + 0.11870886385440829, + 0.9778305508560655, + 0.172498278306748, + 0.07951797544956207 + ], + [ + 0.1262820810079575, + -0.18718390375308058, + 0.9741740132669251, + 0.00638620974496007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.08829992374037376, + -0.15046155749865464, + -0.01826246827840805 + ], + [ + 0.1153840571641922, + 0.9764979338432282, + 0.1820392089429457, + 0.06233116239309311 + ], + [ + 0.13085134327411652, + -0.19660843625590604, + 0.971711433279837, + -0.005532026756554842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.08467251105230629, + -0.15412630148261922, + -0.013693025335669518 + ], + [ + 0.11378641426563263, + 0.9749417355732247, + 0.19115784187841706, + 0.047213114798069 + ], + [ + 0.13407833874225616, + -0.2057163796095631, + 0.9693831759513091, + -0.01434544287621975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.08744714358648005, + -0.1549895734133962, + -0.019737184047698975 + ], + [ + 0.11666357517242432, + 0.9746757379000937, + 0.1907793731295377, + 0.05365200340747833 + ], + [ + 0.1343814581632614, + -0.20581584025651792, + 0.9693200993577061, + -0.023945340886712074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.08552399725076497, + -0.15633808143817132, + -0.024972064420580864 + ], + [ + 0.11519041657447815, + 0.9746435926663298, + 0.19183589026086464, + 0.056820712983608246 + ], + [ + 0.13596734404563904, + -0.2067739996283084, + 0.9688949098895266, + -0.02774820290505886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.08460436548037602, + -0.1613514704536174, + -0.015004275366663933 + ], + [ + 0.11634883284568787, + 0.9731153740080992, + 0.19876974554148258, + 0.04740938916802406 + ], + [ + 0.1401968002319336, + -0.21421616459092407, + 0.9666728274139753, + -0.04247733950614929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809756, + -0.08398250520524687, + -0.16489219904819183, + -0.012861664406955242 + ], + [ + 0.11693863570690158, + 0.9724524432035718, + 0.20164727512811223, + 0.04684577137231827 + ], + [ + 0.1434149891138077, + -0.2174470281029295, + 0.9654786235713625, + -0.04668072611093521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.08277754017136829, + -0.16781403598161906, + -0.01289798691868782 + ], + [ + 0.11653591692447662, + 0.97231155816834, + 0.20255757986190198, + 0.04977073520421982 + ], + [ + 0.1464003026485443, + -0.21853619651550862, + 0.9647843451377894, + -0.04832945764064789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065005, + -0.0808442553117054, + -0.17049942122987144, + -0.010938066057860851 + ], + [ + 0.115513950586319, + 0.9720420959706965, + 0.20442773277455312, + 0.05040369927883148 + ], + [ + 0.1492058038711548, + -0.22045038776535422, + 0.9639186721686396, + -0.049247898161411285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.08021299846992105, + -0.17300319185739374, + -0.007492189295589924 + ], + [ + 0.11631129682064056, + 0.9707877027206765, + 0.20986391340324934, + 0.045139752328395844 + ], + [ + 0.1511155664920807, + -0.2261350368425219, + 0.9623029778270432, + -0.05450120568275452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.079475209369479, + -0.1754817504232578, + -0.008259430527687073 + ], + [ + 0.11675001680850983, + 0.9699257314623515, + 0.21357308124113109, + 0.04398864507675171 + ], + [ + 0.15323050320148468, + -0.23006024327474808, + 0.9610373126322226, + -0.052865851670503616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.07882128795186356, + -0.17731126995227026, + -0.009708411060273647 + ], + [ + 0.11711373180150986, + 0.969087423479586, + 0.21714956984473896, + 0.04383964091539383 + ], + [ + 0.15471412241458893, + -0.23378786015759137, + 0.9598993377601225, + -0.05249059572815895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.07815055010923973, + -0.17983061752443563, + -0.010878195986151695 + ], + [ + 0.1176675483584404, + 0.9681784074902984, + 0.22087309843889527, + 0.044295214116573334 + ], + [ + 0.1568467617034912, + -0.2377458119990353, + 0.9585802177305209, + -0.04996052384376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.07648642246786441, + -0.18154438394613784, + -0.012464686296880245 + ], + [ + 0.1170346736907959, + 0.9674347817406153, + 0.2244387919528398, + 0.044788382947444916 + ], + [ + 0.15846583247184753, + -0.24128762240264143, + 0.9574282767954925, + -0.05036633834242821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.07380235651296042, + -0.1818109059072151, + -0.019054483622312546 + ], + [ + 0.11479306221008301, + 0.9672258578522106, + 0.22648778611663176, + 0.04725439473986626 + ], + [ + 0.15913687646389008, + -0.24295550571448987, + 0.95689502748166, + -0.04559917002916336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.07261777076489458, + -0.1846849725253397, + -0.015345622785389423 + ], + [ + 0.11492407321929932, + 0.9664033082896022, + 0.22990679395156305, + 0.04642881453037262 + ], + [ + 0.16178485751152039, + -0.246558989630043, + 0.9555283126149936, + -0.04874681681394577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.07092909138690964, + -0.1860098610900282, + -0.016709940508008003 + ], + [ + 0.11393052339553833, + 0.9660534384548886, + 0.23186323113565943, + 0.04741520434617996 + ], + [ + 0.16324961185455322, + -0.24841453896140955, + 0.9547982717850709, + -0.0471377894282341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035647, + -0.0693377313144537, + -0.18674725346530652, + -0.01840645633637905 + ], + [ + 0.11276309192180636, + 0.9658934827256902, + 0.23309703711666765, + 0.048391833901405334 + ], + [ + 0.16421553492546084, + -0.24948350812606182, + 0.9543538249365257, + -0.04666995257139206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.06868509790273818, + -0.18810340359958816, + -0.01960946060717106 + ], + [ + 0.1126355305314064, + 0.9656768493516446, + 0.23405446682084846, + 0.04980013519525528 + ], + [ + 0.16557104885578156, + -0.2505007202128314, + 0.9538530484112477, + -0.04590753838419914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.06859767249376814, + -0.18909670641547152, + -0.02149946056306362 + ], + [ + 0.11293945461511612, + 0.9654565554770502, + 0.23481553168015493, + 0.05180158093571663 + ], + [ + 0.16645686328411102, + -0.25137226636906473, + 0.9534695159209612, + -0.04611197113990784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.06819622041142663, + -0.1904251071072658, + -0.022700296714901924 + ], + [ + 0.11332901567220688, + 0.9647993542945138, + 0.23731560472882815, + 0.05113191157579422 + ], + [ + 0.16753800213336945, + -0.2539910133710127, + 0.9525857164003001, + -0.04607424885034561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860476, + -0.06817215459153766, + -0.1919378379464819, + -0.023706914857029915 + ], + [ + 0.11410522460937503, + 0.9641471052689227, + 0.23958378230937463, + 0.05141644552350044 + ], + [ + 0.16872337460517886, + -0.25646237314757786, + 0.9517139580406322, + -0.045740194618701935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.06757708554723506, + -0.1933643254007234, + -0.024676330387592316 + ], + [ + 0.11435167491436005, + 0.963483749740329, + 0.24212145749785946, + 0.05102063715457916 + ], + [ + 0.16994152963161469, + -0.25909928723022235, + 0.9507825146618933, + -0.04616133123636246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.06753163448873789, + -0.19505474627383648, + -0.02602268196642399 + ], + [ + 0.11483760178089142, + 0.9633187363268992, + 0.24254752508386768, + 0.05422906577587128 + ], + [ + 0.17152026295661926, + -0.2597238104679922, + 0.9503285449949429, + -0.04402083158493042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.06596878165714672, + -0.19685510544599916, + -0.025954892858862877 + ], + [ + 0.1141623705625534, + 0.9628742065319623, + 0.24462268431326384, + 0.05368589237332344 + ], + [ + 0.17340925335884094, + -0.26176597374092175, + 0.9494250051241192, + -0.04517019912600517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.06344024564526683, + -0.19767881337563334, + -0.027464739978313446 + ], + [ + 0.11208336055278778, + 0.962860274814011, + 0.2456367282462599, + 0.05423340946435928 + ], + [ + 0.1747538298368454, + -0.26244126904487625, + 0.9489919453988273, + -0.04642065241932869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.06185201931320762, + -0.19898140458360764, + -0.028574030846357346 + ], + [ + 0.11109723895788193, + 0.9626680106280782, + 0.2468353348505535, + 0.05447879806160927 + ], + [ + 0.1762857735157013, + -0.26352345129158977, + 0.9484085137126564, + -0.04646177217364311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.06067134453748655, + -0.20022639138988813, + -0.028801511973142624 + ], + [ + 0.11049221456050873, + 0.9624405874095162, + 0.24799117638465856, + 0.053858041763305664 + ], + [ + 0.1776600331068039, + -0.26462641402130366, + 0.9478448138631962, + -0.04828401654958725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.06062008009857181, + -0.20158206231114525, + -0.029162487015128136 + ], + [ + 0.11101716011762619, + 0.962102905743208, + 0.24906453693132422, + 0.053229156881570816 + ], + [ + 0.1788443922996521, + -0.26586305846969227, + 0.9472758644129564, + -0.049950987100601196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621645, + -0.06061547499535079, + -0.20307816268342113, + -0.02903369441628456 + ], + [ + 0.111538901925087, + 0.9618889947148584, + 0.2496569661882609, + 0.0530204251408577 + ], + [ + 0.18020558357238772, + -0.26663700149783787, + 0.9468002427447302, + -0.052007898688316345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.060373526065592466, + -0.2045123754528364, + -0.02920299768447876 + ], + [ + 0.11170653998851776, + 0.9618586615872939, + 0.2496990161812062, + 0.053605690598487854 + ], + [ + 0.181636780500412, + -0.26680140903505045, + 0.9464803988463731, + -0.05296673998236656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.06051781254724554, + -0.20623175501463034, + -0.029075894504785538 + ], + [ + 0.11235930770635605, + 0.9617381763534438, + 0.2498702225283483, + 0.05411367863416672 + ], + [ + 0.18321934342384338, + -0.26720279030938926, + 0.9460620358938633, + -0.0536482073366642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.060534410713422235, + -0.2073734983567418, + -0.029774893075227737 + ], + [ + 0.11276378482580185, + 0.9615968305260006, + 0.25023164741606796, + 0.054233573377132416 + ], + [ + 0.18426208198070526, + -0.26770718428135415, + 0.9457168618791894, + -0.05437517538666725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.0608253488891079, + -0.2085063440083288, + -0.029944824054837227 + ], + [ + 0.11348238587379456, + 0.9613579218973839, + 0.2508239350779761, + 0.053856976330280304 + ], + [ + 0.1851927936077118, + -0.2684980017688821, + 0.9453107518348217, + -0.056120797991752625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.06155158096335594, + -0.2100763130291076, + -0.029339920729398727 + ], + [ + 0.11480601131916046, + 0.9609772580493813, + 0.2516789805498131, + 0.053620826452970505 + ], + [ + 0.1863873153924942, + -0.26969266489803173, + 0.944735734701652, + -0.057184718549251556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.975386440753937, + -0.062403794109412346, + -0.21148776718171847, + -0.028817588463425636 + ], + [ + 0.11616867780685428, + 0.9606468798637868, + 0.2523140806909733, + 0.053862739354372025 + ], + [ + 0.18741971254348758, + -0.2706719870978647, + 0.9442513163181782, + -0.0582127571105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335818, + -0.06285739393090553, + -0.21247654931021265, + -0.028307978063821793 + ], + [ + 0.11706228554248813, + 0.9603173032780549, + 0.253154351583796, + 0.05370122939348221 + ], + [ + 0.1881322860717774, + -0.2717345259810736, + 0.943804331201554, + -0.060022857040166855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.06289998976885146, + -0.21354412845765833, + -0.028037140145897865 + ], + [ + 0.11754768341779709, + 0.960072799996352, + 0.25385583214073515, + 0.05379265919327736 + ], + [ + 0.18905039131641388, + -0.2725872844663081, + 0.9433748495828569, + -0.061202749609947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.06286631974147094, + -0.21454727376360225, + -0.027658328413963318 + ], + [ + 0.11791388690471649, + 0.9598783529132324, + 0.2544207230222173, + 0.0536491833627224 + ], + [ + 0.189944788813591, + -0.27327900603977384, + 0.9429950095256503, + -0.06305638700723648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.0629576613630947, + -0.21555115008086775, + -0.027388358488678932 + ], + [ + 0.11839186400175095, + 0.9596866198179645, + 0.25492151130021196, + 0.05342470481991768 + ], + [ + 0.19081228971481323, + -0.27393053563064357, + 0.9426307406519511, + -0.0648287758231163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.974142372608185, + -0.06267031588618102, + -0.21706930971311508, + -0.026609374210238457 + ], + [ + 0.118602991104126, + 0.9595831785304635, + 0.25521261680890217, + 0.053827233612537384 + ], + [ + 0.1923017948865891, + -0.2743584932251284, + 0.9422035199879102, + -0.06500731408596039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.06218616270114548, + -0.21803648121626187, + -0.02659686841070652 + ], + [ + 0.11847157776355743, + 0.9595111744936317, + 0.25554415989159546, + 0.05395454540848732 + ], + [ + 0.19331713020801544, + -0.27472024187330774, + 0.9418902855496573, + -0.06588011980056763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9736773967742922, + -0.061966502758959076, + -0.2193456779329067, + -0.026049815118312836 + ], + [ + 0.11873745173215869, + 0.9593416679904847, + 0.25605670164971184, + 0.053614214062690735 + ], + [ + 0.19456051290035253, + -0.27536115852033505, + 0.9414469668181938, + -0.06625987589359283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.06201264372544762, + -0.2200235798982215, + -0.026650168001651764 + ], + [ + 0.11907441169023514, + 0.9591760667402984, + 0.2565199902606624, + 0.05338018015027046 + ], + [ + 0.19513386487960815, + -0.275926911023054, + 0.941162664179601, + -0.06728866696357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.061756204243957565, + -0.22066716147668491, + -0.026794059202075005 + ], + [ + 0.11909666657447815, + 0.959058809078796, + 0.2569477115791392, + 0.053406327962875366 + ], + [ + 0.1957646757364273, + -0.2763915956109297, + 0.940895271736454, + -0.06822822988033295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.06100791646673355, + -0.22174741964175793, + -0.026264935731887817 + ], + [ + 0.11871661990880966, + 0.9590488823590149, + 0.2571606264970308, + 0.05397665500640869 + ], + [ + 0.19697779417037964, + -0.27659222593318133, + 0.9405830529176966, + -0.06796089559793472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.06081132609375758, + -0.22253372291724902, + -0.02566976100206375 + ], + [ + 0.11887537688016891, + 0.9588702087514521, + 0.2577529985322838, + 0.05389437824487686 + ], + [ + 0.1977066546678543, + -0.27725430084783337, + 0.9402351448924413, + -0.06742922961711884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.06016431332170317, + -0.2223199238236817, + -0.025329697877168655 + ], + [ + 0.11828659474849701, + 0.9588010421787344, + 0.2582806319980521, + 0.053616732358932495 + ], + [ + 0.19762128591537476, + -0.27763439542907065, + 0.9401409069090584, + -0.06846608221530914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.05868894269423083, + -0.22138530424664302, + -0.02555243857204914 + ], + [ + 0.11665081232786179, + 0.9588862948246242, + 0.258707629087367, + 0.05382180213928223 + ], + [ + 0.19710007309913635, + -0.27765564235197754, + 0.9402440690246493, + -0.06937537342309952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.05711601429148032, + -0.22079675522034664, + -0.0248329546302557 + ], + [ + 0.1150783821940422, + 0.9588853010847375, + 0.2594145907102925, + 0.05427916720509529 + ], + [ + 0.1969020515680313, + -0.27798691025642996, + 0.9401876684070417, + -0.06972956657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9739196896553042, + -0.0547618529632901, + -0.2201854074776842, + -0.02384582720696926 + ], + [ + 0.11279778182506564, + 0.9588770874093174, + 0.2604445367620311, + 0.05457281693816185 + ], + [ + 0.1968683302402497, + -0.2784884845023517, + 0.9400463166633373, + -0.06993059813976288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.05264762868655753, + -0.2190364816965659, + -0.02341761626303196 + ], + [ + 0.11068245768547058, + 0.9587311269416067, + 0.2618854826801826, + 0.054412730038166046 + ], + [ + 0.19620944559574127, + -0.27939728117321366, + 0.9399143851864041, + -0.07139002531766891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.050029486491351596, + -0.21820304642493918, + -0.023047417402267456 + ], + [ + 0.10809850692749023, + 0.9587164978701503, + 0.263015972815554, + 0.054966919124126434 + ], + [ + 0.19603630900382996, + -0.2799280942100212, + 0.9397925183371236, + -0.072120800614357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129885, + -0.04735669337425481, + -0.21783784559623381, + -0.02324577048420906 + ], + [ + 0.10556920617818835, + 0.9587262194421314, + 0.2640059625489984, + 0.05590638145804405 + ], + [ + 0.196344405412674, + -0.28035931314841955, + 0.9395996458139685, + -0.07233729958534241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777285, + -0.044877575400424245, + -0.21824952094143926, + -0.022950349375605583 + ], + [ + 0.10361057519912723, + 0.9584677222071255, + 0.26571495236393183, + 0.05570922791957855 + ], + [ + 0.19726048409938818, + -0.2816479916072918, + 0.939022223072246, + -0.07374889403581619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.04266511186805361, + -0.2188284754496387, + -0.02376248501241207 + ], + [ + 0.10188858956098557, + 0.958280253274136, + 0.26705358444004895, + 0.05611236393451691 + ], + [ + 0.1983051300048828, + -0.28262801389003184, + 0.9385075919197565, + -0.07540315389633179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530398, + -0.040170353656092964, + -0.22054853678398942, + -0.024032603949308395 + ], + [ + 0.10039535164833072, + 0.9578481857617797, + 0.2691608598015743, + 0.05522981658577919 + ], + [ + 0.20043973624706274, + -0.28445234729304636, + 0.9375024043668249, + -0.07775982469320297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.036304966357013774, + -0.22383579094727668, + -0.0242148470133543 + ], + [ + 0.09784286469221115, + 0.9577668577593429, + 0.2703875114703765, + 0.05547668784856796 + ], + [ + 0.204566091299057, + -0.2852447768639572, + 0.9363696771964038, + -0.07804396003484726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.03316605971045958, + -0.22843642935567876, + -0.024853037670254707 + ], + [ + 0.09627111256122589, + 0.9577530237620725, + 0.271000111010513, + 0.05682535469532013 + ], + [ + 0.2097976803779602, + -0.285673242215392, + 0.9350806050452517, + -0.07791370898485184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.031123667759023817, + -0.23320410598113817, + -0.026694439351558685 + ], + [ + 0.0962403267621994, + 0.9570824903807801, + 0.2733696066704656, + 0.05492272600531578 + ], + [ + 0.2146873027086258, + -0.28813965530119323, + 0.9332121569473928, + -0.0796164944767952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.0299204969880618, + -0.23927989747182343, + -0.029024872928857803 + ], + [ + 0.09724108129739761, + 0.9565762592340343, + 0.2747837044422617, + 0.0543130561709404 + ], + [ + 0.2206677943468094, + -0.2899425411980937, + 0.9312567232533857, + -0.08079533278942108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.029171654142373542, + -0.24727813003364563, + -0.031104473397135735 + ], + [ + 0.09924861043691635, + 0.9560374210638183, + 0.2759387323183644, + 0.05394669994711876 + ], + [ + 0.22835755348205566, + -0.29179014230780004, + 0.9288225702029744, + -0.08187860250473022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.025874533392480067, + -0.25574135280589644, + -0.03483271971344948 + ], + [ + 0.09895602613687515, + 0.9556897865501247, + 0.2772448704144156, + 0.05385551601648331 + ], + [ + 0.23723581433296204, + -0.29323629143712987, + 0.9261380172736805, + -0.08343154937028885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447268, + -0.019948802541856683, + -0.2651017571534103, + -0.038968659937381744 + ], + [ + 0.09669665992259982, + 0.9551911510202347, + 0.27974928467919163, + 0.05318398028612137 + ], + [ + 0.24764217436313635, + -0.29531669611442907, + 0.9227466629576194, + -0.08561722934246063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.010463909685598972, + -0.27508532327514323, + -0.04411732405424118 + ], + [ + 0.09126824140548706, + 0.9548740894786628, + 0.28264028526806917, + 0.05347881838679314 + ], + [ + 0.2597143054008484, + -0.2968264269556255, + 0.9189355295919429, + -0.08733801543712616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + 0.0018922115452422218, + -0.2856422293987036, + -0.05042683705687523 + ], + [ + 0.08347515016794205, + 0.9544718369851062, + 0.28638333840239355, + 0.0535711944103241 + ], + [ + 0.27317938208580017, + -0.2982950443482142, + 0.9145452719174654, + -0.08979925513267517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + 0.018079218828472816, + -0.2980524843155161, + -0.05686214938759804 + ], + [ + 0.07252354174852371, + 0.9542425392158648, + 0.2901061043822344, + 0.05526639148592949 + ], + [ + 0.2896592617034912, + -0.2984867783341425, + 0.9093971247338344, + -0.091173455119133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + 0.03617113948315607, + -0.3085951380552532, + -0.06768190860748291 + ], + [ + 0.05914822593331337, + 0.9539734809317104, + 0.294000172852294, + 0.05697834864258766 + ], + [ + 0.3050259053707123, + -0.29770163951647, + 0.9046175824198083, + -0.09877818822860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + 0.05225567587262235, + -0.32423648640144714, + -0.07561037689447403 + ], + [ + 0.04996383190155029, + 0.9529050840716322, + 0.29912462373449267, + 0.058222051709890366 + ], + [ + 0.32459756731987, + -0.2987327764841625, + 0.8974381069128162, + -0.09834176301956177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + 0.0690384351709042, + -0.3407754854065141, + -0.08232896029949188 + ], + [ + 0.0404190793633461, + 0.9518025874252339, + 0.304036408033429, + 0.059135857969522476 + ], + [ + 0.34534120559692383, + -0.2988403147175254, + 0.8896257115610687, + -0.09899944812059402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192629, + 0.08505267642060121, + -0.35649140230136755, + -0.0894666537642479 + ], + [ + 0.031153582036495216, + 0.9508246201541796, + 0.3081591004365764, + 0.06052820757031441 + ], + [ + 0.3651705384254456, + -0.2978231393647391, + 0.8820158041269224, + -0.09969201683998108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + 0.09913296125465972, + -0.37211056272456783, + -0.09508843719959259 + ], + [ + 0.023564675822854042, + 0.949948503387178, + 0.3115164608451068, + 0.061315495520830154 + ], + [ + 0.384367436170578, + -0.2962608034045311, + 0.8743519051808555, + -0.10153626650571823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + 0.10929001558885432, + -0.38584206428789747, + -0.10191258043050766 + ], + [ + 0.018857046961784363, + 0.9493438527110243, + 0.3136727899595565, + 0.0622134692966938 + ], + [ + 0.4005780816078186, + -0.2946216303459586, + 0.867603185704538, + -0.10354362428188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + 0.12000084334139884, + -0.3981706540966818, + -0.10684393346309662 + ], + [ + 0.012702034786343575, + 0.9489994954865456, + 0.3150215530091109, + 0.06386280804872513 + ], + [ + 0.4156665802001953, + -0.2915471222680999, + 0.8615228530170554, + -0.10674676299095154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + 0.12999561516215133, + -0.4087285397648865, + -0.10978585481643677 + ], + [ + 0.00687362439930439, + 0.9484521645637619, + 0.3168457922271637, + 0.06454983353614807 + ], + [ + 0.4288480281829834, + -0.28903224485920154, + 0.8558911722650362, + -0.10860680788755417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + 0.13739763575949523, + -0.4171599693271025, + -0.11126779019832611 + ], + [ + 0.0022470448166131973, + 0.9483578469946397, + 0.3171944972794599, + 0.06697890162467957 + ], + [ + 0.43919870257377625, + -0.285900835684192, + 0.8516837536601434, + -0.10764353722333908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + 0.1415534319894972, + -0.4221428062575906, + -0.1115494817495346 + ], + [ + -0.00010766647756099701, + 0.9481851988555503, + 0.31771822489471685, + 0.06674076616764069 + ], + [ + 0.4452436566352844, + -0.28444243334673147, + 0.8490291803940188, + -0.11018208414316177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + 0.14297491231207515, + -0.4267797503849039, + -0.10558158159255981 + ], + [ + 2.9165297746658325e-05, + 0.9481872806823037, + 0.31771198225006, + 0.06644889712333679 + ], + [ + 0.4500919580459595, + -0.283723594922109, + 0.8467101694505449, + -0.11051541566848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + 0.14315534528949211, + -0.42549059577850745, + -0.1035805195569992 + ], + [ + -0.0009096004068851471, + 0.9483694240791402, + 0.31716650949540515, + 0.0671425610780716 + ], + [ + 0.44892632961273193, + -0.2830229233510038, + 0.8475630894262461, + -0.11134375631809235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + 0.13897480179949392, + -0.4221887051477207, + -0.09978950023651123 + ], + [ + 0.0016431137919425964, + 0.9488191343912437, + 0.3158157594254504, + 0.06760768592357635 + ], + [ + 0.444471150636673, + -0.2835988371727614, + 0.8497159249020987, + -0.11105496436357498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + 0.13170046202338642, + -0.4161517834733948, + -0.09459657967090607 + ], + [ + 0.006396599113941193, + 0.9493150643902925, + 0.3142610517267273, + 0.06691120564937592 + ], + [ + 0.43644750118255615, + -0.2854048280832632, + 0.8532629751626712, + -0.112784244120121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791628, + 0.1227814213009616, + -0.4085804386873341, + -0.08740337938070297 + ], + [ + 0.011889135465025905, + 0.9500669322263239, + 0.31181967570388996, + 0.06744306534528732 + ], + [ + 0.42646440863609325, + -0.28687555412975607, + 0.8578056682905779, + -0.11108749359846115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + 0.11196367493590968, + -0.39888314087135246, + -0.07787920534610748 + ], + [ + 0.018159927800297737, + 0.9510839099504723, + 0.3083984529473307, + 0.06808922439813614 + ], + [ + 0.41390079259872437, + -0.2879297171584093, + 0.8635870453506316, + -0.10813726484775543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + 0.09439546054111699, + -0.3872585029059596, + -0.06845176219940186 + ], + [ + 0.030192993581295013, + 0.9523104350743725, + 0.303633277786998, + 0.06876373291015625 + ], + [ + 0.39745190739631653, + -0.2901625159232923, + 0.8705387306406893, + -0.10259441286325455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + 0.07580921479862032, + -0.373346199302494, + -0.05703224614262581 + ], + [ + 0.04245951399207115, + 0.9533895915064055, + 0.2987397184973148, + 0.06702865660190582 + ], + [ + 0.3785916268825531, + -0.2920636895414235, + 0.8782751520941908, + -0.10217475146055222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + 0.05340428593872295, + -0.3567445116927307, + -0.04593271762132645 + ], + [ + 0.057661354541778564, + 0.9541903840360292, + 0.293591412785212, + 0.06355582922697067 + ], + [ + 0.3560812175273895, + -0.294395531155926, + 0.8868694976972584, + -0.10377201437950134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + 0.030102690787852108, + -0.3389232670822668, + -0.035536862909793854 + ], + [ + 0.07322211563587189, + 0.9548389993979787, + 0.28795999478624634, + 0.060556456446647644 + ], + [ + 0.3322855234146118, + -0.29559476955275393, + 0.8956617905725417, + -0.10232521593570709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + 0.004089897991429555, + -0.3220444714222651, + -0.025086358189582825 + ], + [ + 0.09117239713668823, + 0.9556150862369086, + 0.2801560370691142, + 0.06170543283224106 + ], + [ + 0.30889639258384705, + -0.2945896811770485, + 0.9043229148714079, + -0.09669753909111023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.021066050860465094, + -0.30273781568229474, + -0.014407346956431866 + ], + [ + 0.10839028656482697, + 0.9554107755823729, + 0.27466664851745404, + 0.05869900435209274 + ], + [ + 0.2834528386592865, + -0.29452749662682604, + 0.9126379449790417, + -0.09970656782388687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9571809172630312, + -0.046810159880081005, + -0.28568082091830116, + -0.0007517995545640588 + ], + [ + 0.12702696025371554, + 0.9546763540201876, + 0.26917880907241404, + 0.056493937969207764 + ], + [ + 0.2601324319839478, + -0.2939419826687657, + 0.9197441389459189, + -0.10268764942884445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.0707398870120573, + -0.26727783358825224, + 0.00840284675359726 + ], + [ + 0.14353950321674347, + 0.953879902488099, + 0.2636466263795856, + 0.05578896775841713 + ], + [ + 0.23630061745643616, + -0.29173446076395293, + 0.926851128370764, + -0.10277464240789413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.09449262064453717, + -0.24958104031195427, + 0.01717001013457775 + ], + [ + 0.1605565994977951, + 0.9523254428338996, + 0.25941827596812284, + 0.054188866168260574 + ], + [ + 0.21316926181316376, + -0.2900817227131348, + 0.932958464480778, + -0.10369250178337097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.11488400336079994, + -0.23264168511356842, + 0.025678349658846855 + ], + [ + 0.1746748685836792, + 0.9508856316100064, + 0.2555487717512109, + 0.05345355346798897 + ], + [ + 0.19185717403888702, + -0.28743374168432567, + 0.9383883325699582, + -0.10486021637916565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.1311422172158921, + -0.2155282438073394, + 0.03321792557835579 + ], + [ + 0.18486613035202026, + 0.949905335892175, + 0.2520008244592789, + 0.05340747535228729 + ], + [ + 0.17168349027633667, + -0.2836928305827966, + 0.9434210098907098, + -0.10739599913358688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.14797345078895963, + -0.19967132664500398, + 0.04196247458457947 + ], + [ + 0.19656822085380554, + 0.9477665339766657, + 0.251196221417574, + 0.049969155341386795 + ], + [ + 0.15207141637802124, + -0.28256408379337966, + 0.9471176625803178, + -0.11602890491485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.16057789290773145, + -0.18614134487734255, + 0.04854120686650276 + ], + [ + 0.2046114206314087, + 0.9466920566830134, + 0.2488137962693273, + 0.05066825821995735 + ], + [ + 0.13626453280448914, + -0.27926489672058463, + 0.9504962559613939, + -0.11560218036174774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.17522144869131398, + -0.17231227445800304, + 0.056682828813791275 + ], + [ + 0.21499767899513245, + 0.9442752110565996, + 0.24923950195164488, + 0.0463155061006546 + ], + [ + 0.11903809756040573, + -0.2786427420664747, + 0.9529890651241518, + -0.13347911834716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9701495766639712, + -0.18059329507311522, + -0.16185134794981965, + 0.0591515377163887 + ], + [ + 0.2168468981981278, + 0.9448112024318136, + 0.24557938121816097, + 0.05113279074430466 + ], + [ + 0.10856898128986361, + -0.2733456935915968, + 0.9557692954008875, + -0.11702392250299454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897219, + -0.1877055811587902, + -0.15120700533137058, + 0.06251829117536545 + ], + [ + 0.2207713127136231, + 0.9440203746238325, + 0.24512348089168612, + 0.05037558078765869 + ], + [ + 0.09673145413398745, + -0.2712786538989916, + 0.9576277527761732, + -0.11957345902919769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.1938192435541147, + -0.1425135189928367, + 0.06945503503084183 + ], + [ + 0.22446614503860474, + 0.942751848073073, + 0.24664523950300746, + 0.04690966010093689 + ], + [ + 0.0865502879023552, + -0.27139091255562436, + 0.9585697936201074, + -0.13336436450481415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.971393942832947, + -0.1949661605676899, + -0.13558006791664515, + 0.07268894463777542 + ], + [ + 0.22375853359699255, + 0.9426718395616489, + 0.24759218753050946, + 0.04600583389401436 + ], + [ + 0.07953541725873949, + -0.27084676210199926, + 0.9593311217386815, + -0.13532668352127075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.19287224115403512, + -0.12992682231983252, + 0.07399576157331467 + ], + [ + 0.22027860581874847, + 0.9431677879226055, + 0.24882096286618485, + 0.04512084648013115 + ], + [ + 0.07455214112997055, + -0.2706193393103674, + 0.9597953476118498, + -0.13581639528274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.1877413234145, + -0.1258203053090738, + 0.07396665215492249 + ], + [ + 0.21434932947158813, + 0.9439461746137312, + 0.25103775522502464, + 0.043611619621515274 + ], + [ + 0.07163744419813156, + -0.27151202710546024, + 0.9597652182563421, + -0.13704931735992432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.17947324023426045, + -0.12340536437106378, + 0.07267999649047852 + ], + [ + 0.2058640420436859, + 0.9451596188216491, + 0.25356116651455357, + 0.04212873429059982 + ], + [ + 0.07113032042980194, + -0.272878402281348, + 0.9594153437689278, + -0.1375780552625656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751467, + -0.1687120657555857, + -0.12261023860757493, + 0.07094312459230423 + ], + [ + 0.19535899162292486, + 0.9469063022740342, + 0.25534947281501685, + 0.04131882265210152 + ], + [ + 0.0730198621749878, + -0.2736872686977811, + 0.9590429531290651, + -0.1374509334564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.15724683787874652, + -0.1232812878168983, + 0.06817449629306793 + ], + [ + 0.18456736207008362, + 0.9486428065048274, + 0.2569273373104957, + 0.040123406797647476 + ], + [ + 0.07654890418052673, + -0.27449991860958345, + 0.9585354020092972, + -0.13812068104743958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.1446042263474297, + -0.12509938147139296, + 0.06461489945650101 + ], + [ + 0.17297138273715973, + 0.9503672561983244, + 0.2586175326642158, + 0.03875213861465454 + ], + [ + 0.08149316161870956, + -0.27548456447757813, + 0.9578450451071174, + -0.13860654830932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.13210302673262414, + -0.1278216762557619, + 0.060670625418424606 + ], + [ + 0.1617366224527359, + 0.9519989543445795, + 0.2598831680105647, + 0.037123903632164 + ], + [ + 0.08735474944114685, + -0.27612821675117666, + 0.9571428369440447, + -0.13964320719242096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916689, + -0.11940165026417458, + -0.1312893251740234, + 0.05688219517469406 + ], + [ + 0.150453194975853, + 0.9536973235604849, + 0.2604328817994548, + 0.03637133538722992 + ], + [ + 0.09411415457725528, + -0.27605197510624774, + 0.9565238124729286, + -0.13957440853118896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.10799697499413154, + -0.13530552199712545, + 0.05373268201947212 + ], + [ + 0.14056672155857086, + 0.9550832654624467, + 0.26087734524619677, + 0.03490585833787918 + ], + [ + 0.10105407983064651, + -0.275957683801706, + 0.9558427642547621, + -0.1399742215871811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.09739299708357568, + -0.13870550215350122, + 0.050580013543367386 + ], + [ + 0.13122212886810303, + 0.9564342768881966, + 0.2607954046952058, + 0.03361513838171959 + ], + [ + 0.10726305097341537, + -0.2752237202449438, + 0.9553777019324137, + -0.14058049023151398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.08646908507249806, + -0.14143466428303592, + 0.04733738675713539 + ], + [ + 0.12137790769338608, + 0.9577364352147362, + 0.26078416474194993, + 0.03220096230506897 + ], + [ + 0.11290735751390457, + -0.27434298269059176, + 0.9549805716211086, + -0.140823096036911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.07557041199340493, + -0.14315633669441566, + 0.044027794152498245 + ], + [ + 0.11122792959213257, + 0.9590603886824487, + 0.2604447846741832, + 0.030885471031069756 + ], + [ + 0.11761365830898285, + -0.27293268234246587, + 0.954816596539324, + -0.14268708229064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.06545436347960207, + -0.14497211766607299, + 0.040520042181015015 + ], + [ + 0.10182847827672958, + 0.9602491042617739, + 0.2599089290589087, + 0.030047498643398285 + ], + [ + 0.12219717353582382, + -0.27136215575104894, + 0.9546886859116352, + -0.14302900433540344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.055528415258530736, + -0.1466203478912411, + 0.037422358989715576 + ], + [ + 0.09270647913217545, + 0.9610087472929555, + 0.2605141993809749, + 0.028373923152685165 + ], + [ + 0.1264374852180481, + -0.27088509489523427, + 0.9542718744791701, + -0.14525452256202698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614138, + -0.045106861735769735, + -0.14836484891818147, + 0.03488527610898018 + ], + [ + 0.08308481425046922, + 0.9618070570740698, + 0.26081434582933904, + 0.028184613212943077 + ], + [ + 0.13093385100364688, + -0.2699862478636505, + 0.9539201727701514, + -0.146640807390213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773501, + -0.03428567550579548, + -0.1490693275562839, + 0.032012082636356354 + ], + [ + 0.07289371639490129, + 0.9623377522783836, + 0.2619017300829183, + 0.027406970039010048 + ], + [ + 0.13447557389736178, + -0.2696859336212168, + 0.9535123449534569, + -0.14590641856193542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.024227855291258857, + -0.14963160633877653, + 0.029372690245509148 + ], + [ + 0.06331786513328552, + 0.9628902903581478, + 0.26236071018946466, + 0.027521377429366112 + ], + [ + 0.13772238790988922, + -0.26880346784095455, + 0.9532980822112247, + -0.14689524471759796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.016444418164048732, + -0.15056348104217016, + 0.027232881635427475 + ], + [ + 0.05623587220907211, + 0.9628737953874973, + 0.2640295980743119, + 0.026215624064207077 + ], + [ + 0.14063182473182678, + -0.2694507071504612, + 0.952690435824803, + -0.14681610465049744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.007634689896364763, + -0.15068013934690747, + 0.024631408974528313 + ], + [ + 0.0478987880051136, + 0.9629326852585375, + 0.26545502704125606, + 0.0259079746901989 + ], + [ + 0.14306816458702087, + -0.2696337756351235, + 0.9522757477653401, + -0.14647237956523895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + 0.00010915009268255405, + -0.1510190475478787, + 0.022393526509404182 + ], + [ + 0.04070153459906578, + 0.962804099175198, + 0.2671174073569109, + 0.025175854563713074 + ], + [ + 0.14543090760707855, + -0.2702004916152893, + 0.9517570587673326, + -0.14732302725315094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + 0.00648482950223173, + -0.15119750420518296, + 0.019257517531514168 + ], + [ + 0.0347265787422657, + 0.9627032548638423, + 0.26832174164144096, + 0.024455277249217033 + ], + [ + 0.14729833602905273, + -0.2704818567754652, + 0.9513899042573183, + -0.1473773568868637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9882159829139712, + 0.010281814359974027, + -0.15272023336106572, + 0.01721026375889778 + ], + [ + 0.03147334977984429, + 0.9627724177523604, + 0.2684746803305014, + 0.024888157844543457 + ], + [ + 0.14979523420333865, + -0.2701175841866431, + 0.9511034795672277, + -0.14663444459438324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9879513978958132, + 0.012226687845589583, + -0.1542806975700398, + 0.014903814531862736 + ], + [ + 0.030190123245120055, + 0.9624982039892124, + 0.2696030111594015, + 0.023696208372712135 + ], + [ + 0.15179122984409335, + -0.27101241769635515, + 0.9505322936564111, + -0.1468105912208557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + 0.01327771028526259, + -0.15582944361838968, + 0.0116017647087574 + ], + [ + 0.02979983203113079, + 0.9621566647694457, + 0.2708626469037216, + 0.02276124618947506 + ], + [ + 0.15352876484394073, + -0.27217330257236255, + 0.9499214012530403, + -0.14760291576385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + 0.01351255953506744, + -0.15916107523518946, + 0.009698963724076748 + ], + [ + 0.030611323192715645, + 0.9619437782440129, + 0.271527456214924, + 0.023370133712887764 + ], + [ + 0.15677304565906525, + -0.2729132154814063, + 0.9491789304370846, + -0.1466059535741806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/tilt_up/transforms.json b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e27c15c72d4345703a5ed895cfa7f116581e06ea --- /dev/null +++ b/dynpose_eval/camera_controls/79d9a29c-f18b-47d7-87b3-b2509017e965/tilt_up/transforms.json @@ -0,0 +1,8238 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 235, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00026846336550079286, + -0.00010362485045334324, + 0.00020381568174343556 + ], + [ + -0.0002684651699382812, + 0.9999999403953552, + -1.762478677846957e-05, + -6.59444704069756e-05 + ], + [ + 0.00010362012108089402, + 1.76526064024074e-05, + 1.0, + -8.530688501195982e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999828338623047, + -0.0009978620307870957, + 0.005772772351254267, + 0.0026149610057473183 + ], + [ + 0.0011594925308600068, + 0.9996054609765078, + -0.028063524385796672, + 0.0011789039708673954 + ], + [ + -0.005742491688579321, + 0.02806973519550702, + 0.9995894799730487, + 0.004809475038200617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998977184295657, + -0.005387522248712774, + 0.013248338081697222, + 0.005651809275150299 + ], + [ + 0.005993630737066271, + 0.9989168452367259, + -0.04614396585915697, + -0.0017968520987778902 + ], + [ + -0.012985386885702613, + 0.046218650709428793, + 0.9988469405125356, + 0.0038842298090457916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995558857917788, + -0.023572610456340654, + 0.01822990891950143, + 0.009347952902317047 + ], + [ + 0.02449628151953221, + 0.9983349172557632, + -0.052224213198219425, + -0.005224069580435753 + ], + [ + -0.016968492418527607, + 0.05264758285157165, + 0.9984689783722097, + -0.0005182744353078306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988276958465576, + -0.04368695992623951, + 0.02084778118783715, + 0.012183863669633865 + ], + [ + 0.044819705188274384, + 0.9973460882062106, + -0.05737531665431827, + -0.010469328612089157 + ], + [ + -0.018285902217030525, + 0.05824244502169486, + 0.9981349573185256, + -0.0006278678774833679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981141686439514, + -0.05673325628961033, + 0.02343917379259833, + 0.014793919399380684 + ], + [ + 0.0581679567694664, + 0.9961295060541009, + -0.06589784452604358, + -0.014797203242778778 + ], + [ + -0.019609853625297546, + 0.06713697957817447, + 0.9975510219174467, + -0.002631464973092079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997382402420044, + -0.06675579637670116, + 0.027783980835217638, + 0.015167241916060448 + ], + [ + 0.06877684593200684, + 0.9944520071765919, + -0.07959221120860403, + -0.014838115312159061 + ], + [ + -0.022316595539450645, + 0.08129476191626078, + 0.9964402397912128, + -0.0031356823164969683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9964771270751953, + -0.07747247989214777, + 0.032114638383169226, + 0.015110899694263935 + ], + [ + 0.08019189536571503, + 0.9922920614113884, + -0.0944758086750722, + -0.014940964989364147 + ], + [ + -0.02454782836139202, + 0.09671832234753414, + 0.9950090051121077, + -0.007276860997080803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995640754699707, + -0.08682605984762787, + 0.03406953581686555, + 0.01502513699233532 + ], + [ + 0.0900096669793129, + 0.990181853803031, + -0.10694905910242142, + -0.01783846504986286 + ], + [ + -0.024449072778224945, + 0.10954942368074734, + 0.9936806391869702, + -0.010772687382996082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954499006271362, + -0.08859903669502896, + 0.03506652762505848, + 0.013929227367043495 + ], + [ + 0.0921560600399971, + 0.9887352742220544, + -0.11794005416198775, + -0.020943714305758476 + ], + [ + -0.02422213740646839, + 0.12063501004183991, + 0.9924013686461616, + -0.01748897321522236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9958748817443848, + -0.08398857621146905, + 0.034338511502046094, + 0.015100324526429176 + ], + [ + 0.08777566999197006, + 0.9876171628295436, + -0.13002969253905652, + -0.02237175777554512 + ], + [ + -0.022992298007011414, + 0.13250739260544583, + 0.990915290448535, + -0.020984774455428123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962528944015503, + -0.07887181353699317, + 0.03548843965480194, + 0.015160143375396729 + ], + [ + 0.08318085968494415, + 0.9861649961220534, + -0.14338619733502977, + -0.024343935772776604 + ], + [ + -0.02368832752108574, + 0.14580088084804085, + 0.9890303155910096, + -0.023474764078855515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962544441223145, + -0.07826915408436892, + 0.036756026321637277, + 0.018790870904922485 + ], + [ + 0.0831107646226883, + 0.9840659600465174, + -0.15718396326362774, + -0.02980593405663967 + ], + [ + -0.023867696523666382, + 0.1596500576443114, + 0.9868850693280519, + -0.028709549456834793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9951032996177676, + -0.09205224633427167, + 0.03599674622817499, + 0.04024022817611694 + ], + [ + 0.0966916084289551, + 0.9821409745606081, + -0.16139977001584063, + -0.04759158939123154 + ], + [ + -0.020496666431427005, + 0.16409003209504858, + 0.9862324054528093, + -0.09472115337848663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9949178695678711, + -0.09246572619344363, + 0.039856755389403184, + 0.042655520141124725 + ], + [ + 0.0980973094701767, + 0.9793761255960212, + -0.17663345740395184, + -0.04949988052248955 + ], + [ + -0.022702213376760483, + 0.17964562634039274, + 0.9834694092040315, + -0.0967118889093399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9953238368034363, + -0.08565349644758262, + 0.04465366940393493, + 0.04267323762178421 + ], + [ + 0.09261272847652435, + 0.977563877500456, + -0.18918706235059243, + -0.04824163019657135 + ], + [ + -0.027447279542684555, + 0.1924379017771129, + 0.980925203509084, + -0.1042298898100853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9960992336273193, + -0.07334092797995995, + 0.0490653295969532, + 0.041564613580703735 + ], + [ + 0.08167071640491486, + 0.9768040595802853, + -0.19794867196377194, + -0.04895204305648804 + ], + [ + -0.0334094762802124, + 0.20118372871368087, + 0.9789836428624877, + -0.10786063969135284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9965649247169495, + -0.06333787825577726, + 0.05335368915214145, + 0.040184978395700455 + ], + [ + 0.07303920388221741, + 0.9758701730260125, + -0.20577341714164513, + -0.04865478724241257 + ], + [ + -0.03903302177786827, + 0.20896349829488065, + 0.9771441617832847, + -0.10604726523160934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967940449714661, + -0.057101800836883716, + 0.056044438043720515, + 0.04263319820165634 + ], + [ + 0.06763423979282379, + 0.9755882008452226, + -0.20893364239663306, + -0.053327981382608414 + ], + [ + -0.04274580627679825, + 0.21205434542101553, + 0.9763225412950899, + -0.1002330332994461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969275593757629, + -0.0506841396738482, + 0.05972081581810075, + 0.043867867439985275 + ], + [ + 0.062262121587991714, + 0.9753798049860353, + -0.21156000341680928, + -0.05713093653321266 + ], + [ + -0.0475277416408062, + 0.21462834957445687, + 0.975538734774092, + -0.09688381105661392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9966764450073242, + -0.04919024754802033, + 0.06493389902683906, + 0.04129500687122345 + ], + [ + 0.06216574087738991, + 0.9744049039192817, + -0.21603367995622105, + -0.05682787299156189 + ], + [ + -0.052645161747932434, + 0.21935232683310163, + 0.974224331735268, + -0.09895393997430801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9966562986373901, + -0.04807631959405077, + 0.06606719076955538, + 0.041646558791399 + ], + [ + 0.06151943653821945, + 0.9736649328969252, + -0.21952662468724765, + -0.059143971651792526 + ], + [ + -0.05377327278256416, + 0.2228570018540761, + 0.9733669085213665, + -0.09477517008781433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996900200843811, + -0.04399806189678427, + 0.06522418758662389, + 0.04259354621171951 + ], + [ + 0.057594262063503265, + 0.9728841120805966, + -0.22400755164715208, + -0.0607960969209671 + ], + [ + -0.053599677979946136, + 0.22706971990109429, + 0.9724023970865887, + -0.0920126810669899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9968940019607546, + -0.03762039229611522, + 0.06918889522690044, + 0.03693025931715965 + ], + [ + 0.0525655932724476, + 0.9720419715286726, + -0.22884774928988597, + -0.06257779896259308 + ], + [ + -0.058645166456699385, + 0.23177389654933073, + 0.9710003256667894, + -0.10099228471517563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9969633221626282, + -0.039721107934332534, + 0.0669802927107233, + 0.04033232107758522 + ], + [ + 0.05446356534957886, + 0.9704271738379041, + -0.23516970528369716, + -0.05900996923446655 + ], + [ + -0.05565829947590828, + 0.23810355435888125, + 0.9696436561459801, + -0.08236721158027649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969165325164795, + -0.03762378030960721, + 0.06886162635726056, + 0.03739919513463974 + ], + [ + 0.05318856239318848, + 0.9691960835348472, + -0.240478459722047, + -0.05795477703213692 + ], + [ + -0.05769271031022072, + 0.24339958823906602, + 0.968208728629929, + -0.07230614125728607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967050552368164, + -0.03281832338484145, + 0.07417508298824362, + 0.0291319377720356 + ], + [ + 0.05014246329665184, + 0.9681147629215425, + -0.24543743644193408, + -0.058147281408309937 + ], + [ + -0.06375514715909958, + 0.24834805789844683, + 0.9665705121297744, + -0.06891536712646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966070652008057, + -0.03297785486818441, + 0.07541132441821213, + 0.026693744584918022 + ], + [ + 0.05080832168459892, + 0.967310758642789, + -0.2484520225652089, + -0.05840952321887016 + ], + [ + -0.06475277245044708, + 0.2514405590739526, + 0.9657042551816758, + -0.05963993817567825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965119957923889, + -0.034454232458445054, + 0.07600491702098748, + 0.025658782571554184 + ], + [ + 0.05266831815242767, + 0.966142944016918, + -0.2525744678993654, + -0.05678623914718628 + ], + [ + -0.06472935527563095, + 0.25569652462462467, + 0.964587656552071, + -0.05228189006447792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964030385017397, + -0.03509032060472627, + 0.07713406172139138, + 0.02260943315923214 + ], + [ + 0.05365906655788423, + 0.9657658564439174, + -0.2538051497640951, + -0.06071340665221214 + ], + [ + -0.06558734178543092, + 0.2570311686713418, + 0.9641749016264992, + -0.04720846563577652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968092441558838, + -0.03725748782094413, + 0.07059206513744572, + 0.03578580915927887 + ], + [ + 0.05432456359267235, + 0.9646195280097546, + -0.2579883078562384, + -0.05881983041763306 + ], + [ + -0.058482490479946136, + 0.2610000196226665, + 0.9635656840767304, + -0.03718961030244827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9966436028480532, + -0.03212905020449679, + 0.07529435969433601, + 0.02364843338727951 + ], + [ + 0.05082977190613748, + 0.96385741552127, + -0.26152487443181094, + -0.060768064111471176 + ], + [ + -0.06417047977447511, + 0.26447427761170805, + 0.9622554201791234, + -0.03692050278186798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9964194893836975, + -0.03828670516516478, + 0.07538089775184725, + 0.024078765884041786 + ], + [ + 0.057165201753377914, + 0.9619908222423127, + -0.26703135721669535, + -0.0568309985101223 + ], + [ + -0.062291987240314484, + 0.27038441494717935, + 0.960735125868634, + -0.03366250917315483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9967194199562073, + -0.027658583014586395, + 0.07606184987639936, + 0.016194405034184456 + ], + [ + 0.04709552973508835, + 0.9625049872181902, + -0.2671445254705452, + -0.06738045066595078 + ], + [ + -0.06582106649875641, + 0.26985031796640685, + 0.9606499800737853, + -0.03649592399597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966325759887698, + -0.0332307928077295, + 0.07496129312287206, + 0.018901294097304344 + ], + [ + 0.05283621326088907, + 0.9593637679602356, + -0.27718135870948074, + -0.05563338100910187 + ], + [ + -0.06270419061183931, + 0.2802086360408106, + 0.957889004920948, + -0.03517554700374603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971275925636292, + -0.024638933147242775, + 0.07162005196770174, + 0.021563608199357986 + ], + [ + 0.04404309391975403, + 0.9579180323180531, + -0.28364274131076456, + -0.05546606332063675 + ], + [ + -0.06161748245358467, + 0.28598238242961793, + 0.9562517192256801, + -0.023972902446985245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971656799316406, + -0.022068362687818303, + 0.07192749300786751, + 0.01633315347135067 + ], + [ + 0.04198500141501427, + 0.9565347709222818, + -0.28858023568293145, + -0.05780502408742905 + ], + [ + -0.062432654201984406, + 0.29078217227485076, + 0.9547501601063926, + -0.02267383225262165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971615672111511, + -0.01942701369928856, + 0.07274172549606645, + 0.01323881559073925 + ], + [ + 0.040134165436029434, + 0.9545828121953185, + -0.29523023631251855, + -0.05316465348005295 + ], + [ + -0.06370256096124649, + 0.2973116922906025, + 0.9526529984518177, + -0.03193025663495064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971116185188296, + -0.01495738226227513, + 0.07446275473975153, + 0.006284821312874556 + ], + [ + 0.036512129008769996, + 0.9540934731948388, + -0.2972751583960334, + -0.05768343806266785 + ], + [ + -0.06659797579050065, + 0.2991353349351499, + 0.951883814943892, + -0.03978252410888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9973543286323547, + -0.016547101340415416, + 0.07078475027625862, + 0.01235460489988327 + ], + [ + 0.037083908915519714, + 0.953326631236119, + -0.29965500273436885, + -0.06226743385195732 + ], + [ + -0.06252256780862808, + 0.30148722273123657, + 0.9514180716387818, + -0.034791260957717896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975106716156006, + -0.019016176279138965, + 0.06790305393040671, + 0.014257345348596573 + ], + [ + 0.038790106773376465, + 0.9521405472593157, + -0.3031892264925138, + -0.058526769280433655 + ], + [ + -0.058887749910354614, + 0.30506845493290086, + 0.9505079817625045, + -0.039924927055835724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976426959037781, + -0.022095475067285337, + 0.06496810408902082, + 0.016208626329898834 + ], + [ + 0.0407622866332531, + 0.9524289209907788, + -0.30202244864789257, + -0.06244063377380371 + ], + [ + -0.05520417541265488, + 0.3039587537745348, + 0.9510843977820699, + -0.05381309241056442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976834654808044, + -0.025501175554511136, + 0.0630662368015749, + 0.013647343963384628 + ], + [ + 0.04351149871945381, + 0.9518540900885943, + -0.30344772570604994, + -0.060116346925497055 + ], + [ + -0.05229157954454422, + 0.305488919460295, + 0.9507586831187753, + -0.06301630288362503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978554844856262, + -0.023702032441818267, + 0.06101321983654074, + 0.01010767463594675 + ], + [ + 0.041225872933864594, + 0.951598106703666, + -0.3045676307179703, + -0.0571913868188858 + ], + [ + -0.05084118992090225, + 0.3064298035312671, + 0.9505345767438727, + -0.06664619594812393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980670213699341, + -0.02820910659385964, + 0.055375607615629464, + 0.008489043451845646 + ], + [ + 0.04373984783887863, + 0.951836450159538, + -0.30347017632746925, + -0.057270731776952744 + ], + [ + -0.044147904962301254, + 0.3053057032244551, + 0.95123047011506, + -0.06580360978841782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998282790184021, + -0.03246846507304453, + 0.04875702718742677, + 0.005324982572346926 + ], + [ + 0.045669130980968475, + 0.9526312234239188, + -0.3006794489861423, + -0.05658679082989693 + ], + [ + -0.03668486326932907, + 0.30238981075479887, + 0.9524781390823677, + -0.06261816620826721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9985471367835999, + -0.03573717202340835, + 0.040328909213052495, + 0.002150579821318388 + ], + [ + 0.0461643785238266, + 0.9533874873758735, + -0.2981965306177234, + -0.05321662500500679 + ], + [ + -0.027792375534772873, + 0.29962506823879165, + 0.9536521302852695, + -0.06001027673482895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986898899078369, + -0.04043910628343459, + 0.03135489776630286, + -0.00324062816798687 + ], + [ + 0.04788491129875183, + 0.9545977055482231, + -0.29402423204216027, + -0.05063812434673309 + ], + [ + -0.01804123818874359, + 0.29514045809663764, + 0.9552835532900905, + -0.05644610896706581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988351464271548, + -0.043112788591387216, + 0.021670288434166688, + -0.009144678711891174 + ], + [ + 0.04755266755819322, + 0.9557109696209665, + -0.29043982344675595, + -0.04672642797231674 + ], + [ + -0.00818886421620846, + 0.29113197931578877, + 0.9566478558675683, + -0.05306904762983322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988499879837036, + -0.04675596926893513, + 0.010610971412500394, + -0.012908844277262688 + ], + [ + 0.047837208956480026, + 0.9570677729255022, + -0.285889674430172, + -0.04501646012067795 + ], + [ + 0.003211629344150424, + 0.28606850832764136, + 0.9582037917460297, + -0.0489749014377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988408088684082, + -0.04813228637160312, + 0.000535653526953079, + -0.015829093754291534 + ], + [ + 0.046333786100149155, + 0.9583834008210813, + -0.2816992967020043, + -0.04278643801808357 + ], + [ + 0.013045470230281353, + 0.2813975712183049, + 0.9595025613475527, + -0.04861770570278168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988143444061282, + -0.04752984364069675, + -0.010529745653030899, + -0.012194821611046791 + ], + [ + 0.04276834800839425, + 0.9600323288723364, + -0.27660222406360707, + -0.043468132615089417 + ], + [ + 0.02325575612485409, + 0.2758239108961177, + 0.9609268210674649, + -0.05514885485172272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986749887466431, + -0.04826921704230993, + -0.017841006096415833, + -0.015498677268624306 + ], + [ + 0.04158389940857887, + 0.9611790983914924, + -0.2727738177560287, + -0.042818810790777206 + ], + [ + 0.030314980074763298, + 0.271670499703959, + 0.961912779179859, + -0.05386031046509743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985460042953491, + -0.047620804803188824, + -0.025262343885514786, + -0.013593008741736412 + ], + [ + 0.03913160413503647, + 0.9626534372912156, + -0.2678937823876026, + -0.04383949562907219 + ], + [ + 0.0370761975646019, + 0.2665156914606693, + 0.9631172113069227, + -0.05981961265206337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983737468719482, + -0.04800497310034209, + -0.030746293269166378, + -0.013619010336697102 + ], + [ + 0.03823528811335564, + 0.9639181448861106, + -0.26343851716695055, + -0.043300338089466095 + ], + [ + 0.04228327050805092, + 0.26183451480725517, + 0.964186069445629, + -0.06336909532546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980733394622805, + -0.050203516411488625, + -0.03645907533844178, + -0.013297997415065765 + ], + [ + 0.039093457162380225, + 0.9651413873068356, + -0.2587929951868479, + -0.040434062480926514 + ], + [ + 0.04818047583103181, + 0.2568690651617697, + 0.9652445169922501, + -0.06402532011270523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976655244827273, + -0.05449241372133501, + -0.04115973351419303, + -0.013391167856752872 + ], + [ + 0.04238915443420411, + 0.9667007441993155, + -0.2523743836994522, + -0.0365753211081028 + ], + [ + 0.053541634231805815, + 0.25004050333454747, + 0.9667538745876548, + -0.06549331545829773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971962571144104, + -0.05975048739605871, + -0.04504971873005329, + -0.013123827986419201 + ], + [ + 0.0469999760389328, + 0.9685680507712104, + -0.24426823422104993, + -0.03128482401371002 + ], + [ + 0.05822886526584625, + 0.24146604009718606, + 0.9686606898006437, + -0.06889160722494125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967188835144045, + -0.0644730862164198, + -0.04893568064134895, + -0.012961428612470627 + ], + [ + 0.051427297294139876, + 0.9713009836751328, + -0.23222754865398634, + -0.03012879192829132 + ], + [ + 0.06250370293855669, + 0.22894895092162665, + 0.9714296932004236, + -0.07040216773748398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961168169975281, + -0.07029229938567776, + -0.0530125004720676, + -0.011622917838394642 + ], + [ + 0.056910090148448944, + 0.9735046770138188, + -0.22147202199233337, + -0.023201817646622658 + ], + [ + 0.06717569380998611, + 0.21759505806643348, + 0.9737247058420375, + -0.06899771839380264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9957031011581421, + -0.07328207731453702, + -0.05661300856011382, + -0.010488132014870644 + ], + [ + 0.05990174412727356, + 0.975923173485585, + -0.20972782314592153, + -0.016997598111629486 + ], + [ + 0.07061923295259476, + 0.20543543582968976, + 0.9761194496006024, + -0.0691714659333229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9955253601074219, + -0.07372269841373656, + -0.05911174499620698, + -0.011331424117088318 + ], + [ + 0.06083834916353226, + 0.9787108499190821, + -0.19601993259348802, + -0.015193278901278973 + ], + [ + 0.07230442762374878, + 0.19154655325685246, + 0.9788165968458181, + -0.06879374384880066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9953343868255615, + -0.07354639118373457, + -0.06245293261763487, + -0.010349816642701626 + ], + [ + 0.06089574098587036, + 0.9809177622534951, + -0.18464041595455016, + -0.01026191283017397 + ], + [ + 0.07484082877635956, + 0.17997584201764516, + 0.9808198409533941, + -0.06610944122076035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951861500740053, + -0.07361987188312448, + -0.06468855949655859, + -0.009588767774403095 + ], + [ + 0.06137495860457422, + 0.9827842335675548, + -0.17426483098893128, + -0.0047399140894412994 + ], + [ + 0.07640424370765687, + 0.16945569284480555, + 0.9825717074113866, + -0.06471502780914307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9951618909835815, + -0.07305846165447868, + -0.06569070641855251, + -0.010198700241744518 + ], + [ + 0.061275944113731384, + 0.9841736951220583, + -0.1662751192627296, + 0.0017958858516067266 + ], + [ + 0.07679887115955353, + 0.16144540101437083, + 0.9838888895663083, + -0.06114679574966431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9950842261314392, + -0.07232117957605864, + -0.06765344522874285, + -0.009215950034558773 + ], + [ + 0.060706935822963715, + 0.9852050095908823, + -0.1602678521578913, + 0.0083092600107193 + ], + [ + 0.07824327796697617, + 0.1553729794028195, + 0.9847523582220342, + -0.05438356474041939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995045006275177, + -0.07208153576308607, + -0.06848161288433008, + -0.008529111742973328 + ], + [ + 0.06083381921052933, + 0.9861806826970073, + -0.15410027146552235, + 0.012369096279144287 + ], + [ + 0.07864303141832352, + 0.1491707056948047, + 0.9856791385188891, + -0.05051043629646301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949091076850891, + -0.07327506721349075, + -0.06918516188819684, + -0.007565315812826157 + ], + [ + 0.062438614666461945, + 0.9870827562002207, + -0.147543357999537, + 0.014454475603997707 + ], + [ + 0.07910273224115372, + 0.142472408564894, + 0.9866328682278072, + -0.04769887775182724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947099089622498, + -0.07476894344156204, + -0.07044041295962662, + -0.006630818359553814 + ], + [ + 0.06413831561803818, + 0.9876903867886416, + -0.14266745142256484, + 0.018682928755879402 + ], + [ + 0.0802404135465622, + 0.1373947932695433, + 0.987260911941144, + -0.043697893619537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9944467544555664, + -0.07638001238968005, + -0.07240012831514826, + -0.0047458806075155735 + ], + [ + 0.06591843068599701, + 0.9883403380240082, + -0.1372522713923762, + 0.02160365879535675 + ], + [ + 0.08203929662704468, + 0.1317175672679057, + 0.987886658071137, + -0.04055410996079445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942857027053833, + -0.07766681038959712, + -0.07323805940297984, + -0.004481792915612459 + ], + [ + 0.06750068813562393, + 0.9889070566711389, + -0.13231219503900496, + 0.02341683767735958 + ], + [ + 0.0827018991112709, + 0.12661250394860304, + 0.9884987241708607, + -0.036246683448553085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9939814209938049, + -0.0810949322875539, + -0.07365170426927209, + -0.003613567678257823 + ], + [ + 0.07123138755559921, + 0.989228139465452, + -0.12788181944092197, + 0.025380000472068787 + ], + [ + 0.08322890847921371, + 0.12186584341921235, + 0.9890509146502525, + -0.03284308686852455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9937101602554324, + -0.08479210885289679, + -0.07314643348236013, + -0.0037061539478600025 + ], + [ + 0.07529625296592714, + 0.9894178396200844, + -0.12402756055880998, + 0.02664365991950035 + ], + [ + 0.0828889384865761, + 0.11773979860457053, + 0.9895790870225509, + -0.029411008581519127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.993364751338959, + -0.0891730268026755, + -0.07262664272462054, + -0.0032087089493870735 + ], + [ + 0.0799790844321251, + 0.9894343151781956, + -0.12092601923302804, + 0.028232157230377197 + ], + [ + 0.08264263719320299, + 0.11431503846776077, + 0.9900011696852334, + -0.02657119370996952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9930607080459595, + -0.09272986640018167, + -0.07232994947816894, + -0.003914577420800924 + ], + [ + 0.08376192301511765, + 0.9894197797302358, + -0.11845839456923037, + 0.029955342411994934 + ], + [ + 0.0825493186712265, + 0.11157788613536591, + 0.9903211783169783, + -0.02286659926176071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9927056431770327, + -0.09616832103741534, + -0.07271300390331446, + -0.0038214109372347593 + ], + [ + 0.08739734441041948, + 0.9894605935251422, + -0.11545301404689577, + 0.031060416251420975 + ], + [ + 0.08304957300424577, + 0.10825593778887654, + 0.9906479826912079, + -0.021226221695542336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.992401659488678, + -0.0983428336713749, + -0.07394372122631103, + -0.003911424893885851 + ], + [ + 0.08968321979045868, + 0.9895971947368161, + -0.11249130498654193, + 0.03174012154340744 + ], + [ + 0.08423721045255661, + 0.1050050469717812, + 0.9908976167361977, + -0.019592836499214172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9919924736022951, + -0.10095602392635118, + -0.07588699849507156, + -0.0037879357114434242 + ], + [ + 0.09240105003118516, + 0.9897541119210969, + -0.10885246764817338, + 0.03236940875649452 + ], + [ + 0.08609877526760103, + 0.10096878962063843, + 0.991157063394855, + -0.016830677166581154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9916434288024905, + -0.10230936709684552, + -0.0785885231522447, + -0.003620839212089777 + ], + [ + 0.09367165714502336, + 0.9898707599687697, + -0.10668435764074667, + 0.0362081304192543 + ], + [ + 0.08870728313922883, + 0.09843132161004484, + 0.991182275125404, + -0.013613415881991386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915023446083069, + -0.10287495798127726, + -0.07962316674291771, + -0.005481652449816465 + ], + [ + 0.0944184809923172, + 0.9901340804802577, + -0.10353592894026188, + 0.03837844356894493 + ], + [ + 0.08948885649442673, + 0.09513821889072113, + 0.9914335517952158, + -0.0118135130032897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9912202954292297, + -0.10317257850126554, + -0.0826907393139098, + -0.0039919158443808556 + ], + [ + 0.09469663351774216, + 0.990410918925742, + -0.10059196727819893, + 0.04013359174132347 + ], + [ + 0.09227614849805832, + 0.09187826591648621, + 0.9914854981704759, + -0.010045355185866356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991156816482544, + -0.10437046991799842, + -0.08194520481742527, + -0.0073515004478394985 + ], + [ + 0.0962834283709526, + 0.9906051698865437, + -0.09711307980316, + 0.04102121293544769 + ], + [ + 0.09131107479333878, + 0.08836432445848574, + 0.9918941885619864, + -0.007580859586596489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9910356998443604, + -0.10453870328823703, + -0.08318607487308348, + -0.007716271560639143 + ], + [ + 0.09662140160799026, + 0.9908625075954192, + -0.09410501322111982, + 0.04194727912545204 + ], + [ + 0.0922635868191719, + 0.08522387336409015, + 0.9920807889088125, + -0.005502627231180668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908201694488525, + -0.10473620381474377, + -0.08547384460195548, + -0.007533804979175329 + ], + [ + 0.09692727774381638, + 0.99113155302637, + -0.0909032465483484, + 0.04226987063884735 + ], + [ + 0.09423667937517166, + 0.0817840188348339, + 0.9921848827042355, + -0.0014224685728549957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9907118678092957, + -0.10353083545853549, + -0.08815511638132575, + -0.007032566703855991 + ], + [ + 0.0958503782749176, + 0.9915592207503905, + -0.08731022991865792, + 0.040687110275030136 + ], + [ + 0.0964503213763237, + 0.07804958073546786, + 0.9922729697193623, + 0.002212600549682975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9905006289482117, + -0.1045016586980501, + -0.08937507154162454, + -0.008957830257713795 + ], + [ + 0.0968770906329155, + 0.9915932287453136, + -0.08577698265867673, + 0.043103836476802826 + ], + [ + 0.09758754819631577, + 0.07630375801686219, + 0.992297515237392, + 0.0052724857814610004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9902493953704834, + -0.10485189798097548, + -0.0917180541621573, + -0.009060046635568142 + ], + [ + 0.09731114655733109, + 0.9917738116857502, + -0.08315770362005692, + 0.043029867112636566 + ], + [ + 0.09968281537294388, + 0.07342167804811787, + 0.9923067073007205, + 0.008190247230231762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9900844097137451, + -0.10518095695545748, + -0.09311184152876058, + -0.011027196422219276 + ], + [ + 0.09764714539051056, + 0.9918304517193471, + -0.08208156193868998, + 0.04483520984649658 + ], + [ + 0.10098458081483841, + 0.07217557378296527, + 0.992266506727954, + 0.010596305131912231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9899638891220093, + -0.10511364592079793, + -0.09445935213293168, + -0.013320162892341614 + ], + [ + 0.09759130328893661, + 0.9919234456981196, + -0.08101715246886547, + 0.045869700610637665 + ], + [ + 0.10221245139837265, + 0.07098564633695509, + 0.9922265849971453, + 0.01328237447887659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9898579716682434, + -0.10432758075932588, + -0.09642050980437009, + -0.014681844040751457 + ], + [ + 0.09672302007675171, + 0.9920549826184315, + -0.08044594580526587, + 0.04701883718371391 + ], + [ + 0.10404717922210693, + 0.0703039803691186, + 0.9920844421838687, + 0.01492389477789402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897834658622744, + -0.10320016672800933, + -0.09837867012762277, + -0.016200462356209755 + ], + [ + 0.09555050730705264, + 0.9922415033531659, + -0.07954145522049987, + 0.04780365526676178 + ], + [ + 0.10582409799098971, + 0.06932869216243404, + 0.9919651242635917, + 0.01582326367497444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.989650368690491, + -0.1024727172722376, + -0.10045615224961042, + -0.018089788034558296 + ], + [ + 0.0947317034006119, + 0.9923611923582403, + -0.0790262732933765, + 0.04991021379828453 + ], + [ + 0.10778681933879855, + 0.06869200541310551, + 0.9917980830586927, + 0.016296179965138435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9896822571754458, + -0.10131748548469151, + -0.10131041103121374, + -0.021585384383797646 + ], + [ + 0.09365765005350114, + 0.9925669053703543, + -0.07771228243475854, + 0.05135637894272804 + ], + [ + 0.1084309667348862, + 0.0674219693600895, + 0.9918149892261289, + 0.016284851357340813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9898627996444702, + -0.10209253504531757, + -0.09873547258341558, + -0.024751057848334312 + ], + [ + 0.0950760468840599, + 0.9927644668003427, + -0.07334335337996536, + 0.04717264696955681 + ], + [ + 0.10550887882709503, + 0.06321248189150067, + 0.9924072315213675, + -0.0028966732788830996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9896231889724734, + -0.10226819348100742, + -0.10093118663567133, + -0.026021428406238556 + ], + [ + 0.0952539220452309, + 0.9928430622867691, + -0.07203699158499759, + 0.05022489279508591 + ], + [ + 0.10757591575384143, + 0.06167538699876129, + 0.992281972153426, + 0.0013182824477553368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9890262484550476, + -0.10203267273487054, + -0.10684778203432385, + -0.025161193683743477 + ], + [ + 0.09481452405452728, + 0.9929885171507394, + -0.0705978023142258, + 0.05454794317483902 + ], + [ + 0.11330190300941467, + 0.05969235885303488, + 0.9917658511849853, + 0.020800668746232986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.989351212978363, + -0.10177305163781482, + -0.10405030278883047, + -0.028351524844765663 + ], + [ + 0.09521777927875519, + 0.993256143118072, + -0.06614960120517721, + 0.05053907632827759 + ], + [ + 0.11008085310459137, + 0.05553775443003705, + 0.9923698003844151, + 0.00333184446208179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887591004371643, + -0.10528876052134024, + -0.10615883407622491, + -0.030335161834955215 + ], + [ + 0.09878641366958618, + 0.9929986945994128, + -0.06476743436718409, + 0.055476948618888855 + ], + [ + 0.11223486065864563, + 0.05355234258384893, + 0.9922376282575133, + 0.011577603407204151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.988497853279114, + -0.10510085982985595, + -0.10874660067286014, + -0.03009968437254429 + ], + [ + 0.09880081564188006, + 0.9931864694098701, + -0.06179831778116145, + 0.0540514811873436 + ], + [ + 0.11450071632862094, + 0.050343253145989864, + 0.9921467620235724, + 0.01797373965382576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888426065444949, + -0.10357584689453633, + -0.10706209662076051, + -0.03422505408525467 + ], + [ + 0.0974470525979996, + 0.9933703620815625, + -0.06098678475678621, + 0.055469267070293427 + ], + [ + 0.11266907304525378, + 0.04987344539074684, + 0.9923801224915475, + 0.00927917193621397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9886902570724487, + -0.10326360358706732, + -0.10875781825227494, + -0.03267781063914299 + ], + [ + 0.09737388789653778, + 0.993547445688951, + -0.05815372905495621, + 0.05257437005639076 + ], + [ + 0.11406120657920837, + 0.04690585537028562, + 0.9923658257402759, + 0.0034933737479150295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9878391027450562, + -0.10689718222184615, + -0.11290242277900221, + -0.03219882398843765 + ], + [ + 0.10086613148450851, + 0.9932161344848845, + -0.057859746957269344, + 0.05659409612417221 + ], + [ + 0.11832154542207718, + 0.045768093563695, + 0.9919200316881502, + 0.0198271032422781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9876791834831238, + -0.10677446013556188, + -0.11440759748793358, + -0.03272143378853798 + ], + [ + 0.10070245712995529, + 0.9932469357554339, + -0.05761585929279959, + 0.057489581406116486 + ], + [ + 0.11978689581155777, + 0.04538485061621134, + 0.9917617275485181, + 0.02515369839966297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9878557920455933, + -0.10507551689710458, + -0.11445551422919593, + -0.03309454023838043 + ], + [ + 0.09902217984199524, + 0.9934304527805119, + -0.05736364447939047, + 0.05697426199913025 + ], + [ + 0.119731105864048, + 0.04533337145374581, + 0.9917707959525544, + 0.023545676842331886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9879022836685183, + -0.10441355877952539, + -0.11465981524880076, + -0.03399718925356865 + ], + [ + 0.09821051359176639, + 0.9934451491821036, + -0.05849266239912578, + 0.059169888496398926 + ], + [ + 0.12001567333936694, + 0.046524243121593145, + 0.9916812679211907, + 0.027004817500710487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9878746271133425, + -0.10443408586225165, + -0.11487913336281216, + -0.03272155299782753 + ], + [ + 0.09827960282564166, + 0.9934667826309967, + -0.0580076551312582, + 0.0579807311296463 + ], + [ + 0.12018658220767978, + 0.04601400885865818, + 0.9916843473818195, + 0.024078888818621635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9876720309257507, + -0.1054519287018911, + -0.11568862567101423, + -0.02935277670621872 + ], + [ + 0.09938836097717285, + 0.9934147026155149, + -0.057001266705650394, + 0.05530702322721481 + ], + [ + 0.12093768268823624, + 0.04480045626528823, + 0.991648644886608, + 0.017409944906830788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9866894483566284, + -0.11963549824373383, + -0.11014218958319567, + -0.04016648232936859 + ], + [ + 0.11176148802042007, + 0.9908929262748318, + -0.07510375969867407, + 0.09197500348091125 + ], + [ + 0.11812419444322586, + 0.06179443344292172, + 0.991074231910294, + 0.021346937865018845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9849653840065002, + -0.1274849655646379, + -0.11657944593063684, + -0.02932501584291458 + ], + [ + 0.11918199807405472, + 0.9899868723240184, + -0.07564190351560565, + 0.09408186376094818 + ], + [ + 0.12505531311035156, + 0.06061047773122561, + 0.990296667216294, + 0.021384818479418755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9848660230636599, + -0.12626721309108854, + -0.11872467686221787, + -0.025576459243893623 + ], + [ + 0.11870886385440829, + 0.9905467771752438, + -0.06874099529397928, + 0.07951797544956207 + ], + [ + 0.1262820810079575, + 0.05360699852512541, + 0.990544855954518, + 0.00638620974496007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9846646189689636, + -0.12229988689400811, + -0.12441179398750588, + -0.01826246827840805 + ], + [ + 0.1153840571641922, + 0.9914227571994036, + -0.06137918946841473, + 0.06233116239309311 + ], + [ + 0.13085134327411652, + 0.0460827913229659, + 0.9903304312791927, + -0.005532026756554842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9844164252281189, + -0.11996276108845684, + -0.12858182954308894, + -0.013693025335669518 + ], + [ + 0.11378641426563263, + 0.9920161042225327, + -0.0543760722863885, + 0.047213114798069 + ], + [ + 0.13407833874225616, + 0.03889783609368433, + 0.9902070132070068, + -0.01434544287621975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.984038233757019, + -0.12315221941213593, + -0.12846128460421888, + -0.019737184047698975 + ], + [ + 0.11666357517242432, + 0.991540401883614, + -0.056896350456533934, + 0.05365200340747833 + ], + [ + 0.1343814581632614, + 0.04100142931383579, + 0.9900810562340602, + -0.023945340886712074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9839939475059509, + -0.12191470606628059, + -0.12997212877493985, + -0.024972064420580864 + ], + [ + 0.11519041657447815, + 0.9916437871216123, + -0.058083913270506105, + 0.056820712983608246 + ], + [ + 0.13596734404563904, + 0.04218267156086036, + 0.9898148592298007, + -0.02774820290505886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9832638502120972, + -0.12258037703493956, + -0.13478222005091647, + -0.015004275366663933 + ], + [ + 0.11634883284568787, + 0.9917821824335192, + -0.053207569771170526, + 0.04740938916802406 + ], + [ + 0.1401968002319336, + 0.03663533184629149, + 0.9894456897137343, + -0.04247733950614929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827296137809756, + -0.12318136697031228, + -0.1380900044131475, + -0.012861664406955242 + ], + [ + 0.11693863570690158, + 0.9917518522159708, + -0.05247515112298225, + 0.04684577137231827 + ], + [ + 0.1434149891138077, + 0.03542082068031935, + 0.9890285880935806, + -0.04668072611093521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9823371767997742, + -0.12307535700829483, + -0.1409472537034454, + -0.01289798691868782 + ], + [ + 0.11653591692447662, + 0.9917294214262807, + -0.05377819246451586, + 0.04977073520421982 + ], + [ + 0.1464003026485443, + 0.036402906628366004, + 0.988555375383405, + -0.04832945764064789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9820356965065005, + -0.12221805150593122, + -0.1437657613714715, + -0.010938066057860851 + ], + [ + 0.115513950586319, + 0.991830355327436, + -0.05412098038192749, + 0.05040369927883148 + ], + [ + 0.1492058038711548, + 0.03654178732918178, + 0.988130698743864, + -0.049247898161411285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9816495180130005, + -0.12258348903231941, + -0.14607367227890508, + -0.007492189295589924 + ], + [ + 0.11631129682064056, + 0.9919145829917045, + -0.05076500715067311, + 0.045139752328395844 + ], + [ + 0.1511155664920807, + 0.032843429891937774, + 0.9879703361617174, + -0.05450120568275452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9812695384025574, + -0.12285045451073584, + -0.14838436394188806, + -0.008259430527687073 + ], + [ + 0.11675001680850983, + 0.9919429417488601, + -0.04917912055156938, + 0.04398864507675171 + ], + [ + 0.15323050320148468, + 0.030934109893522056, + 0.9877061874120745, + -0.052865851670503616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9809933304786682, + -0.12303704901378214, + -0.15004654763258504, + -0.009708411060273647 + ], + [ + 0.11711373180150986, + 0.9919709792255508, + -0.047727836786925756, + 0.04383964091539383 + ], + [ + 0.15471412241458893, + 0.029248177995538308, + 0.9875262256129346, + -0.05249059572815895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9805883169174194, + -0.12339999139221895, + -0.152377825178065, + -0.010878195986151695 + ], + [ + 0.1176675483584404, + 0.9919816715749656, + -0.04611634855216985, + 0.044295214116573334 + ], + [ + 0.1568467617034912, + 0.027291223124783166, + 0.9872458123931075, + -0.04996052384376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.98040372133255, + -0.12260018599695813, + -0.15420029363729051, + -0.012464686296880245 + ], + [ + 0.1170346736907959, + 0.9921212536913462, + -0.04470174749015367, + 0.044788382947444916 + ], + [ + 0.15846583247184753, + 0.02577898533089005, + 0.9870278951719731, + -0.05036633834242821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9805600643157959, + -0.12043429989415842, + -0.15491149971087442, + -0.019054483622312546 + ], + [ + 0.11479306221008301, + 0.992374526293214, + -0.04489294958316733, + 0.04725439473986626 + ], + [ + 0.15913687646389008, + 0.026237465486777148, + 0.9869078309451904, + -0.04559917002916336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.980111300945282, + -0.12042860210067134, + -0.15773024917125578, + -0.015345622785389423 + ], + [ + 0.11492407321929932, + 0.9924170210845766, + -0.04359982155685228, + 0.04642881453037262 + ], + [ + 0.16178485751152039, + 0.024605675677590762, + 0.9865192609881948, + -0.04874681681394577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9799844026565552, + -0.11952394213452344, + -0.15919997388293522, + -0.016709940508008003 + ], + [ + 0.11393052339553833, + 0.9925208131563915, + -0.043843350174875166, + 0.04741520434617996 + ], + [ + 0.16324961185455322, + 0.024828069332611332, + 0.9862723203782933, + -0.0471377894282341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9799580574035647, + -0.11855649399944307, + -0.16008315149081376, + -0.01840645633637905 + ], + [ + 0.11276309192180636, + 0.9926098505777681, + -0.044834509259201946, + 0.048391833901405334 + ], + [ + 0.16421553492546084, + 0.025884472744391297, + 0.9860848026760215, + -0.04666995257139206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9797446131706238, + -0.11866815928556697, + -0.16130220423612812, + -0.01960946060717106 + ], + [ + 0.1126355305314064, + 0.9925675298252237, + -0.046075693691622954, + 0.04980013519525528 + ], + [ + 0.16557104885578156, + 0.02697405538569013, + 0.9858289147345126, + -0.04590753838419914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9795594811439514, + -0.11922554911607192, + -0.16201380646942537, + -0.02149946056306362 + ], + [ + 0.11293945461511612, + 0.992465637038827, + -0.047504249588428894, + 0.05180158093571663 + ], + [ + 0.16645686328411102, + 0.028235483052270548, + 0.9856444042284606, + -0.04611197113990784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9793301820755005, + -0.11958107024332591, + -0.16313434198438503, + -0.022700296714901924 + ], + [ + 0.11332901567220688, + 0.9924385130391463, + -0.04714115114810562, + 0.05113191157579422 + ], + [ + 0.16753800213336945, + 0.02767890214640648, + 0.9854769709836332, + -0.04607424885034561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9790364503860476, + -0.12035660153327166, + -0.16432244145150632, + -0.023706914857029915 + ], + [ + 0.11410522460937503, + 0.9923562184484443, + -0.04700175582690877, + 0.05141644552350044 + ], + [ + 0.16872337460517886, + 0.027266376003399134, + 0.985286228214672, + -0.045740194618701935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9787970185279846, + -0.12056647949401421, + -0.16559030421843735, + -0.024676330387592316 + ], + [ + 0.11435167491436005, + 0.9923467540774287, + -0.04660102859985031, + 0.05102063715457916 + ], + [ + 0.16994152963161469, + 0.026677409537082118, + 0.9850929634559337, + -0.04616133123636246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.978464663028717, + -0.12138528008125449, + -0.16695055998787972, + -0.02602268196642399 + ], + [ + 0.11483760178089142, + 0.9922061505832304, + -0.04836573609045191, + 0.05422906577587128 + ], + [ + 0.17152026295661926, + 0.0281519624471188, + 0.9847782837606619, + -0.04402083158493042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9782106876373291, + -0.12079230556194763, + -0.1688580220496285, + -0.025954892858862877 + ], + [ + 0.1141623705625534, + 0.992278947839153, + -0.04847148605526713, + 0.05368589237332344 + ], + [ + 0.17340925335884094, + 0.028138093579956586, + 0.9844478213969251, + -0.04517019912600517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9782118797302246, + -0.11899741189353634, + -0.17012111564344481, + -0.027464739978313446 + ], + [ + 0.11208336055278778, + 0.9924542079381563, + -0.04971877134731519, + 0.05423340946435928 + ], + [ + 0.1747538298368454, + 0.029567745752384883, + 0.9841681159948529, + -0.04642065241932869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9780494570732117, + -0.11824898899802984, + -0.1715705343703591, + -0.028574030846357346 + ], + [ + 0.11109723895788193, + 0.9925135031843079, + -0.050737828237118844, + 0.05447879806160927 + ], + [ + 0.1762857735157013, + 0.030563091369360335, + 0.9838644295375399, + -0.04646177217364311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9778693318367004, + -0.11787921919036357, + -0.17284706980470707, + -0.028801511973142624 + ], + [ + 0.11049221456050873, + 0.99252684852102, + -0.05178767056697427, + 0.053858041763305664 + ], + [ + 0.1776600331068039, + 0.03154331875456272, + 0.9835862693262241, + -0.04828401654958725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9775938987731934, + -0.11862591653909729, + -0.1738908102288066, + -0.029162487015128136 + ], + [ + 0.11101716011762619, + 0.992410455636145, + -0.05288319525518434, + 0.053229156881570816 + ], + [ + 0.1788443922996521, + 0.03239342680411734, + 0.983343986130011, + -0.049950987100601196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9772844910621645, + -0.11946500292587194, + -0.1750516753524726, + -0.02903369441628456 + ], + [ + 0.111538901925087, + 0.9922658885626755, + -0.05447426286616014, + 0.0530204251408577 + ], + [ + 0.18020558357238772, + 0.03371179478106979, + 0.9830511202993856, + -0.052007898688316345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.97700035572052, + -0.1200649802166994, + -0.17622336646573938, + -0.02920299768447876 + ], + [ + 0.11170653998851776, + 0.9921255039765398, + -0.056645104922313234, + 0.053605690598487854 + ], + [ + 0.181636780500412, + 0.03565698227048808, + 0.9827190426967618, + -0.05296673998236656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9766299724578857, + -0.12112611514888919, + -0.17754550583119835, + -0.029075894504785538 + ], + [ + 0.11235930770635605, + 0.9919344095563589, + -0.05866493927459195, + 0.05411367863416672 + ], + [ + 0.18321934342384338, + 0.03734505265386889, + 0.9823624860259296, + -0.0536482073366642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9763871431350708, + -0.12189314220329402, + -0.17835426707803326, + -0.029774893075227737 + ], + [ + 0.11276378482580185, + 0.9917784363750047, + -0.06049690064590107, + 0.054233573377132416 + ], + [ + 0.18426208198070526, + 0.03895649044668914, + 0.9821048371790813, + -0.05437517538666725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9761277437210083, + -0.12292222108954873, + -0.17906631766363362, + -0.029944824054837227 + ], + [ + 0.11348238587379456, + 0.991598678316198, + -0.062078672379703735, + 0.053856976330280304 + ], + [ + 0.1851927936077118, + 0.0402758411704535, + 0.9818764948334444, + -0.056120797991752625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9757455587387085, + -0.12450578808472632, + -0.18005266770696116, + -0.029339920729398727 + ], + [ + 0.11480601131916046, + 0.9913648964098879, + -0.06336593647151814, + 0.053620826452970505 + ], + [ + 0.1863873153924942, + 0.04115789311938267, + 0.9816138598023387, + -0.057184718549251556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.975386440753937, + -0.1261636797755319, + -0.18084256991166578, + -0.028817588463425636 + ], + [ + 0.11616867780685428, + 0.9911083671338967, + -0.06487701984632872, + 0.053862739354372025 + ], + [ + 0.18741971254348758, + 0.04227192640630474, + 0.9813699390168922, + -0.0582127571105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9751423597335818, + -0.12731316419893643, + -0.18135240334832875, + -0.028307978063821793 + ], + [ + 0.11706228554248813, + 0.9909162057326201, + -0.06619306547906216, + 0.05370122939348221 + ], + [ + 0.1881322860717774, + 0.043318138033947934, + 0.9811879570817426, + -0.060022857040166855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9749063849449158, + -0.128101579010952, + -0.1820645186920376, + -0.028037140145897865 + ], + [ + 0.11754768341779709, + 0.9907591519213755, + -0.06766733103009977, + 0.05379265919327736 + ], + [ + 0.18905039131641388, + 0.04456805477352089, + 0.9809554643162441, + -0.061202749609947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9746882915496826, + -0.12880082505501883, + -0.18273766525371113, + -0.027658328413963318 + ], + [ + 0.11791388690471649, + 0.990603712230846, + -0.06928666544895148, + 0.0536491833627224 + ], + [ + 0.189944788813591, + 0.04598559192436769, + 0.9807172520496076, + -0.06305638700723648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9744608998298645, + -0.12962218021097013, + -0.18336863369412357, + -0.027388358488678932 + ], + [ + 0.11839186400175095, + 0.9904277101759191, + -0.07096714801159847, + 0.05342470481991768 + ], + [ + 0.19081228971481323, + 0.047445361076213215, + 0.9804792650970671, + -0.0648287758231163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.974142372608185, + -0.13025747193512094, + -0.1846067298818577, + -0.026609374210238457 + ], + [ + 0.118602991104126, + 0.9902639566642365, + -0.07287422334931763, + 0.053827233612537384 + ], + [ + 0.1923017948865891, + 0.04909495833618807, + 0.9801070048460725, + -0.06500731408596039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.973957359790802, + -0.130531645466778, + -0.18538747396843736, + -0.02659686841070652 + ], + [ + 0.11847157776355743, + 0.99013962966993, + -0.07475309618968169, + 0.05395454540848732 + ], + [ + 0.19331713020801544, + 0.05084318846742642, + 0.9798180910221087, + -0.06588011980056763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9736773967742922, + -0.13117288117733925, + -0.18640292147833457, + -0.026049815118312836 + ], + [ + 0.11873745173215869, + 0.9899798610156647, + -0.07642869347241218, + 0.053614214062690735 + ], + [ + 0.19456051290035253, + 0.05228386869981079, + 0.9794960724916765, + -0.06625987589359283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9735214710235596, + -0.13185929109164568, + -0.18673261912653882, + -0.026650168001651764 + ], + [ + 0.11907441169023514, + 0.989804802064608, + -0.07815168725345473, + 0.05338018015027046 + ], + [ + 0.19513386487960815, + 0.053847271737164755, + 0.9792973460593226, + -0.06728866696357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9733920693397522, + -0.13225128947249484, + -0.1871294240616935, + -0.026794059202075005 + ], + [ + 0.11909666657447815, + 0.9896605870513285, + -0.07992401513071627, + 0.053406327962875366 + ], + [ + 0.1957646757364273, + 0.055510929861695986, + 0.9790785275789993, + -0.06822822988033295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9731937646865845, + -0.1323303038885662, + -0.18810256420939495, + -0.026264935731887817 + ], + [ + 0.11871661990880966, + 0.9895418534749052, + -0.08193452749525088, + 0.05397665500640869 + ], + [ + 0.19697779417037964, + 0.05740726963798399, + 0.9787257758306759, + -0.06796089559793472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9730265736579895, + -0.13283326390605318, + -0.18861229868902268, + -0.02566976100206375 + ], + [ + 0.11887537688016891, + 0.9893893620661732, + -0.0835306872576028, + 0.05389437824487686 + ], + [ + 0.1977066546678543, + 0.058856210695607036, + 0.9784927294017495, + -0.06742922961711884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9731156826019287, + -0.13257385347338316, + -0.18833498480541963, + -0.025329697877168655 + ], + [ + 0.11828659474849701, + 0.9893154429114134, + -0.08522486588628084, + 0.053616732358932495 + ], + [ + 0.19762128591537476, + 0.060656135066305635, + 0.9784000284381998, + -0.06846608221530914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9734187722206116, + -0.1312880544783521, + -0.1876680358564949, + -0.02555243857204914 + ], + [ + 0.11665081232786179, + 0.9893492519979952, + -0.08706676358697592, + 0.05382180213928223 + ], + [ + 0.19710007309913635, + 0.06286080194648083, + 0.9783660279489287, + -0.06937537342309952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9736459851264954, + -0.13002823624236726, + -0.18736622957213336, + -0.0248329546302557 + ], + [ + 0.1150783821940422, + 0.9893957880659513, + -0.0886167313045988, + 0.05427916720509529 + ], + [ + 0.1969020515680313, + 0.064719529162861, + 0.9782847012212362, + -0.06972956657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9739196896553042, + -0.12802748321087734, + -0.1873217492678716, + -0.02384582720696926 + ], + [ + 0.11279778182506564, + 0.9895460742928855, + -0.08986207397619944, + 0.05457281693816185 + ], + [ + 0.1968683302402497, + 0.06638897760701924, + 0.9781796446077882, + -0.06993059813976288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9742952585220337, + -0.12606354136145895, + -0.18669958934002884, + -0.02341761626303196 + ], + [ + 0.11068245768547058, + 0.9897107479029928, + -0.09067532900769538, + 0.054412730038166046 + ], + [ + 0.19620944559574127, + 0.06768018156546875, + 0.9782235354102788, + -0.07139002531766891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9746201634407043, + -0.12373711219782473, + -0.18656003337439517, + -0.023047417402267456 + ], + [ + 0.10809850692749023, + 0.9898901962673965, + -0.0918266006025132, + 0.054966919124126434 + ], + [ + 0.19603630900382996, + 0.06932918660639195, + 0.9781427193078643, + -0.072120800614357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9748353958129885, + -0.12152564213604285, + -0.18688900899939045, + -0.02324577048420906 + ], + [ + 0.10556920617818835, + 0.9900423919950178, + -0.09311913960088351, + 0.05590638145804405 + ], + [ + 0.196344405412674, + 0.07104611468716998, + 0.9779577130278415, + -0.07233729958534241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9748606085777285, + -0.11977432105075766, + -0.18788550285165306, + -0.022950349375605583 + ], + [ + 0.10361057519912723, + 0.9901996468894031, + -0.09364544688762728, + 0.05570922791957855 + ], + [ + 0.19726048409938818, + 0.07182434050330684, + 0.977716518583597, + -0.07374889403581619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.974830150604248, + -0.11833699674712594, + -0.188951233494776, + -0.02376248501241207 + ], + [ + 0.10188858956098557, + 0.9902929217835287, + -0.09454411585531218, + 0.05611236393451691 + ], + [ + 0.1983051300048828, + 0.07291248426238725, + 0.977424607816445, + -0.07540315389633179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9745484590530398, + -0.1170535737339934, + -0.19119041625174335, + -0.024032603949308395 + ], + [ + 0.10039535164833072, + 0.9904363979010812, + -0.09463856047609083, + 0.05522981658577919 + ], + [ + 0.20043973624706274, + 0.07303524096272314, + 0.9769799126141839, + -0.07775982469320297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9739504456520081, + -0.11507244083141063, + -0.19539407680960635, + -0.0242148470133543 + ], + [ + 0.09784286469221115, + 0.9905915980468812, + -0.09568200489263647, + 0.05547668784856796 + ], + [ + 0.204566091299057, + 0.0740716243894053, + 0.9760461820843218, + -0.07804396003484726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9729937314987183, + -0.11426650716340661, + -0.20056508947013918, + -0.024853037670254707 + ], + [ + 0.09627111256122589, + 0.990585766268394, + -0.09732293850661353, + 0.05682535469532013 + ], + [ + 0.2097976803779602, + 0.0753859751331987, + 0.9748342905349938, + -0.07791370898485184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9719296097755432, + -0.11456556774363863, + -0.20549347539231938, + -0.026694439351558685 + ], + [ + 0.0962403267621994, + 0.9906117084848308, + -0.0970890223321142, + 0.05492272600531578 + ], + [ + 0.2146873027086258, + 0.07458693327001635, + 0.9738306732778906, + -0.0796164944767952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970489501953125, + -0.1161501488744374, + -0.21132734889404395, + -0.029024872928857803 + ], + [ + 0.09724108129739761, + 0.9904436111147397, + -0.09780427986128663, + 0.0543130561709404 + ], + [ + 0.2206677943468094, + 0.07436832412093548, + 0.9725096987529147, + -0.08079533278942108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.968505322933197, + -0.11889703088815308, + -0.21877146761934105, + -0.031104473397135735 + ], + [ + 0.09924861043691635, + 0.990150807479701, + -0.09874772359461703, + 0.05394669994711876 + ], + [ + 0.22835755348205566, + 0.07392492868254162, + 0.9707666861742561, + -0.08187860250473022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9663989543914795, + -0.11948740478907534, + -0.22758710664279777, + -0.03483271971344948 + ], + [ + 0.09895602613687515, + 0.990092536792572, + -0.09962155828423143, + 0.05385551601648331 + ], + [ + 0.23723581433296204, + 0.07375305008031995, + 0.9686483558336716, + -0.08343154937028885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9640140533447268, + -0.11801833724031344, + -0.23821958031134083, + -0.038968659937381744 + ], + [ + 0.09669665992259982, + 0.990345233603686, + -0.09932832196479006, + 0.05318398028612137 + ], + [ + 0.24764217436313635, + 0.07271885587966634, + 0.9661186899149177, + -0.08561722934246063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.961362898349762, + -0.11353690499331744, + -0.2507803813934352, + -0.04411732405424118 + ], + [ + 0.09126824140548706, + 0.9909182760588914, + -0.0987472925532432, + 0.05347881838679314 + ], + [ + 0.2597143054008484, + 0.07204370301187067, + 0.9629943614279396, + -0.08733801543712616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9583344459533691, + -0.1066735873546617, + -0.26498265875577764, + -0.05042683705687523 + ], + [ + 0.08347515016794205, + 0.9917434805265031, + -0.09734871825247861, + 0.0535711944103241 + ], + [ + 0.27317938208580017, + 0.07117315869445144, + 0.9593265186320808, + -0.08979925513267517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9543782472610474, + -0.09704084793885155, + -0.28239195348204854, + -0.05686214938759804 + ], + [ + 0.07252354174852371, + 0.9927320207269251, + -0.09603910907756863, + 0.05526639148592949 + ], + [ + 0.2896592617034912, + 0.07117756011306481, + 0.9544795661777216, + -0.091173455119133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9505054950714111, + -0.08501088009162443, + -0.29885190450940435, + -0.06768190860748291 + ], + [ + 0.05914822593331337, + 0.993760395925591, + -0.09456098269347725, + 0.05697834864258766 + ], + [ + 0.3050259053707123, + 0.07220417140296288, + 0.9496029666265078, + -0.09877818822860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9445316791534424, + -0.07687410103760964, + -0.3192966134560775, + -0.07561037689447403 + ], + [ + 0.04996383190155029, + 0.9945375481887588, + -0.09164444891295033, + 0.058222051709890366 + ], + [ + 0.32459756731987, + 0.07060779172094177, + 0.9432131080691617, + -0.09834176301956177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9376063942909241, + -0.06853386665951505, + -0.34087731826213996, + -0.08232896029949188 + ], + [ + 0.0404190793633461, + 0.9952188107745378, + -0.08891468674946088, + 0.059135857969522476 + ], + [ + 0.34534120559692383, + 0.06958902456306218, + 0.9358935879849638, + -0.09899944812059402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9304192066192629, + -0.06067740800471409, + -0.3614392477843717, + -0.0894666537642479 + ], + [ + 0.031153582036495216, + 0.9957242655292188, + -0.08696365050708026, + 0.06052820757031441 + ], + [ + 0.3651705384254456, + 0.06965251899148596, + 0.9283313135238254, + -0.09969201683998108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9228793978691101, + -0.05465462922096005, + -0.38119087922329903, + -0.09508843719959259 + ], + [ + 0.023564675822854042, + 0.9960371467237339, + -0.08575935407547693, + 0.061315495520830154 + ], + [ + 0.384367436170578, + 0.07016290300442092, + 0.9205101220352127, + -0.10153626650571823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9160685539245605, + -0.05158263916238448, + -0.39769037883559777, + -0.10191258043050766 + ], + [ + 0.018857046961784363, + 0.9961366694232914, + -0.0857677426046382, + 0.0622134692966938 + ], + [ + 0.4005780816078186, + 0.07106986602768063, + 0.9135021987139282, + -0.10354362428188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9094283580780029, + -0.047520632322982884, + -0.41313661383379013, + -0.10684393346309662 + ], + [ + 0.012702034786343575, + 0.9961602851901407, + -0.08662163415618522, + 0.06386280804872513 + ], + [ + 0.4156665802001953, + 0.07352850647922027, + 0.9065400760630457, + -0.10674676299095154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9033504724502563, + -0.043479914937707025, + -0.426693538944208, + -0.10978585481643677 + ], + [ + 0.00687362439930439, + 0.9961881756141701, + -0.08695908971611646, + 0.06454983353614807 + ], + [ + 0.4288480281829834, + 0.0756216024873388, + 0.9002059267561029, + -0.10860680788755417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8983871340751648, + -0.04102524083138507, + -0.43728420956628977, + -0.11126779019832611 + ], + [ + 0.0022470448166131973, + 0.9960442127557654, + -0.08883063264676944, + 0.06697890162467957 + ], + [ + 0.43919870257377625, + 0.0788216989761526, + 0.8949254962643896, + -0.10764353722333908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8954094648361206, + -0.04020309090018896, + -0.4434248915714024, + -0.1115494817495346 + ], + [ + -0.00010766647756099701, + 0.9958955475016589, + -0.09051022166231049, + 0.06674076616764069 + ], + [ + 0.4452436566352844, + 0.08109144625319745, + 0.8917299055169754, + -0.11018208414316177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8929822444915771, + -0.04176969698279574, + -0.44814961040171825, + -0.10558158159255981 + ], + [ + 2.9165297746658325e-05, + 0.9956899090192186, + -0.09274496207484512, + 0.06644889712333679 + ], + [ + 0.4500919580459595, + 0.0828065172857188, + 0.889134562404086, + -0.11051541566848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8935683369636536, + -0.04208368599347945, + -0.4469504036849113, + -0.1035805195569992 + ], + [ + -0.0009096004068851471, + 0.9954246789582014, + -0.09554510869040121, + 0.0671425610780716 + ], + [ + 0.44892632961273193, + 0.08578262512809107, + 0.8894416827010326, + -0.11134375631809235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8957916498184204, + -0.04555134591949164, + -0.44213388602824877, + -0.09978950023651123 + ], + [ + 0.0016431137919425964, + 0.995067290419989, + -0.09918886643491898, + 0.06760768592357635 + ], + [ + 0.444471150636673, + 0.08812607780432063, + 0.8914478380078098, + -0.11105496436357498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8997069597244263, + -0.050696389913270974, + -0.4335403033571646, + -0.09459657967090607 + ], + [ + 0.006396599113941193, + 0.9946570208991788, + -0.10303645416406952, + 0.06691120564937592 + ], + [ + 0.43644750118255615, + 0.08992943265095123, + 0.8952241718250064, + -0.112784244120121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9044262170791628, + -0.05666859530584316, + -0.4228497636285034, + -0.08740337938070297 + ], + [ + 0.011889135465025905, + 0.994101961458966, + -0.10779599291928106, + 0.06744306534528732 + ], + [ + 0.42646440863609325, + 0.09246620399769649, + 0.8997656079373982, + -0.11108749359846115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.910140872001648, + -0.06343992646366589, + -0.4094129947947841, + -0.07787920534610748 + ], + [ + 0.018159927800297737, + 0.9933657118781799, + -0.11355514964871492, + 0.06808922439813614 + ], + [ + 0.41390079259872437, + 0.09591626325665753, + 0.9052547582660005, + -0.10813726484775543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9171261787414551, + -0.07548560928856839, + -0.39138417678039605, + -0.06845176219940186 + ], + [ + 0.030192993581295013, + 0.9922393836845715, + -0.12062063503596086, + 0.06876373291015625 + ], + [ + 0.39745190739631653, + 0.09880727948017712, + 0.9122878321638207, + -0.10259441286325455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9245893955230713, + -0.08741791630828322, + -0.37079985098475826, + -0.05703224614262581 + ], + [ + 0.04245951399207115, + 0.9908988390363374, + -0.1277365390052678, + 0.06702865660190582 + ], + [ + 0.3785916268825531, + 0.10235988236441919, + 0.9198863495111586, + -0.10217475146055222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9326742887496948, + -0.10159180567000604, + -0.3461181437027211, + -0.04593271762132645 + ], + [ + 0.057661354541778564, + 0.9891717330666193, + -0.13496106531152766, + 0.06355582922697067 + ], + [ + 0.3560812175273895, + 0.1059170869070002, + 0.9284329838020094, + -0.10377201437950134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.940332293510437, + -0.11595285892599959, + -0.3198907430190405, + -0.035536862909793854 + ], + [ + 0.07322211563587189, + 0.9870751729680955, + -0.14255201253799427, + 0.060556456446647644 + ], + [ + 0.3322855234146118, + 0.11062318758636498, + 0.9366690030351112, + -0.10232521593570709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9467157125473022, + -0.13305179588551708, + -0.29330289540143506, + -0.025086358189582825 + ], + [ + 0.09117239713668823, + 0.9841424525705926, + -0.15215528646150903, + 0.06170543283224106 + ], + [ + 0.30889639258384705, + 0.11730667213823517, + 0.9438337561717992, + -0.09669753909111023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.95284104347229, + -0.14822141455130217, + -0.26481007498083187, + -0.014407346956431866 + ], + [ + 0.10839028656482697, + 0.981272589122629, + -0.1592344929445065, + 0.05869900435209274 + ], + [ + 0.2834528386592865, + 0.12302231409824962, + 0.9510625505815824, + -0.09970656782388687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9571809172630312, + -0.16475990215103445, + -0.23803129447981156, + -0.0007517995545640588 + ], + [ + 0.12702696025371554, + 0.9778977200884705, + -0.16607293947146567, + 0.056493937969207764 + ], + [ + 0.2601324319839478, + 0.12872545876783878, + 0.9569539835152076, + -0.10268764942884445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610194563865662, + -0.17896201551810437, + -0.21074669379092492, + 0.00840284675359726 + ], + [ + 0.14353950321674347, + 0.9744220952599439, + -0.17291035897615445, + 0.05578896775841713 + ], + [ + 0.23630061745643616, + 0.13591975366035786, + 0.9621267225913125, + -0.10277464240789413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9637325406074524, + -0.19318880997342402, + -0.18411310312012563, + 0.01717001013457775 + ], + [ + 0.1605565994977951, + 0.9708016307954548, + -0.17822958401999803, + 0.054188866168260574 + ], + [ + 0.21316926181316376, + 0.14220508508984117, + 0.9666108917621103, + -0.10369250178337097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9657533168792725, + -0.20459946276798135, + -0.15956048293903607, + 0.025678349658846855 + ], + [ + 0.1746748685836792, + 0.967421511126851, + -0.18326014011495553, + 0.05345355346798897 + ], + [ + 0.19185717403888702, + 0.14911288477540863, + 0.9700289511947744, + -0.10486021637916565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9676514267921448, + -0.21210701078114075, + -0.13660644564757984, + 0.03321792557835579 + ], + [ + 0.18486613035202026, + 0.964577567722775, + -0.18818788093444622, + 0.05340747535228729 + ], + [ + 0.17168349027633667, + 0.1568463666647157, + 0.9725862641901558, + -0.10739599913358688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9686254262924194, + -0.22057906702414343, + -0.1144974061423532, + 0.04196247458457947 + ], + [ + 0.19656822085380554, + 0.9618791028154898, + -0.1901303135943279, + 0.049969155341386795 + ], + [ + 0.15207141637802124, + 0.1616585147516594, + 0.9750594098976145, + -0.11602890491485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9693121910095215, + -0.2261848493844248, + -0.09630303148072614, + 0.04854120686650276 + ], + [ + 0.2046114206314087, + 0.9594366613606425, + -0.19394702430770058, + 0.05066825821995735 + ], + [ + 0.13626453280448914, + 0.16829052464490657, + 0.9762736882922374, + -0.11560218036174774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9693326950073242, + -0.2334061730127078, + -0.07691316148706183, + 0.056682828813791275 + ], + [ + 0.21499767899513245, + 0.9570217773720201, + -0.19464151968372398, + 0.0463155061006546 + ], + [ + 0.11903809756040573, + 0.17213624441886843, + 0.9778543088363912, + -0.13347911834716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9701495766639712, + -0.2337359147455143, + -0.06463218406194025, + 0.0591515377163887 + ], + [ + 0.2168468981981278, + 0.9554358975565564, + -0.20029899245987653, + 0.05113279074430466 + ], + [ + 0.10856898128986361, + 0.18030470090965486, + 0.9776006490720329, + -0.11702392250299454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9705169200897219, + -0.235486972098845, + -0.05140845875104701, + 0.06251829117536545 + ], + [ + 0.2207713127136231, + 0.9540741192031363, + -0.20249089771181722, + 0.05037558078765869 + ], + [ + 0.09673145413398745, + 0.18517132969051808, + 0.9779338421432391, + -0.11957345902919769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9706307053565979, + -0.23716315285421816, + -0.04036881464518904, + 0.06945503503084183 + ], + [ + 0.22446614503860474, + 0.953168004452613, + -0.20269601994739286, + 0.04690966010093689 + ], + [ + 0.0865502879023552, + 0.1876815597947675, + 0.9784092746758245, + -0.13336436450481415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.971393942832947, + -0.23515107308010136, + -0.033132030002177446, + 0.07268894463777542 + ], + [ + 0.22375853359699255, + 0.9530675299558928, + -0.20394698274909454, + 0.04600583389401436 + ], + [ + 0.07953541725873949, + 0.1906993061450927, + 0.9784211487459346, + -0.13532668352127075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9725838303565979, + -0.23079789527869826, + -0.02851336705534133, + 0.07399576157331467 + ], + [ + 0.22027860581874847, + 0.9536073693435956, + -0.2052080234056741, + 0.04512084648013115 + ], + [ + 0.07455214112997055, + 0.19330111589889548, + 0.9783029258355375, + -0.13581639528274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9741265177726746, + -0.22442393068500038, + -0.02667307783872285, + 0.07396665215492249 + ], + [ + 0.21434932947158813, + 0.9548472098188889, + -0.2057210271639703, + 0.043611619621515274 + ], + [ + 0.07163744419813156, + 0.1946809522939383, + 0.9782470965208562, + -0.13704931735992432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9759920239448547, + -0.21602483593608726, + -0.02779924773309798, + 0.07267999649047852 + ], + [ + 0.2058640420436859, + 0.9566165962426627, + -0.2061665783011611, + 0.04212873429059982 + ], + [ + 0.07113032042980194, + 0.19549407490613288, + 0.9781219202980099, + -0.1375780552625656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9780097007751467, + -0.20615981742465309, + -0.03154617920378385, + 0.07094312459230423 + ], + [ + 0.19535899162292486, + 0.9585253278157156, + -0.20751890152216595, + 0.04131882265210152 + ], + [ + 0.0730198621749878, + 0.19679266680350171, + 0.977722227059473, + -0.1374509334564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.979834258556366, + -0.19636338099060588, + -0.03696304309165934, + 0.06817449629306793 + ], + [ + 0.18456736207008362, + 0.9603267885947375, + -0.20906288551087898, + 0.040123406797647476 + ], + [ + 0.07654890418052673, + 0.19802481931177793, + 0.9772034041888774, + -0.13812068104743958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9815496802330017, + -0.18607930871921746, + -0.04398554749735352, + 0.06461489945650101 + ], + [ + 0.17297138273715973, + 0.9621674213721926, + -0.21051081469901745, + 0.03875213861465454 + ], + [ + 0.08149316161870956, + 0.199018575074386, + 0.9766014962496309, + -0.13860654830932617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.982960045337677, + -0.17637311587295845, + -0.051789135829990354, + 0.060670625418424606 + ], + [ + 0.1617366224527359, + 0.9637269407386162, + -0.21230085676456364, + 0.037123903632164 + ], + [ + 0.08735474944114685, + 0.20030706190840297, + 0.9758310731623082, + -0.13964320719242096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9841272234916689, + -0.16687364643874897, + -0.0603889651732344, + 0.05688219517469406 + ], + [ + 0.150453194975853, + 0.965008098434263, + -0.214763220419812, + 0.03637133538722992 + ], + [ + 0.09411415457725528, + 0.2022686082148461, + 0.9747973671069469, + -0.13957440853118896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9849005341529846, + -0.15881615181997188, + -0.06890835081391307, + 0.05373268201947212 + ], + [ + 0.14056672155857086, + 0.965957736039751, + -0.217178924884696, + 0.03490585833787918 + ], + [ + 0.10105407983064651, + 0.2042134076220281, + 0.9736965222156164, + -0.1399742215871811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9855330586433411, + -0.15121410176502434, + -0.07654350159205661, + 0.050580013543367386 + ], + [ + 0.13122212886810303, + 0.9666228121471039, + -0.22004796784703218, + 0.03361513838171959 + ], + [ + 0.10726305097341537, + 0.20682034300157726, + 0.9724813598500677, + -0.14058049023151398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9861639738082886, + -0.14304806055619584, + -0.08377302253852915, + 0.04733738675713539 + ], + [ + 0.12137790769338608, + 0.967270242213488, + -0.22283567588303135, + 0.03220096230506897 + ], + [ + 0.11290735751390457, + 0.2095843135129311, + 0.9712499059740819, + -0.140823096036911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9868106842041016, + -0.13445923209553653, + -0.09014066124062156, + 0.044027794152498245 + ], + [ + 0.11122792959213257, + 0.9677734794492414, + -0.22592655328318537, + 0.030885471031069756 + ], + [ + 0.11761365830898285, + 0.2129205830623889, + 0.9699648485517215, + -0.14268708229064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.987268328666687, + -0.12663254383181338, + -0.096256882568414, + 0.040520042181015015 + ], + [ + 0.10182847827672958, + 0.9680551955876869, + -0.2291290726550718, + 0.030047498643398285 + ], + [ + 0.12219717353582382, + 0.21641019330215508, + 0.9686250744310027, + -0.14302900433540344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9876330494880676, + -0.11892068255633757, + -0.10217045843690427, + 0.037422358989715576 + ], + [ + 0.09270647913217545, + 0.9684967345510239, + -0.23112666574129748, + 0.028373923152685165 + ], + [ + 0.1264374852180481, + 0.2187964802021304, + 0.9675441309364383, + -0.14525452256202698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9879034757614138, + -0.11084757367431845, + -0.10844156389817146, + 0.03488527610898018 + ], + [ + 0.08308481425046922, + 0.9688214750974093, + -0.23341355448634282, + 0.028184613212943077 + ], + [ + 0.13093385100364688, + 0.22158020186494276, + 0.9663117945025919, + -0.146640807390213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9882321953773501, + -0.1019513520184726, + -0.11403110884568672, + 0.032012082636356354 + ], + [ + 0.07289371639490129, + 0.9692862280382806, + -0.23488438393379793, + 0.027406970039010048 + ], + [ + 0.13447557389736178, + 0.22380815655124048, + 0.9653114543156126, + -0.14590641856193542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9884449243545532, + -0.0936796817679463, + -0.11916678988456926, + 0.029372690245509148 + ], + [ + 0.06331786513328552, + 0.9694639430870853, + -0.23691879742046437, + 0.027521377429366112 + ], + [ + 0.13772238790988922, + 0.22663579750346102, + 0.9641933173181051, + -0.14689524471759796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9884635806083679, + -0.08759855315028893, + -0.12355676508498445, + 0.027232881635427475 + ], + [ + 0.05623587220907211, + 0.9697286786575656, + -0.23762126228992753, + 0.026215624064207077 + ], + [ + 0.14063182473182678, + 0.22793163951089335, + 0.963467652703407, + -0.14681610465049744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9885531067848206, + -0.08024387489058721, + -0.12776428853932892, + 0.024631408974528313 + ], + [ + 0.0478987880051136, + 0.9699420179713295, + -0.23857537487007444, + 0.0259079746901989 + ], + [ + 0.14306816458702087, + 0.22972466338717357, + 0.9626827368229575, + -0.14647237956523895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9885308742523193, + -0.07394645858956529, + -0.1316764439756515, + 0.022393526509404182 + ], + [ + 0.04070153459906578, + 0.970108713958248, + -0.23923320380732405, + 0.025175854563713074 + ], + [ + 0.14543090760707855, + 0.2311299543189652, + 0.9619920731477474, + -0.14732302725315094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9884822964668274, + -0.06877894289860174, + -0.13480428518893683, + 0.019257517531514168 + ], + [ + 0.0347265787422657, + 0.9700760036911853, + -0.24030534955650007, + 0.024455277249217033 + ], + [ + 0.14729833602905273, + 0.2328562861236226, + 0.9612913891116294, + -0.1473773568868637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9882159829139712, + -0.06653194854424903, + -0.13785022744738848, + 0.01721026375889778 + ], + [ + 0.03147334977984429, + 0.9696715741182822, + -0.2423766092473932, + 0.024888157844543457 + ], + [ + 0.14979523420333865, + 0.23518182937639395, + 0.9603389220805792, + -0.14663444459438324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9879513978958132, + -0.0659257673166737, + -0.14002077967958673, + 0.014903814531862736 + ], + [ + 0.030190123245120055, + 0.969448504266501, + -0.24343001845318907, + 0.023696208372712135 + ], + [ + 0.15179122984409335, + 0.23626977527776255, + 0.9597582847360772, + -0.1468105912208557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9876947402954102, + -0.06609889689553988, + -0.14173936968262926, + 0.0116017647087574 + ], + [ + 0.02979983203113079, + 0.9692325907111923, + -0.24433625631744535, + 0.02276124618947506 + ], + [ + 0.15352876484394073, + 0.23710582496632585, + 0.9592756657805536, + -0.14760291576385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9871601462364197, + -0.06787831779007668, + -0.1445938142148541, + 0.009698963724076748 + ], + [ + 0.030611323192715645, + 0.9688314770791618, + -0.24582221421491535, + 0.023370133712887764 + ], + [ + 0.15677304565906525, + 0.2382396875831479, + 0.9584696742361609, + -0.1466059535741806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 924.9188639322916, + "fy": 924.7318522135416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/919e2ac2-df20-41c6-a406-4042c62a5987/pan_left/transforms.json b/dynpose_eval/camera_controls/919e2ac2-df20-41c6-a406-4042c62a5987/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..83c34fa4307afc955744e1922e1d05aace7f59a3 --- /dev/null +++ b/dynpose_eval/camera_controls/919e2ac2-df20-41c6-a406-4042c62a5987/pan_left/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 4.781264942721464e-05, + 0.00021586992079392076, + -0.0003353455103933811 + ], + [ + -4.781703682965599e-05, + 1.0, + 2.032007796515245e-05, + 1.5889892893028446e-05 + ], + [ + -0.00021586896036751568, + -2.033039891102817e-05, + 1.0, + 0.00010448719694977626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999903057722089, + 0.00018768286099657416, + -0.004405310061384807, + 0.00037166455877013505 + ], + [ + -0.0001547813331711612, + 0.9999721050262451, + 0.00746776010208587, + -0.001635009772144258 + ], + [ + 0.004406588480060857, + -0.007467005401849747, + 0.9999624079671307, + 0.007593480870127678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999658053508699, + 0.0023054464254528284, + -0.00794449293146141, + 0.0005641080788336694 + ], + [ + -0.0021973484810886013, + 0.9999052286148071, + 0.01358860102732742, + -0.004841109737753868 + ], + [ + 0.00797506773189472, + -0.013570678420364857, + 0.9998760864249936, + 0.01572520099580288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999942594302929, + 0.005697877611964941, + -0.009077386989936315, + 0.0023222481831908226 + ], + [ + -0.005536557144138372, + 0.999828040599823, + 0.01769880889186125, + -0.010568955913186073 + ], + [ + 0.009176671645511973, + -0.017647534608840942, + 0.9998021740112268, + 0.02263931930065155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999367369645811, + 0.009384139440953732, + -0.006202933135727756, + 0.0010523172095417976 + ], + [ + -0.009266891292784648, + 0.9997828006744385, + 0.018667832269502985, + -0.017328491434454918 + ], + [ + 0.006376767360994434, + -0.018609169870615005, + 0.9998064816198762, + 0.030572615563869476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999066022626861, + 0.012727811001241207, + -0.004973098755028039, + 0.0023816197644919157 + ], + [ + -0.012672079573670315, + 0.9998583197593689, + 0.011081689129441767, + -0.021777542307972908 + ], + [ + 0.005113439735041573, + -0.011017635464668274, + 0.9999262448599069, + 0.0368770994246006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998771380212187, + 0.015662958845496178, + -0.0006097272526199507, + -0.002243408700451255 + ], + [ + -0.015659881087814683, + 0.9998660683631897, + 0.0047603845948839, + -0.03183633089065552 + ], + [ + 0.000684207578297818, + -0.004750251770019531, + 0.9999884756929078, + 0.04303352162241936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998298592387043, + 0.018445568159222603, + -0.000253196491253133, + -0.0015936606796458364 + ], + [ + -0.018446928803603223, + 0.9998028874397278, + -0.007339557053147467, + -0.03785119578242302 + ], + [ + 0.00011776282193341174, + 0.00734297838062048, + 0.9999730109721806, + 0.047637566924095154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998101605300261, + 0.019468488171696663, + -0.0007875524006897482, + 0.0001065392279997468 + ], + [ + -0.019480029027736146, + 0.9996256828308105, + -0.019211181396155883, + -0.04287625849246979 + ], + [ + 0.0004132468885477636, + 0.01922287605702877, + 0.999815149710752, + 0.05004633963108063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998225204777116, + 0.018667012453079224, + -0.0025400779339669454, + 0.0009313309565186501 + ], + [ + -0.018728782944316867, + 0.9994606971740723, + -0.026972430015263366, + -0.04913848266005516 + ], + [ + 0.0020352131394680137, + 0.027015216648578644, + 0.9996329374486973, + 0.05355643481016159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998328270213176, + 0.017553428187966347, + -0.005112965802130444, + 0.002594637917354703 + ], + [ + -0.017710225333496185, + 0.9993169903755188, + -0.032432748275962854, + -0.0537092462182045 + ], + [ + 0.004540168218256099, + 0.03251788020133972, + 0.9994608610765466, + 0.05619195103645325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998648193412938, + 0.014888441190123562, + -0.0069797014894439225, + 0.0036237314343452454 + ], + [ + -0.015127792739670192, + 0.9992517828941347, + -0.03559544497610139, + -0.05798104777932167 + ], + [ + 0.0064445186560986335, + 0.035696223378181464, + 0.9993419192437489, + 0.05963859707117081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999865324900013, + 0.01297901384532452, + -0.010045321885101434, + 0.0054975757375359535 + ], + [ + -0.013345055706574446, + 0.9992160201072695, + -0.03727308908865793, + -0.060762129724025726 + ], + [ + 0.009553678563728765, + 0.037402126938104636, + 0.9992545966774682, + 0.06224450469017029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998531347001017, + 0.012101228348910809, + -0.012135920794880295, + 0.006713201757520437 + ], + [ + -0.012527200644530546, + 0.9992853999137878, + -0.03566103901292717, + -0.06395679712295532 + ], + [ + 0.0116957057495471, + 0.03580782935023308, + 0.9992902268196802, + 0.06523030996322632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.99985843737005, + 0.011754111386835575, + -0.0120408774511765, + 0.0076197064481675625 + ], + [ + -0.012136253944549726, + 0.9994086623191833, + -0.032171603974979965, + -0.06678132712841034 + ], + [ + 0.011655608969577968, + 0.032313182950019836, + 0.9994098116386085, + 0.06879515200853348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998792831136709, + 0.011226761154830456, + -0.010744138907280322, + 0.007464573252946138 + ], + [ + -0.011510183476412908, + 0.9995774626731873, + -0.026691370561839293, + -0.0696210190653801 + ], + [ + 0.010439939599309266, + 0.026811813935637474, + 0.9995859695348259, + 0.07376156002283096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999105494547822, + 0.008814826607704163, + -0.010060361298140058, + 0.005721177905797958 + ], + [ + -0.009019145900456497, + 0.9997502565383911, + -0.020448029011017506, + -0.07123973965644836 + ], + [ + 0.009877601121786634, + 0.020536936819553375, + 0.9997402836340187, + 0.07758411020040512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999051017847473, + 0.00695094745606184, + -0.011891747688470598, + 0.005804958287626505 + ], + [ + -0.007119483983281948, + 0.9998739957809448, + -0.014189455628224235, + -0.07244589924812317 + ], + [ + 0.011791618891206812, + 0.014272772707045078, + 0.9998286234946492, + 0.0814337283372879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999051939447514, + 0.0038023628294467926, + -0.013232890513304958, + 0.005676749162375927 + ], + [ + -0.003914429324498647, + 0.9999566078186035, + -0.00845320072836756, + -0.07303503900766373 + ], + [ + 0.013200173402598497, + 0.008504198864102364, + 0.9998767034810999, + 0.08578109741210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998904221512418, + 0.00043720967369154096, + -0.014797942870706859, + 0.003137392457574606 + ], + [ + -0.0004872528672667292, + 0.999994158744812, + -0.0033783304260812, + -0.07462003827095032 + ], + [ + 0.01479638135395831, + 0.0033851703628897667, + 0.999884819150566, + 0.0898754671216011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998315481017519, + -0.002941971877589822, + -0.018115846198204947, + 0.0011806581169366837 + ], + [ + 0.0029430055205240105, + 0.9999956488609314, + 3.040356469463219e-05, + -0.07537197321653366 + ], + [ + 0.018115680853377895, + -8.37134721223265e-05, + 0.9998359104771732, + 0.09370408207178116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997512930682154, + -0.00497845932841301, + -0.021739537440828554, + 0.0022991031873971224 + ], + [ + 0.0050606652782207865, + 0.9999802708625793, + 0.0037280064384625972, + -0.0756160095334053 + ], + [ + 0.021720547977641672, + -0.0038370955735445023, + 0.9997566911055541, + 0.09601318836212158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999686004125509, + -0.00790979713201523, + -0.023776892503806334, + 0.0017982380231842399 + ], + [ + 0.008049868825309397, + 0.9999507665634157, + 0.005801148613991538, + -0.07509834319353104 + ], + [ + 0.023729836756474953, + -0.005990727804601194, + 0.9997004784748249, + 0.09897394478321075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996369388344885, + -0.010146024636924267, + -0.024961924689919385, + 0.0001840719924075529 + ], + [ + 0.01038764604097164, + 0.9999002814292908, + 0.009569081244923923, + -0.07724602520465851 + ], + [ + 0.02486234654122231, + -0.0098249027505517, + 0.9996426144305196, + 0.1018788293004036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995625511165456, + -0.01164847332984209, + -0.02718470751485839, + 0.00046200730139389634 + ], + [ + 0.011979738765995538, + 0.9998555779457092, + 0.012054826729589243, + -0.07776991277933121 + ], + [ + 0.027040363662400865, + -0.012375219725072384, + 0.9995577580962205, + 0.10413876175880432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999532395047753, + -0.01286210585385561, + -0.027740632137343894, + -0.0012962716864421964 + ], + [ + 0.013234666728449989, + 0.9998241066932678, + 0.01328861800225138, + -0.07864335924386978 + ], + [ + 0.027564831765692663, + -0.013649542815983295, + 0.9995268114496846, + 0.10776776820421219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994822758530375, + -0.014306014403700832, + -0.028818644018515565, + -0.0018587439553812146 + ], + [ + 0.01472939993325384, + 0.999785900115967, + 0.01453304845138755, + -0.08067641407251358 + ], + [ + 0.02860456457020779, + -0.014950005337595943, + 0.999478988822848, + 0.10945834964513779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994499953000475, + -0.01573168858885765, + -0.029193654448127257, + -0.004055396653711796 + ], + [ + 0.01610090311980104, + 0.9997928142547607, + 0.012455418314278117, + -0.07831516116857529 + ], + [ + 0.028991656963154446, + -0.01291861105710268, + 0.9994961402747478, + 0.11411825567483902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993873401272455, + -0.017256619408726696, + -0.030448634235139462, + -0.005095476284623146 + ], + [ + 0.017619406157883686, + 0.9997764825820925, + 0.011686832995703146, + -0.07902207970619202 + ], + [ + 0.030240153011970545, + -0.012216160073876384, + 0.9994680002069621, + 0.11704663932323456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9992805507452548, + -0.019302126020193103, + -0.032645880175450205, + -0.004654282238334417 + ], + [ + 0.019697375710889392, + 0.99973601102829, + 0.011829250029453169, + -0.08213483542203903 + ], + [ + 0.03240893430154913, + -0.012463778257369999, + 0.9993969652149411, + 0.12539756298065186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992178240170754, + -0.02028924971818924, + -0.03394175716885778, + -0.005718718282878399 + ], + [ + 0.020739018843559314, + 0.9997010231018066, + 0.012952008176465319, + -0.08669237792491913 + ], + [ + 0.03366882175793079, + -0.013645797036588192, + 0.9993398542141578, + 0.13820140063762665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9990379830256128, + -0.021459557116031647, + -0.038244214426774704, + -0.0014991182833909988 + ], + [ + 0.02195295828607617, + 0.9996805191040039, + 0.012528371960746293, + -0.08947227895259857 + ], + [ + 0.03796314333091647, + -0.013355892151594162, + 0.9991899021919926, + 0.1529173105955124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.998912540032969, + -0.021682489663362503, + -0.04127455356845833, + 0.0017940704710781574 + ], + [ + 0.022205565759470705, + 0.9996783137321472, + 0.012257002674652564, + -0.0933537483215332 + ], + [ + 0.04099551441414687, + -0.01316019892692566, + 0.9990726563733877, + 0.17078079283237457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987165930227931, + -0.02241000160574913, + -0.045419659168834337, + 0.006264901254326105 + ], + [ + 0.022936185631541654, + 0.9996753334999084, + 0.011097064532901588, + -0.0952182188630104 + ], + [ + 0.045156226951395755, + -0.012124575674533844, + 0.9989063387965559, + 0.18738502264022827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985541760939864, + -0.021640952676534653, + -0.04920654948868534, + 0.011250791139900684 + ], + [ + 0.022292144068724533, + 0.9996705055236816, + 0.01272374109119731, + -0.10067480057477951 + ], + [ + 0.048914980787880334, + -0.01380226295441389, + 0.9987075678676742, + 0.20835693180561066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985467618152533, + -0.020244186744093895, + -0.049945551300144206, + 0.013051304034888744 + ], + [ + 0.021108737456863768, + 0.9996352791786194, + 0.01684349958419783, + -0.10954836755990982 + ], + [ + 0.0495863495223641, + -0.017873307690024376, + 0.9986098808132938, + 0.23439353704452515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998447358411737, + -0.019086500629782677, + -0.05233193183018094, + 0.017453374341130257 + ], + [ + 0.02005273964889692, + 0.9996368288993835, + 0.018001162599543687, + -0.1127043068408966 + ], + [ + 0.05196934529380494, + -0.019022610038518906, + 0.9984674671242253, + 0.25868311524391174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9982436414945872, + -0.017975695431232452, + -0.0564487859207915, + 0.024385124444961548 + ], + [ + 0.019217688326339966, + 0.99958336353302, + 0.02153685169780822, + -0.11940877139568329 + ], + [ + 0.0560381278405171, + -0.022583840414881706, + 0.9981731993289539, + 0.2779613435268402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9981142603600686, + -0.018265618011355404, + -0.0586027521393397, + 0.030007662251591682 + ], + [ + 0.01961444223742656, + 0.9995538592338564, + 0.022524296735633064, + -0.12386126816272736 + ], + [ + 0.0581651859768251, + -0.0236312821507454, + 0.998027235323292, + 0.29759883880615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9980237075377759, + -0.01848259195685387, + -0.06005924861650679, + 0.03456093743443489 + ], + [ + 0.019914462436864545, + 0.9995294213294985, + 0.02333049347752894, + -0.1257210522890091 + ], + [ + 0.059599778062327316, + -0.024480434134602554, + 0.9979221192557144, + 0.31423240900039673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979031492901538, + -0.020216841250658035, + -0.06148616761839078, + 0.03886634483933449 + ], + [ + 0.0218859117239793, + 0.9994066953659058, + 0.026594154579041223, + -0.13097724318504333 + ], + [ + 0.06091203756704228, + -0.027884071692824364, + 0.9977535533410082, + 0.33075734972953796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976904972724618, + -0.02259419672191143, + -0.06405585449314646, + 0.04471321776509285 + ], + [ + 0.024491289061276098, + 0.9992796778678894, + 0.028987296876355085, + -0.13410243391990662 + ], + [ + 0.06335477173864697, + -0.030489161610603333, + 0.9975252220653286, + 0.34524160623550415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975823643271856, + -0.024570133537054062, + -0.0650058265213389, + 0.048696696758270264 + ], + [ + 0.026723195358977436, + 0.9991156458854675, + 0.032461452526409425, + -0.13703101873397827 + ], + [ + 0.06415075910015591, + -0.03412013500928879, + 0.9973567736005957, + 0.3622549772262573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.997396111322617, + -0.026581313461065292, + -0.06704076147202417, + 0.05457344651222229 + ], + [ + 0.029007977533949188, + 0.9989490509033203, + 0.03548685760099638, + -0.14039334654808044 + ], + [ + 0.06602701368377235, + -0.03733917325735092, + 0.9971189469996785, + 0.3787820637226105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9972034415804456, + -0.02702617086470127, + -0.06967659612338742, + 0.06068696081638336 + ], + [ + 0.029726313973437477, + 0.9988350868225098, + 0.038011296520324894, + -0.14270135760307312 + ], + [ + 0.06856812993486719, + -0.039976224303245544, + 0.9968451901988143, + 0.3905082046985626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9970506958286665, + -0.02756904438138008, + -0.07162264352081661, + 0.06465866416692734 + ], + [ + 0.030508335600365692, + 0.9987227916717529, + 0.04027393146914588, + -0.14476364850997925 + ], + [ + 0.07042085594437895, + -0.0423402413725853, + 0.9966183625859381, + 0.39594215154647827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9968293963400221, + -0.027713676914572716, + -0.07458621346285783, + 0.06815340369939804 + ], + [ + 0.030885224419803403, + 0.9986522793769836, + 0.04170975334858615, + -0.14509864151477814 + ], + [ + 0.07332976247385149, + -0.0438811220228672, + 0.9963418939919088, + 0.39730748534202576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9966406550795915, + -0.027395136654376984, + -0.07718128053560483, + 0.06981521844863892 + ], + [ + 0.03079554242970688, + 0.9985909461975098, + 0.04321714767652043, + -0.1439090222120285 + ], + [ + 0.0758885867018103, + -0.04544880613684654, + 0.9960799572558678, + 0.3980610966682434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9966659918073212, + -0.02581798844039441, + -0.077397391630314, + 0.0685669481754303 + ], + [ + 0.02957394555026448, + 0.9984199404716494, + 0.04778133459647434, + -0.14478455483913422 + ], + [ + 0.07604147710036717, + -0.04991097375750543, + 0.9958547097338777, + 0.39903974533081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.996483184065138, + -0.025151163339614868, + -0.0799294045444015, + 0.07158451527357101 + ], + [ + 0.02931016131398278, + 0.9982534050941467, + 0.051293355806487785, + -0.141118124127388 + ], + [ + 0.0784997099204304, + -0.05345570668578148, + 0.9954799013493472, + 0.39867332577705383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9962757520445269, + -0.02482663094997406, + -0.08257293310361333, + 0.07314307987689972 + ], + [ + 0.029436229036625565, + 0.9980477094650269, + 0.055083877000875706, + -0.13558688759803772 + ], + [ + 0.08104418110933805, + -0.05730936676263809, + 0.9950615558083089, + 0.39916542172431946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9961212787260747, + -0.02374885231256485, + -0.08472552043422511, + 0.07377780228853226 + ], + [ + 0.02919344638028524, + 0.9975475668907166, + 0.06361252197012296, + -0.13273552060127258 + ], + [ + 0.08300701109878698, + -0.06583921611309052, + 0.9943716722740891, + 0.3987180292606354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9955176356316146, + -0.02501462772488594, + -0.0912081574802735, + 0.07980629056692123 + ], + [ + 0.03134048816045187, + 0.9971520304679871, + 0.06859714991703357, + -0.12308506667613983 + ], + [ + 0.08923246537022439, + -0.07114818692207336, + 0.9934663919852742, + 0.39637500047683716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9948666369667034, + -0.02523095905780793, + -0.09799876070122356, + 0.08250439912080765 + ], + [ + 0.03283205203639076, + 0.9965102672576907, + 0.07674182959206627, + -0.11369089782238007 + ], + [ + 0.09572050478931342, + -0.07956539094448091, + 0.992223244461163, + 0.3954044580459595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9941824458598363, + -0.0256265327334404, + -0.10461624180454318, + 0.08466179668903351 + ], + [ + 0.03490795064871357, + 0.9955196976661682, + 0.08787500501979, + -0.10393427312374115 + ], + [ + 0.10189559071911404, + -0.09101572632789612, + 0.9906227188724753, + 0.39457079768180847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9938679416943517, + -0.024584440514445312, + -0.10780568255897473, + 0.08302978426218033 + ], + [ + 0.03548487584250633, + 0.9943152070045473, + 0.10038985435673317, + -0.09383619576692581 + ], + [ + 0.10472480558184816, + -0.1035997346043587, + 0.9890904244039044, + 0.39468252658843994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9935997036317836, + -0.02420579083263874, + -0.11033449086101688, + 0.08024512231349945 + ], + [ + 0.03604996740202281, + 0.9936427474021912, + 0.10665141861297801, + -0.0775575265288353 + ], + [ + 0.107051484323791, + -0.1099463701248169, + 0.9881557566876217, + 0.395880788564682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.993152054805394, + -0.023767808452248573, + -0.11438573403702221, + 0.0790647640824318 + ], + [ + 0.03676391128672852, + 0.9929276704788208, + 0.11288504974306578, + -0.06499139964580536 + ], + [ + 0.11089372974951492, + -0.1163172796368599, + 0.9870019442742283, + 0.3962744474411011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9929739321378112, + -0.02184033952653408, + -0.11630030892927494, + 0.07552565634250641 + ], + [ + 0.03630340280487016, + 0.9916511178016663, + 0.12373428630976485, + -0.06430583447217941 + ], + [ + 0.1126269318434399, + -0.12708701193332672, + 0.9854765894208347, + 0.39700567722320557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9885910780972866, + -0.005309975706040859, + -0.15053082764647105, + 0.05137944221496582 + ], + [ + 0.021966062356163354, + 0.9937766790390015, + 0.10920369972246399, + -0.059814490377902985 + ], + [ + 0.14901415058450443, + -0.11126437038183212, + 0.9825553615135681, + 0.3732830286026001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9882575315660205, + -0.005905673373490572, + -0.15268330574768443, + 0.05143871158361435 + ], + [ + 0.022767486229370318, + 0.9937891364097595, + 0.10892575998294776, + -0.05956076830625534 + ], + [ + 0.15109172852785976, + -0.11112292110919952, + 0.9822540429101273, + 0.37373799085617065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9879056979505332, + -0.006603993941098452, + -0.15491530244736157, + 0.052081119269132614 + ], + [ + 0.02350887877359688, + 0.9939219951629639, + 0.10754715951054976, + -0.05836056172847748 + ], + [ + 0.15326348204542775, + -0.10988833010196686, + 0.9820564270764197, + 0.3730276823043823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9879635571132217, + -0.007095166482031345, + -0.15452401249645772, + 0.049388617277145386 + ], + [ + 0.024135260203052636, + 0.993783712387085, + 0.10868017785302533, + -0.06026281788945198 + ], + [ + 0.15279234624757376, + -0.11110153794288635, + 0.9819933600598306, + 0.3725067377090454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9876505757437655, + -0.00786647666245699, + -0.15647511225785407, + 0.04949136823415756 + ], + [ + 0.024876988821131502, + 0.993942141532898, + 0.10705184454966864, + -0.061637334525585175 + ], + [ + 0.15468509661154003, + -0.10962244868278503, + 0.9818632789222913, + 0.3719826936721802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9873155989114816, + -0.00871440302580595, + -0.15853053511369114, + 0.04970322549343109 + ], + [ + 0.02560046921271564, + 0.9941649436950684, + 0.10478857124171895, + -0.06400185078382492 + ], + [ + 0.15669233672706684, + -0.10751785337924957, + 0.9817777012790591, + 0.3718203902244568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9870153069511067, + -0.00886489450931549, + -0.16038151028074663, + 0.04965464398264885 + ], + [ + 0.02556299872700338, + 0.9944195747375488, + 0.102353731650877, + -0.06679365038871765 + ], + [ + 0.15857915177422108, + -0.10512453317642212, + 0.9817339069395672, + 0.3709993362426758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.986519956865663, + -0.00919993966817856, + -0.16338199948381768, + 0.05185322463512421 + ], + [ + 0.025294255030157392, + 0.9949918985366824, + 0.09670234662038571, + -0.06497408449649811 + ], + [ + 0.16167411214544844, + -0.09953142702579501, + 0.9818120766692362, + 0.3695141673088074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9862228276514258, + -0.00846156105399132, + -0.16520574215139003, + 0.05164160206913948 + ], + [ + 0.024458392632079363, + 0.9951732158660891, + 0.09503729255306567, + -0.06640435755252838 + ], + [ + 0.163604159103454, + -0.09776861220598224, + 0.9816694669261149, + 0.3691273629665375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9858031126421926, + -0.0077695404179394245, + -0.16772549164658304, + 0.053142085671424866 + ], + [ + 0.02370662290095362, + 0.9953625798225403, + 0.09322704792673377, + -0.06514309346675873 + ], + [ + 0.1662233511190612, + -0.09587971866130829, + 0.9814157493747361, + 0.3690313994884491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9854923558175803, + -0.007295235991477966, + -0.16956294772412986, + 0.05324786901473999 + ], + [ + 0.023296443476611056, + 0.9954335689544678, + 0.09257060200113737, + -0.06488418579101562 + ], + [ + 0.16811332127303935, + -0.09517782926559448, + 0.981162095315452, + 0.36855021119117737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9851436349730083, + -0.007077785208821297, + -0.1715864321101897, + 0.05350574478507042 + ], + [ + 0.02318301883326286, + 0.9954854249954224, + 0.09203974437715487, + -0.06446588039398193 + ], + [ + 0.17016035586442385, + -0.0946502536535263, + 0.9808602155848576, + 0.3682553470134735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9847592952336571, + -0.00736880861222744, + -0.1737665205557467, + 0.05381324887275696 + ], + [ + 0.023632888871597518, + 0.9955047965049744, + 0.09171515210032379, + -0.06420725584030151 + ], + [ + 0.17230957125535218, + -0.09442395716905594, + 0.9805067447484848, + 0.3681039810180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9845937882913364, + -0.007194242440164089, + -0.17470916000066, + 0.052779655903577805 + ], + [ + 0.023437532155252388, + 0.9955669045448303, + 0.09108909070868951, + -0.06413855403661728 + ], + [ + 0.17327934782470278, + -0.0937805101275444, + 0.9803976411144478, + 0.3685258626937866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9843572589069746, + -0.007699911482632162, + -0.17601550676158548, + 0.051953744143247604 + ], + [ + 0.02396072012317106, + 0.9956131577491762, + 0.0904453020330848, + -0.06456337124109268 + ], + [ + 0.1745469384335394, + -0.0932479500770569, + 0.9802235645222228, + 0.36866965889930725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9838868431904471, + -0.008026875555515291, + -0.17861205979540498, + 0.05228457972407341 + ], + [ + 0.02464027285505062, + 0.9955468177795412, + 0.09099110928881946, + -0.06757135689258575 + ], + [ + 0.1770862963507469, + -0.09392599761486056, + 0.9797032083714773, + 0.36896848678588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9832365698910009, + -0.008654558099806309, + -0.18212903543967127, + 0.05378185585141182 + ], + [ + 0.025279775193359923, + 0.9956964254379272, + 0.08916033598918018, + -0.06626203656196594 + ], + [ + 0.18057358374344848, + -0.09226987510919571, + 0.9792239079274556, + 0.36857911944389343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9825399822690424, + -0.009301356971263887, + -0.18581877052826462, + 0.05532316491007805 + ], + [ + 0.02634670845531054, + 0.9956406354904177, + 0.08947365596700395, + -0.06661536544561386 + ], + [ + 0.18417650105015507, + -0.09280716627836229, + 0.9785018507390675, + 0.3686531186103821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.982139758290246, + -0.009402453899383545, + -0.18791789745562731, + 0.05490848794579506 + ], + [ + 0.027150862430622053, + 0.9953796863555908, + 0.09209836009031033, + -0.06993728131055832 + ], + [ + 0.18618370446628638, + -0.09555559605360031, + 0.9778572251720794, + 0.3686337172985077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9817346170462771, + -0.010173100978136064, + -0.18998321912732596, + 0.05302361771464348 + ], + [ + 0.028222657069868772, + 0.995308578014374, + 0.09254388301690189, + -0.06903684139251709 + ], + [ + 0.1881504652357103, + -0.09621535986661914, + 0.9774159788664349, + 0.36895713210105896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9811049285098626, + -0.01056008692830801, + -0.1931881509999276, + 0.05336158350110054 + ], + [ + 0.028871248387893515, + 0.9953203797340393, + 0.0922160822989573, + -0.06725939363241196 + ], + [ + 0.1913102865112999, + -0.09605123102664948, + 0.976818578208605, + 0.3690469264984131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.981000063887181, + -0.010685132816433907, + -0.1937130117109858, + 0.05143226683139801 + ], + [ + 0.02926305756064004, + 0.9952080249786377, + 0.09329848764163676, + -0.06786331534385681 + ], + [ + 0.19178784174876726, + -0.09719445556402206, + 0.9766118298975895, + 0.3698802590370178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.980745695296198, + -0.011084229685366154, + -0.19497439418536727, + 0.050771359354257584 + ], + [ + 0.029492271036445382, + 0.9953438639640808, + 0.09176485814080763, + -0.06412633508443832 + ], + [ + 0.19304942204925388, + -0.09574823081493378, + 0.976506105933468, + 0.3702242374420166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.980530673124691, + -0.01064210943877697, + -0.1960775060548583, + 0.049574729055166245 + ], + [ + 0.029186866828601252, + 0.9953373074531555, + 0.09193369693332742, + -0.06356434524059296 + ], + [ + 0.19418488485496957, + -0.09586669504642487, + 0.9762693447345878, + 0.37134578824043274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9800520100188885, + -0.010235203430056572, + -0.19847736285328502, + 0.05031519755721092 + ], + [ + 0.029338747467821284, + 0.99518221616745, + 0.09355025036137934, + -0.06392764300107956 + ], + [ + 0.1965636319304737, + -0.09750718623399734, + 0.9756305962800408, + 0.37129631638526917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9795749215298063, + -0.009670968167483808, + -0.2008468488527467, + 0.051313839852809906 + ], + [ + 0.029310237263424237, + 0.9950418472290041, + 0.09504034999402827, + -0.06316809356212616 + ], + [ + 0.19893188124078304, + -0.0989860072731972, + 0.9750014705014676, + 0.371896892786026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9793262676455873, + -0.009505615569651129, + -0.20206357422410978, + 0.05058513209223747 + ], + [ + 0.029894683431741474, + 0.9947280883789065, + 0.09809361025657178, + -0.06341130286455154 + ], + [ + 0.200065869252715, + -0.10210628062486651, + 0.9744474999965147, + 0.3720392882823944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9788746083611067, + -0.009594031609594822, + -0.2042363721387126, + 0.0517115481197834 + ], + [ + 0.030393626094561237, + 0.9946281909942627, + 0.09894933987082712, + -0.06005945801734924 + ], + [ + 0.20218993309351949, + -0.10306648164987564, + 0.9739078937527544, + 0.37241652607917786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9788730294186686, + -0.010288529098033907, + -0.20420997564928145, + 0.04971922188997269 + ], + [ + 0.03150066361773362, + 0.9943979978561404, + 0.1008974053882652, + -0.05865306034684181 + ], + [ + 0.20202791036427736, + -0.10519849509000781, + 0.9737134993614543, + 0.3729577362537384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9784761083356478, + -0.010209745727479458, + -0.2061073752722874, + 0.05013803020119667 + ], + [ + 0.031810301319493986, + 0.9942999482154846, + 0.1017628331402633, + -0.056074392050504684 + ], + [ + 0.20389358536021404, + -0.10612883418798447, + 0.97322353950458, + 0.37378180027008057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9783557236025239, + -0.010865211486816406, + -0.20664467060163394, + 0.04853169620037079 + ], + [ + 0.03286696001611378, + 0.9941030144691467, + 0.10333892813898572, + -0.05569053813815117 + ], + [ + 0.2043032989256361, + -0.10789401084184647, + 0.9729435177233828, + 0.37580856680870056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9779238176205337, + -0.011290092021226885, + -0.20865661403551589, + 0.04911317676305771 + ], + [ + 0.03372397538031317, + 0.9939767122268679, + 0.10427366626352902, + -0.05521206930279732 + ], + [ + 0.2062225457725427, + -0.10900842398405078, + 0.9724141959727349, + 0.3765699863433838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9773314561229277, + -0.012133582495152954, + -0.21136696018598616, + 0.05040254071354866 + ], + [ + 0.03513482553339571, + 0.9938080906867983, + 0.10540870677545579, + -0.05504526197910309 + ], + [ + 0.20877921473967848, + -0.1104455888271332, + 0.9717062402885371, + 0.37647348642349243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9764889694066862, + -0.013155150227248669, + -0.21516566107442434, + 0.05245517939329147 + ], + [ + 0.036869788533696594, + 0.9936206340789795, + 0.10657701177638687, + -0.05422424525022507 + ], + [ + 0.21239099699196873, + -0.11200439184904099, + 0.970744578394097, + 0.37672507762908936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9760656286011208, + -0.014106424525380138, + -0.21701808564829939, + 0.052447691559791565 + ], + [ + 0.038558413915638384, + 0.993309557437897, + 0.10885497335974374, + -0.05437592417001724 + ], + [ + 0.21403058510408693, + -0.11461747437715533, + 0.9700792433450484, + 0.37748146057128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9764557188886628, + -0.014814709313213829, + -0.21520856485100734, + 0.04835089296102524 + ], + [ + 0.03942327453789866, + 0.9930928349494936, + 0.11051000691611866, + -0.05405675992369652 + ], + [ + 0.21208490858646584, + -0.11639235168695453, + 0.9702952138027081, + 0.37809038162231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9765150923084628, + -0.015699250623583797, + -0.2148763399045205, + 0.04632376879453659 + ], + [ + 0.04031329577473443, + 0.9930412769317629, + 0.11065219806274018, + -0.05422479286789894 + ], + [ + 0.2116439092395849, + -0.11671591550111773, + 0.9703526443820946, + 0.3789515793323517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9762338814893541, + -0.015739917755126953, + -0.21614718546152298, + 0.046656690537929535 + ], + [ + 0.04039641089889058, + 0.9930955171585083, + 0.1101337602765255, + -0.053785983473062515 + ], + [ + 0.21292130196939407, + -0.11624788492918015, + 0.9701293197926506, + 0.37850090861320496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.976224272209993, + -0.015476202592253685, + -0.21620963113200584, + 0.04605918377637863 + ], + [ + 0.04018679216761733, + 0.9930782318115234, + 0.11036623369173416, + -0.0548895001411438 + ], + [ + 0.21300502788174094, + -0.11643096804618835, + 0.9700890106775203, + 0.37841635942459106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9757490693224972, + -0.01556651946157217, + -0.2183380176267212, + 0.04717373102903366 + ], + [ + 0.040152877000407254, + 0.9932713508605957, + 0.10862677648969446, + -0.0539635494351387 + ], + [ + 0.21517794898554718, + -0.11475937813520432, + 0.9698085994696922, + 0.37895819544792175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9747613307772857, + -0.01593031734228134, + -0.22268038475965973, + 0.05048317834734917 + ], + [ + 0.04066427225329624, + 0.9934341311454773, + 0.106934600526011, + -0.05304691568017006 + ], + [ + 0.21951479744291846, + -0.11329084634780884, + 0.9690089921450082, + 0.37863433361053467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9743652981840103, + -0.016651175916194916, + -0.22435472065825404, + 0.050419051200151443 + ], + [ + 0.041520823430356874, + 0.9934354424476624, + 0.10659271735574417, + -0.053197652101516724 + ], + [ + 0.22110703875075227, + -0.11317563056945801, + 0.9686603982355424, + 0.3786749541759491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.974073855187039, + -0.017399176955223083, + -0.2255601850596853, + 0.050041936337947845 + ], + [ + 0.0423657559525015, + 0.9934285283088684, + 0.10632433557721456, + -0.053852662444114685 + ], + [ + 0.22222797389641552, + -0.11312378942966461, + 0.9684099172296365, + 0.3786446750164032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9736516749076884, + -0.017795011401176456, + -0.2273449989992398, + 0.04989531263709068 + ], + [ + 0.04293287043345026, + 0.993427097797394, + 0.10611015728436966, + -0.053949058055877686 + ], + [ + 0.22396245547950686, + -0.11307489871978763, + 0.9680159657310243, + 0.37848153710365295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9731989933474338, + -0.01844462938606739, + -0.2292237861529207, + 0.049818139523267746 + ], + [ + 0.04377239945598546, + 0.9934122562408447, + 0.10590582200431643, + -0.05373429134488106 + ], + [ + 0.22576032610713806, + -0.11310111731290817, + 0.9675951756409529, + 0.3782796561717987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726922733878293, + -0.019007503986358646, + -0.23131895247026757, + 0.0505632683634758 + ], + [ + 0.0445301124910957, + 0.9934090375900271, + 0.10561984413997993, + -0.05301855877041817 + ], + [ + 0.2277867666992046, + -0.11303626745939258, + 0.9671276918180558, + 0.3778803050518036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9721593830731208, + -0.019266733899712563, + -0.233527072217215, + 0.05098438262939453 + ], + [ + 0.04513039284844398, + 0.9933499097824097, + 0.10592059624529795, + -0.053346194326877594 + ], + [ + 0.2299333592801755, + -0.1135108694434166, + 0.9665639788224734, + 0.3779658377170563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.971372588742607, + -0.019462082535028458, + -0.2367626568588806, + 0.052390631288290024 + ], + [ + 0.04597060537183215, + 0.9931997060775757, + 0.10696303452364013, + -0.0530303530395031 + ], + [ + 0.23307087412691724, + -0.1147850751876831, + 0.9656616346223137, + 0.37763166427612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9708410591760085, + -0.02005666308104992, + -0.23888364727836867, + 0.05252330005168915 + ], + [ + 0.047289520000862124, + 0.992935836315155, + 0.10882129429604474, + -0.05221884325146675 + ], + [ + 0.23501354462757, + -0.11694487184286118, + 0.9649313593715277, + 0.3775615394115448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.970799269875632, + -0.02011190727353096, + -0.23904870509535556, + 0.0511787012219429 + ], + [ + 0.04795880127859332, + 0.9926343560218811, + 0.11125179806510081, + -0.051919374614953995 + ], + [ + 0.23505047021354603, + -0.11946765333414078, + 0.9646132445621018, + 0.377597838640213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9705833752849881, + -0.020020155236124996, + -0.23993142650105037, + 0.05006593093276024 + ], + [ + 0.048425779327415146, + 0.9924042820930483, + 0.11308717967543962, + -0.05060930177569389 + ], + [ + 0.23584494937096034, + -0.12137940526008609, + 0.964180578052893, + 0.37801653146743774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9701122287640518, + -0.019971631467342377, + -0.24183332987566533, + 0.05075053870677948 + ], + [ + 0.048817319937944775, + 0.9922941327095032, + 0.11388234923677477, + -0.04877045378088951 + ], + [ + 0.23769538888728414, + -0.12228431552648544, + 0.963611678297129, + 0.3785541355609894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9696791174461094, + -0.019721640273928642, + -0.24358449646602365, + 0.05180301517248154 + ], + [ + 0.04895169204671477, + 0.992212176322937, + 0.1145367745937455, + -0.04828295856714249 + ], + [ + 0.2394286584137112, + -0.12298779934644699, + 0.9630928679590345, + 0.3790144920349121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9693070558581305, + -0.019673660397529602, + -0.24506472701080403, + 0.05181289464235306 + ], + [ + 0.04883313602348699, + 0.9923387765884399, + 0.11348580027462854, + -0.047422993928194046 + ], + [ + 0.24095455742725727, + -0.12196986377239227, + 0.9628417315895816, + 0.3792448937892914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9684165352877514, + -0.020293209701776508, + -0.2485107520890913, + 0.053852539509534836 + ], + [ + 0.04938791742040113, + 0.9925467371940615, + 0.11140811938724919, + -0.0470128133893013 + ], + [ + 0.2443977112469344, + -0.12016288936138156, + 0.962200924049323, + 0.37920674681663513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9674963255760005, + -0.021068811416625977, + -0.25200588412728736, + 0.05596061050891876 + ], + [ + 0.05008238915405876, + 0.9927488565444946, + 0.10927716344161885, + -0.04697858914732933 + ], + [ + 0.24787621287587086, + -0.11834631115198135, + 0.9615360453099061, + 0.3787584900856018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9667534468658505, + -0.02187450230121613, + -0.254773111599985, + 0.05700956657528877 + ], + [ + 0.05086607204188352, + 0.9928739666938784, + 0.10776775257835954, + -0.047261305153369904 + ], + [ + 0.25060021883284744, + -0.11714414507150653, + 0.9609769763419119, + 0.37858256697654724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.966144520688004, + -0.02259362861514092, + -0.2570103233844595, + 0.05716925114393234 + ], + [ + 0.05166891134743833, + 0.9929215312004092, + 0.10694486697049035, + -0.04783070459961891 + ], + [ + 0.2527748085759609, + -0.11660364270210269, + 0.9604730763369461, + 0.3785310685634613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9655479578067777, + -0.022975364699959755, + -0.2592088365725713, + 0.05727898329496384 + ], + [ + 0.052312865848250054, + 0.9928972125053406, + 0.10685749429587843, + -0.048223696649074554 + ], + [ + 0.2549126495336552, + -0.11673599481582642, + 0.9598918115909979, + 0.3786173164844513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9650500234025379, + -0.023135129362344742, + -0.2610424840370957, + 0.05728685483336449 + ], + [ + 0.05291552204781352, + 0.9927809834480286, + 0.10763769518679747, + -0.04889649525284767 + ], + [ + 0.25666779836896586, + -0.11768896132707596, + 0.959307505745226, + 0.378803014755249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9649159594719021, + -0.023447750136256218, + -0.2615098416659618, + 0.05562189221382141 + ], + [ + 0.053686932800807136, + 0.9925804138183594, + 0.10909570449596274, + -0.05015470087528229 + ], + [ + 0.25701148584833056, + -0.11930785328149796, + 0.9590154726046787, + 0.37955620884895325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9644884134491338, + -0.023623552173376083, + -0.26306654279489916, + 0.055335596203804016 + ], + [ + 0.05428331721335042, + 0.9924595355987549, + 0.1098969508296375, + -0.05010424181818962 + ], + [ + 0.25848675275484007, + -0.12027445435523987, + 0.9584981234183689, + 0.3797065317630768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9637902846106585, + -0.024179577827453613, + -0.26556290636210095, + 0.05578259006142616 + ], + [ + 0.05500534582039082, + 0.9924900531768799, + 0.10926083859302156, + -0.04937729239463806 + ], + [ + 0.26092665089940953, + -0.11991190910339355, + 0.9578822357249924, + 0.3796420395374298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.8280843098958, + "fy": 445.7652180989583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/boom_down/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e1a9b4aeb57607b6a923f5525218bb9feaece9ae --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/boom_down/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.01409677229821682, + -0.021288489922881126, + 0.016468560964933463 + ], + [ + 0.013991974294185638, + 0.9998893141746521, + -0.005063758231699467, + -0.014690132026161467 + ], + [ + 0.021357515826821327, + 0.004764239303767681, + 0.9997605681419373, + 0.029275129715779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993339776992798, + -0.0066764033399522305, + -0.03587494045495987, + 0.022927061805235488 + ], + [ + 0.007027733605355024, + 0.9999284744262695, + 0.009676043875515461, + -0.02820413769994463 + ], + [ + 0.0358077734708786, + -0.009921719320118427, + 0.9993094205856323, + 0.07336702265377555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.003423885675147176, + -0.04378214478492737, + 0.019076492960830884 + ], + [ + -0.0026892416644841433, + 0.9998548030853271, + 0.016827436164021492, + -0.03641127701316561 + ], + [ + 0.043833404779434204, + -0.016693459823727608, + 0.9988994002342224, + 0.1126909259185195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020067639648914337, + 0.0018178781028836966, + 0.0041328061803111 + ], + [ + -0.02001941204071045, + 0.9995232820510864, + -0.023502860218286514, + -0.04667112135035651 + ], + [ + -0.00228865840472281, + 0.02346169576048851, + 0.9997221231460571, + 0.16486951454196658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530579, + 0.05287696793675423, + 0.04762083292007446, + -0.01328508393040725 + ], + [ + -0.05093449726700783, + 0.9978551268577576, + -0.04112015292048454, + -0.054139921750341144 + ], + [ + -0.04969300329685211, + 0.03859036788344383, + 0.998018741607666, + 0.19710445854280675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08022276312112808, + 0.09895365685224533, + -0.035091519240822114 + ], + [ + -0.07482220977544785, + 0.9955586791038513, + -0.05713612213730812, + -0.05833173705424581 + ], + [ + -0.10309778898954391, + 0.04926670715212822, + 0.9934503436088562, + 0.2342229285112449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521912, + 0.09010225534439087, + 0.10647290199995041, + -0.04479513481259346 + ], + [ + -0.08542878925800323, + 0.995202898979187, + -0.047677136957645416, + -0.049832306891679765 + ], + [ + -0.11025796085596085, + 0.038115233182907104, + 0.9931718707084656, + 0.25599723279476166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9878880381584167, + 0.10910330712795258, + 0.1103343814611435, + -0.05469049019898687 + ], + [ + -0.1089736670255661, + 0.9940183758735657, + -0.007222636602818966, + -0.02596476762848241 + ], + [ + -0.11046241223812103, + -0.00488838367164135, + 0.9938682913780212, + 0.2974475670627185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11517572402954102, + 0.10127005726099014, + -0.06130018089073045 + ], + [ + -0.1155034601688385, + 0.9933035373687744, + -0.0026410154532641172, + -0.013178055856909069 + ], + [ + -0.10089608281850815, + -0.009087270125746727, + 0.9948554635047913, + 0.3328972115910479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9912038445472717, + 0.11717354506254196, + 0.06152477487921715, + -0.0694491919875145 + ], + [ + -0.11816620081663132, + 0.9929121136665344, + 0.01273887138813734, + 0.004794570641991283 + ], + [ + -0.05959603562951088, + -0.019896965473890305, + 0.9980242848396301, + 0.38124239336167065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10898551344871521, + 0.03810727968811989, + -0.06915459710359573 + ], + [ + -0.11007972061634064, + 0.9935311675071716, + 0.02789670042693615, + 0.019767728313803676 + ], + [ + -0.03482043370604515, + -0.03190498426556587, + 0.9988842010498047, + 0.42117306011276584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12342751026153564, + -0.020068813115358353, + -0.0636779254249164 + ], + [ + -0.12239201366901398, + 0.9913910031318665, + 0.04652000963687897, + 0.04093295219114849 + ], + [ + 0.02563788741827011, + -0.043698593974113464, + 0.9987157583236694, + 0.48456530267851694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13652752339839935, + -0.020918643102049828, + -0.05859321938242231 + ], + [ + -0.1353638619184494, + 0.9895585179328918, + 0.049502670764923096, + 0.051420963121312 + ], + [ + 0.02745869942009449, + -0.046196579933166504, + 0.9985548853874207, + 0.5367289475032262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14335879683494568, + -0.021872254088521004, + -0.05393557372689247 + ], + [ + -0.14277836680412292, + 0.9894096851348877, + 0.026129750534892082, + 0.06344308376312256 + ], + [ + 0.025386551395058632, + -0.022730650380253792, + 0.9994192719459534, + 0.591100999340415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.15059123933315277, + -0.04844290763139725, + -0.05222078163708959 + ], + [ + -0.1487281173467636, + 0.9880677461624146, + 0.04002520442008972, + 0.07257982607398715 + ], + [ + 0.05389232188463211, + -0.032316409051418304, + 0.9980236887931824, + 0.6195409743913582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12358082085847855, + -0.06031331419944763, + -0.0497739488865648 + ], + [ + -0.1207491084933281, + 0.9914954304695129, + 0.04854371398687363, + 0.07674399220091956 + ], + [ + 0.06579944491386414, + -0.04079976677894592, + 0.9969984292984009, + 0.6521850618634906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10944973677396774, + -0.06214163452386856, + -0.04595167353749275 + ], + [ + -0.10524313896894455, + 0.9921627044677734, + 0.06735746562480927, + 0.08209488437856946 + ], + [ + 0.06902686506509781, + -0.06028185784816742, + 0.9957918524742126, + 0.6799627746939659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10997270047664642, + -0.030588766559958458, + -0.04676260736158916 + ], + [ + -0.1078801304101944, + 0.9921504259109497, + 0.06324061006307602, + 0.09042554100922176 + ], + [ + 0.03730339929461479, + -0.059527333825826645, + 0.9975294470787048, + 0.729518450911556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.990229606628418, + 0.13941560685634613, + 0.0029355152510106564, + -0.05457521336844989 + ], + [ + -0.13941024243831635, + 0.9892725348472595, + 0.04364265128970146, + 0.09337986080987112 + ], + [ + 0.0031804428435862064, + -0.04362548515200615, + 0.9990428686141968, + 0.7683046760026898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.18429037928581238, + 0.04083311930298805, + -0.08470689411674227 + ], + [ + -0.18587321043014526, + 0.9817957282066345, + 0.039093632251024246, + 0.09268885889223644 + ], + [ + -0.03288520500063896, + -0.04598063603043556, + 0.998400866985321, + 0.8199298197456769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.1761280745267868, + 0.07524944096803665, + -0.10351960271596909 + ], + [ + -0.1787332147359848, + 0.9834593534469604, + 0.02936212159693241, + 0.08426287889480591 + ], + [ + -0.06883326917886734, + -0.04226810857653618, + 0.9967323541641235, + 0.8580470863431692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550232, + 0.1559009850025177, + 0.10445744544267654, + -0.11167006887708392 + ], + [ + -0.1605827808380127, + 0.9862918853759766, + 0.03796759992837906, + 0.0748514142717634 + ], + [ + -0.09710634499788284, + -0.054067134857177734, + 0.9938043355941772, + 0.9070138637678964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16043990850448608, + 0.10332164913415909, + -0.11832541444471904 + ], + [ + -0.1622307002544403, + 0.986710786819458, + 0.009113379754126072, + 0.06730298097644534 + ], + [ + -0.10048643499612808, + -0.025707848370075226, + 0.9946062564849854, + 0.9488926771410874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15839089453220367, + 0.0569317452609539, + -0.13341767965044293 + ], + [ + -0.1557570844888687, + 0.986624538898468, + -0.048080768436193466, + 0.05577311333162444 + ], + [ + -0.06378581374883652, + 0.038527313619852066, + 0.9972196221351624, + 0.9876737388713019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.12986084818840027, + 0.036820583045482635, + -0.14711383964334215 + ], + [ + -0.12779107689857483, + 0.9903359413146973, + -0.053890399634838104, + 0.05210679237331663 + ], + [ + -0.043462999165058136, + 0.04869186878204346, + 0.99786776304245, + 1.018540632724762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1303732544183731, + 0.011355924420058727, + -0.16565279470171246 + ], + [ + -0.12995941936969757, + 0.9910128712654114, + -0.031685881316661835, + 0.03866247309531484 + ], + [ + -0.015384859405457973, + 0.02993757277727127, + 0.9994333386421204, + 1.0628742148961339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12228640168905258, + 0.020507536828517914, + -0.17986438282472747 + ], + [ + -0.12112308293581009, + 0.9913427829742432, + -0.050682183355093, + 0.02393302074819803 + ], + [ + -0.02652774006128311, + 0.047807130962610245, + 0.9985042810440063, + 1.099878478226917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12498211860656738, + 0.11386945843696594, + -0.20518591213226317 + ], + [ + -0.11320650577545166, + 0.9880491495132446, + -0.10460938513278961, + 0.0009344733655452728 + ], + [ + -0.12558293342590332, + 0.09021255373954773, + 0.9879729747772217, + 1.1606964020729065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857361, + 0.13895663619041443, + 0.2117922008037567, + -0.23363720997742243 + ], + [ + -0.10959387570619583, + 0.9833987355232239, + -0.1446239948272705, + -0.01793986334971019 + ], + [ + -0.22837263345718384, + 0.1166960597038269, + 0.9665547013282776, + 1.2031822277818407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736633, + 0.16089852154254913, + 0.3294365108013153, + -0.2713435930013657 + ], + [ + -0.10751975327730179, + 0.9787876605987549, + -0.17439670860767365, + -0.06184960612228939 + ], + [ + -0.35050854086875916, + 0.1268320530653, + 0.9279317855834961, + 1.2387205417667115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.161844402551651, + 0.42879581451416016, + -0.3001706258399146 + ], + [ + -0.07678793370723724, + 0.9749354124069214, + -0.20881691575050354, + -0.09737942859104701 + ], + [ + -0.45184409618377686, + 0.15266719460487366, + 0.8789366483688354, + 1.2558477008513043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1683233678340912, + 0.4872375428676605, + -0.33274839452334815 + ], + [ + -0.06372948735952377, + 0.9725275635719299, + -0.22389432787895203, + -0.10242977491446903 + ], + [ + -0.511538565158844, + 0.16080224514007568, + 0.8440799117088318, + 1.2735867176055908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.17023156583309174, + 0.49248456954956055, + -0.3597033785837037 + ], + [ + -0.09409771859645844, + 0.9799454808235168, + -0.17564865946769714, + -0.06889366636105945 + ], + [ + -0.5125089883804321, + 0.10357628017663956, + 0.8524121642112732, + 1.2925639429645879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204773, + 0.17138928174972534, + 0.5290848016738892, + -0.394456410748618 + ], + [ + -0.11018028855323792, + 0.9832146167755127, + -0.14542801678180695, + -0.04723583039215633 + ], + [ + -0.5451287031173706, + 0.06256769597530365, + 0.8360143303871155, + 1.3178731441327505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612305, + 0.1661430448293686, + 0.5384422540664673, + -0.4218082812428474 + ], + [ + -0.11259321868419647, + 0.9849455952644348, + -0.13116765022277832, + -0.03938032165169715 + ], + [ + -0.5521289110183716, + 0.047735460102558136, + 0.8323911428451538, + 1.3236926414072514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.1421755701303482, + 0.5065333247184753, + -0.4590161896092551 + ], + [ + -0.1269027143716812, + 0.9897986650466919, + -0.06476350873708725, + -0.019399814273629867 + ], + [ + -0.5105738043785095, + -0.009204419329762459, + 0.8597846627235413, + 1.3403756181469986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525391, + 0.12768206000328064, + 0.4868294894695282, + -0.47929527396815164 + ], + [ + -0.132595032453537, + 0.9908668994903564, + -0.024523165076971054, + -0.002209392730678831 + ], + [ + -0.485514372587204, + -0.04336034879088402, + 0.8731527328491211, + 1.3501666362051452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.10844705998897552, + 0.4776364266872406, + -0.4965370396035058 + ], + [ + -0.13851292431354523, + 0.9899630546569824, + 0.028059717267751694, + 0.01664980033572231 + ], + [ + -0.4697994291782379, + -0.09062235057353973, + 0.8781093955039978, + 1.3473311543975557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.052844807505607605, + 0.4829251766204834, + -0.5006351313846452 + ], + [ + -0.09855006635189056, + 0.992685079574585, + 0.06974366307258606, + 0.023222242964697735 + ], + [ + -0.4757070541381836, + -0.10855284333229065, + 0.8728797435760498, + 1.3438406547307968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.06852293759584427, + 0.537290096282959, + -0.49237220747130256 + ], + [ + -0.10477883368730545, + 0.9938000440597534, + 0.03718654066324234, + 0.014497636620487486 + ], + [ + -0.531410813331604, + -0.08755598217248917, + 0.8425772786140442, + 1.338612085580826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.14467664062976837, + 0.5528011322021484, + -0.48811405909912925 + ], + [ + -0.19230146706104279, + 0.9809144139289856, + 0.028759613633155823, + 0.01866916612961463 + ], + [ + -0.5380897521972656, + -0.12990626692771912, + 0.8328167796134949, + 1.3302698276553835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.17446689307689667, + 0.6060417890548706, + -0.48488312065601347 + ], + [ + -0.238027885556221, + 0.9709289073944092, + 0.02529500424861908, + 0.005882540181279181 + ], + [ + -0.5840103626251221, + -0.16388536989688873, + 0.7950304746627808, + 1.3064538856744767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.15146441757678986, + 0.6253744959831238, + -0.4826155175907271 + ], + [ + -0.17656175792217255, + 0.9840388894081116, + -0.02221343293786049, + -0.009369665162903919 + ], + [ + -0.6187573075294495, + -0.09341317415237427, + 0.7800085544586182, + 1.3011542163916996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1724855899810791, + 0.6312922239303589, + -0.4929730234146118 + ], + [ + -0.12414335459470749, + 0.9849303960800171, + -0.12041796743869781, + -0.03284275891525404 + ], + [ + -0.6425492763519287, + 0.012679804116487503, + 0.7661394476890564, + 1.2916843107683318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.17190036177635193, + 0.6263754367828369, + -0.49289824102606095 + ], + [ + -0.09708493202924728, + 0.9835876226425171, + -0.1520850509405136, + -0.04977408234562193 + ], + [ + -0.6422386169433594, + 0.05482344701886177, + 0.7645416259765625, + 1.2919027572550943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.16924382746219635, + 0.6121340394020081, + -0.5023781230960573 + ], + [ + -0.06050634756684303, + 0.9790657758712769, + -0.19434289634227753, + -0.07019357590164457 + ], + [ + -0.6322107911109924, + 0.11307834088802338, + 0.7665003538131714, + 1.2864343925373896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634766, + 0.18365970253944397, + 0.610598623752594, + -0.5083139613866806 + ], + [ + -0.057554930448532104, + 0.9737385511398315, + -0.2202741652727127, + -0.0797604774917875 + ], + [ + -0.6350188851356506, + 0.13454513251781464, + 0.7606895565986633, + 1.2802648802910532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.18310168385505676, + 0.6242208480834961, + -0.5113429528645107 + ], + [ + -0.041914306581020355, + 0.9713501334190369, + -0.23392750322818756, + -0.0892236761365618 + ], + [ + -0.6491695642471313, + 0.1515013724565506, + 0.7454034090042114, + 1.2770210000446864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.73583984375, + 0.16783741116523743, + 0.6560261845588684, + -0.5065900894403458 + ], + [ + -0.030435018241405487, + 0.9760149717330933, + -0.21556539833545685, + -0.09409276145696639 + ], + [ + -0.6764712929725647, + 0.13865543901920319, + 0.7232989072799683, + 1.2744044699072838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7091473340988159, + 0.15343397855758667, + 0.6881628632545471, + -0.5037490470068795 + ], + [ + -0.024598143994808197, + 0.980823814868927, + -0.19333794713020325, + -0.10626422209399088 + ], + [ + -0.7046311497688293, + 0.12017756700515747, + 0.6993228197097778, + 1.2697589993476868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.1412988007068634, + 0.6889380216598511, + -0.5020008044413158 + ], + [ + -0.010299809277057648, + 0.9815955758094788, + -0.19069351255893707, + -0.11320791104861669 + ], + [ + -0.7032033205032349, + 0.1284707933664322, + 0.699285626411438, + 1.2658058403134347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.14272023737430573, + 0.6817785501480103, + -0.4993604827267783 + ], + [ + -0.005622163414955139, + 0.9799388647079468, + -0.19921892881393433, + -0.11829304381779261 + ], + [ + -0.6965339183807373, + 0.1391068696975708, + 0.7039103507995605, + 1.264945863042559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7165511846542358, + 0.15290018916130066, + 0.6805703043937683, + -0.4961005383389337 + ], + [ + -0.026668570935726166, + 0.9809715151786804, + -0.19231128692626953, + -0.1196391041619437 + ], + [ + -0.6970245242118835, + 0.11965104937553406, + 0.7069939374923706, + 1.2712577516521726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.1482444703578949, + 0.6631469130516052, + -0.4914061301776341 + ], + [ + -0.037848759442567825, + 0.9833126068115234, + -0.1779431700706482, + -0.12180948625292097 + ], + [ + -0.6784598231315613, + 0.105450838804245, + 0.7270298004150391, + 1.284052823645728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.16057254374027252, + 0.6456099152565002, + -0.4868109630261149 + ], + [ + -0.058937277644872665, + 0.9825836420059204, + -0.1762266457080841, + -0.12698870505605425 + ], + [ + -0.662662923336029, + 0.09351947903633118, + 0.7430558800697327, + 1.2864766906840461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1336606740951538, + 0.6435877084732056, + -0.47260728311538697 + ], + [ + -0.029247593134641647, + 0.9849565625190735, + -0.17030882835388184, + -0.13562252950668335 + ], + [ + -0.6566694974899292, + 0.109523244202137, + 0.7461835145950317, + 1.2740656044483185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.12160331010818481, + 0.6562492847442627, + -0.4648295886175973 + ], + [ + -0.009480360895395279, + 0.9850897789001465, + -0.17177973687648773, + -0.13710861894062587 + ], + [ + -0.6673533916473389, + 0.12169958651065826, + 0.7347302436828613, + 1.2700408518058912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.12608471512794495, + 0.6632641553878784, + -0.4599636042458671 + ], + [ + -0.02282728999853134, + 0.9865032434463501, + -0.16214288771152496, + -0.1385301011289869 + ], + [ + -0.6747559309005737, + 0.10447032749652863, + 0.7306095957756042, + 1.2728951090574265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.12672460079193115, + 0.663916289806366, + -0.45726204092162 + ], + [ + -0.028620939701795578, + 0.9872366786003113, + -0.15666703879833221, + -0.1404398523228509 + ], + [ + -0.6752961277961731, + 0.09646032750606537, + 0.73121178150177, + 1.2758045812760082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.1308019757270813, + 0.6597727537155151, + -0.45507715582847597 + ], + [ + -0.035178475081920624, + 0.9870927333831787, + -0.15623839199543, + -0.14188657215663364 + ], + [ + -0.6716932058334351, + 0.09240563213825226, + 0.7350438237190247, + 1.2787284529209137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.745140552520752, + 0.13616037368774414, + 0.6528597474098206, + -0.4511896444388798 + ], + [ + -0.04192494601011276, + 0.9865636229515076, + -0.1579066663980484, + -0.14190282562800816 + ], + [ + -0.6655883193016052, + 0.09029155969619751, + 0.7408370971679688, + 1.282544912644795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.14112858474254608, + 0.6472257375717163, + -0.4458800069093704 + ], + [ + -0.04933154955506325, + 0.9862144589424133, + -0.1579476147890091, + -0.1409221429143633 + ], + [ + -0.6605943441390991, + 0.08639314770698547, + 0.7457555532455444, + 1.286953894172396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.14414788782596588, + 0.6431073546409607, + -0.4402827972769737 + ], + [ + -0.055480580776929855, + 0.9861721992492676, + -0.15616124868392944, + -0.140163179397583 + ], + [ + -0.6567248702049255, + 0.08176682889461517, + 0.7496843934059143, + 1.2921864694952965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.14556653797626495, + 0.636434018611908, + -0.43325529762676784 + ], + [ + -0.061389338225126266, + 0.9863881468772888, + -0.15254445374011993, + -0.13970425868034364 + ], + [ + -0.6499763131141663, + 0.07647773623466492, + 0.7560965418815613, + 1.2988466141564505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032837, + 0.1454291194677353, + 0.6266437768936157, + -0.42559026483978546 + ], + [ + -0.06544648110866547, + 0.9866658449172974, + -0.1490209698677063, + -0.14006444760731288 + ], + [ + -0.6399600505828857, + 0.07308121025562286, + 0.7649250030517578, + 1.3049576776794025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.1440925896167755, + 0.6165453791618347, + -0.41655750581196377 + ], + [ + -0.06753703206777573, + 0.9869939088821411, + -0.14588287472724915, + -0.1409761766024998 + ], + [ + -0.6295471787452698, + 0.07127682864665985, + 0.7736859917640686, + 1.3106326908894947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.13998255133628845, + 0.6081311702728271, + -0.4067186313867569 + ], + [ + -0.06584182381629944, + 0.9875703454017639, + -0.1427225023508072, + -0.142532301732472 + ], + [ + -0.6205509901046753, + 0.07148247957229614, + 0.7809012532234192, + 1.3154718385083335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.13279315829277039, + 0.6052546501159668, + -0.39686508124215264 + ], + [ + -0.06041157245635986, + 0.9885125756263733, + -0.13854005932807922, + -0.1452231342622212 + ], + [ + -0.6166989803314209, + 0.0721726045012474, + 0.7838835716247559, + 1.3183166015318462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.1257798820734024, + 0.60993891954422, + -0.38759794230972017 + ], + [ + -0.05348119139671326, + 0.9893442988395691, + -0.13541647791862488, + -0.14844632772036961 + ], + [ + -0.620472252368927, + 0.07332996279001236, + 0.7807924747467041, + 1.3204617435974735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.12104804813861847, + 0.6155020594596863, + -0.3787829297780991 + ], + [ + -0.04740018770098686, + 0.9897552728652954, + -0.13467614352703094, + -0.15246263027191162 + ], + [ + -0.6254987120628357, + 0.07570873200893402, + 0.776543378829956, + 1.3221355241537094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.11858713626861572, + 0.6206338405609131, + -0.37034968301228116 + ], + [ + -0.04306604340672493, + 0.9898609519004822, + -0.13535372912883759, + -0.1557608564070293 + ], + [ + -0.6303924322128296, + 0.07818187773227692, + 0.7723296284675598, + 1.3232031165446554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.11547547578811646, + 0.6275071501731873, + -0.3612552045413426 + ], + [ + -0.037941500544548035, + 0.9900326132774353, + -0.13563118875026703, + -0.1584694095339094 + ], + [ + -0.6369146704673767, + 0.08062747865915298, + 0.7667065858840942, + 1.323065646478108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.11303699016571045, + 0.6334064602851868, + -0.3521554535457066 + ], + [ + -0.03384670615196228, + 0.9901584386825562, + -0.13579630851745605, + -0.16087868993622917 + ], + [ + -0.6425227522850037, + 0.0825159028172493, + 0.7618107795715332, + 1.32393531322905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.11086848378181458, + 0.6373112797737122, + -0.3427069988250732 + ], + [ + -0.030093934386968613, + 0.9902170896530151, + -0.13625141978263855, + -0.1630081112384796 + ], + [ + -0.6461824774742126, + 0.08472467958927155, + 0.7584655284881592, + 1.3237177601712091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.10702851414680481, + 0.6431562900543213, + -0.3322935687644141 + ], + [ + -0.02442311868071556, + 0.9904047250747681, + -0.13602215051651, + -0.16364930186952864 + ], + [ + -0.6515432596206665, + 0.08742660284042358, + 0.7535569071769714, + 1.3235642782279424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.10158804059028625, + 0.6501113176345825, + -0.32255607155391147 + ], + [ + -0.017815619707107544, + 0.9907956719398499, + -0.13418859243392944, + -0.1635923294339861 + ], + [ + -0.657759428024292, + 0.0894642025232315, + 0.7478961944580078, + 1.324264798130308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.09570881724357605, + 0.6551191806793213, + -0.31259107530117036 + ], + [ + -0.013322986662387848, + 0.9914758801460266, + -0.12960730493068695, + -0.16354888558387756 + ], + [ + -0.6619393825531006, + 0.08840461820363998, + 0.7443257570266724, + 1.3245921175777913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.085726797580719, + 0.6633638143539429, + -0.30266733949525015 + ], + [ + -0.006847213953733444, + 0.9926762580871582, + -0.12061097472906113, + -0.16383651471138 + ], + [ + -0.6688450574874878, + 0.0851164385676384, + 0.7385130524635315, + 1.3237191886987005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.07395096123218536, + 0.6733105778694153, + -0.29586360765354974 + ], + [ + 0.003801446408033371, + 0.9935560822486877, + -0.11327755451202393, + -0.16592082227979388 + ], + [ + -0.677348792552948, + 0.0858924388885498, + 0.73063063621521, + 1.321383743422372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.072268545627594, + 0.6801671385765076, + -0.2938729839665549 + ], + [ + 0.012050924822688103, + 0.9928904175758362, + -0.11842051148414612, + -0.16712119034358433 + ], + [ + -0.6838894486427307, + 0.09458276629447937, + 0.7234288454055786, + 1.3201758296149118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416382, + 0.08294961601495743, + 0.6780981421470642, + -0.2947173628253596 + ], + [ + 0.011849276721477509, + 0.9909136891365051, + -0.13397639989852905, + -0.16594511311394827 + ], + [ + -0.6830499768257141, + 0.10587465763092041, + 0.7226570844650269, + 1.318169145652226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390625, + 0.10026845335960388, + 0.6739415526390076, + -0.2949979436056955 + ], + [ + 0.004307657480239868, + 0.9884120225906372, + -0.15173354744911194, + -0.16293403671469006 + ], + [ + -0.6813459992408752, + 0.11396431177854538, + 0.7230351567268372, + 1.3172144316860608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.11133722960948944, + 0.6776542067527771, + -0.295633513203689 + ], + [ + 0.0013496428728103638, + 0.9865368008613586, + -0.1635337620973587, + -0.1592455530847822 + ], + [ + -0.6867381930351257, + 0.11978787928819656, + 0.7169668674468994, + 1.315495344276939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.11511974781751633, + 0.6840636730194092, + -0.2953014870882034 + ], + [ + 0.002270229160785675, + 0.9857369065284729, + -0.16827817261219025, + -0.15599037957191467 + ], + [ + -0.6936789751052856, + 0.12276051193475723, + 0.7097460031509399, + 1.3174949778318406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.11353930830955505, + 0.6849480271339417, + -0.2941894872699465 + ], + [ + 0.0035201720893383026, + 0.9859286546707153, + -0.16712959110736847, + -0.15276305658476694 + ], + [ + -0.6942856907844543, + 0.1226927787065506, + 0.7091642022132874, + 1.3215267377666065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.10871295630931854, + 0.6842870712280273, + -0.2923821095228195 + ], + [ + 0.005068447440862656, + 0.9867600202560425, + -0.16210779547691345, + -0.14963762603487285 + ], + [ + -0.6928503513336182, + 0.12035829573869705, + 0.7109657526016235, + 1.3265094189218112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.10231171548366547, + 0.6811534762382507, + -0.29032329575504573 + ], + [ + 0.005377601832151413, + 0.9880359172821045, + -0.1541299819946289, + -0.1463445747239249 + ], + [ + -0.6887734532356262, + 0.11540054529905319, + 0.7157331705093384, + 1.3336698903058257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032104, + 0.09357401728630066, + 0.6753170490264893, + -0.2872030066762652 + ], + [ + 0.005032200366258621, + 0.9897680878639221, + -0.14259666204452515, + -0.14387428201947894 + ], + [ + -0.6817506551742554, + 0.10771739482879639, + 0.7236111164093018, + 1.3400653745106288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.08713700622320175, + 0.6687716245651245, + -0.2846245235247271 + ], + [ + 0.0022234320640563965, + 0.9912983775138855, + -0.13161508738994598, + -0.14221874252387456 + ], + [ + -0.6744208335876465, + 0.09866416454315186, + 0.7317253351211548, + 1.3483143053736006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268921, + 0.0819198340177536, + 0.661016583442688, + -0.2799275072131838 + ], + [ + -0.002202838659286499, + 0.9927059412002563, + -0.12054046988487244, + -0.13949133566447666 + ], + [ + -0.666069746017456, + 0.08845336735248566, + 0.7406261563301086, + 1.3599205055407115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.07515870779752731, + 0.6547895073890686, + -0.2762622772753239 + ], + [ + -0.005974471569061279, + 0.9942134022712708, + -0.10725676268339157, + -0.1403102626800537 + ], + [ + -0.6590617299079895, + 0.07675204426050186, + 0.7481622099876404, + 1.3643283636868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.06682216376066208, + 0.650288999080658, + -0.2723092558213643 + ], + [ + -0.006495116278529167, + 0.9954813718795776, + -0.09473494440317154, + -0.14052951201370784 + ], + [ + -0.6536809802055359, + 0.06746625155210495, + 0.7537569403648376, + 1.3688745130981719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.05733489617705345, + 0.6438463926315308, + -0.2690981224881751 + ], + [ + -0.004429847002029419, + 0.9964988231658936, + -0.08348912000656128, + -0.14159056057248795 + ], + [ + -0.6463789939880371, + 0.0608503632247448, + 0.7605862617492676, + 1.3728450254350901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.04943409934639931, + 0.6365248560905457, + -0.2652770380675793 + ], + [ + -0.0010506212711334229, + 0.9970945715904236, + -0.07616645842790604, + -0.1416648703302656 + ], + [ + -0.6384406685829163, + 0.057954318821430206, + 0.767486035823822, + 1.3779006630948611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.04127850383520126, + 0.6309370398521423, + -0.26251715777175766 + ], + [ + 0.005434446036815643, + 0.9973950982093811, + -0.07192674279212952, + -0.14199099208627428 + ], + [ + -0.6322625279426575, + 0.05915297567844391, + 0.7724927663803101, + 1.382357499045985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.03469128534197807, + 0.622523307800293, + -0.2598260564122881 + ], + [ + 0.010678560473024845, + 0.9975593686103821, + -0.0690021738409996, + -0.14173174503871372 + ], + [ + -0.623397707939148, + 0.06059575825929642, + 0.7795534133911133, + 1.3853658029011318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.027961822226643562, + 0.6155270934104919, + -0.2558498539743679 + ], + [ + 0.015199368819594383, + 0.9977840781211853, + -0.06477567553520203, + -0.1403908611876624 + ], + [ + -0.6159743666648865, + 0.06037421524524689, + 0.7854492664337158, + 1.3890264167530195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.01998138800263405, + 0.6103324294090271, + -0.25156429436802863 + ], + [ + 0.019530203193426132, + 0.9981245398521423, + -0.05801715701818466, + -0.13933337891101838 + ], + [ + -0.6103470921516418, + 0.05786331743001938, + 0.7900179028511047, + 1.3942801941037177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.012407150119543076, + 0.6057325601577759, + -0.24753682234244687 + ], + [ + 0.02223769947886467, + 0.9985185861587524, + -0.04965963587164879, + -0.13875734506334575 + ], + [ + -0.6054513454437256, + 0.05297789350152016, + 0.7941171526908875, + 1.3997250739059277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400513, + 0.006813941057771444, + 0.5993016362190247, + -0.24337929415383508 + ], + [ + 0.022084321826696396, + 0.9989209771156311, + -0.04085582494735718, + -0.13854519426822662 + ], + [ + -0.5989333987236023, + 0.04594002664089203, + 0.7994800806045532, + 1.4054993757179806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409912, + 0.003537162207067013, + 0.5950278639793396, + -0.23865236453765204 + ], + [ + 0.02030157297849655, + 0.9992371797561646, + -0.033361103385686874, + -0.13795900879587447 + ], + [ + -0.5946919322013855, + 0.0388922281563282, + 0.8030123710632324, + 1.4106557823781456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.00019095931202173233, + 0.5924656391143799, + -0.23421605028105633 + ], + [ + 0.01952366530895233, + 0.999448299407959, + -0.02686913311481476, + -0.1375183745792934 + ], + [ + -0.5921438932418823, + 0.03321275860071182, + 0.8051475286483765, + 1.4150403635076114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.0016304003074765205, + 0.591600775718689, + -0.2304448159608458 + ], + [ + 0.019058510661125183, + 0.9995487332344055, + -0.02321813628077507, + -0.13747265091964178 + ], + [ + -0.5912959575653076, + 0.0299941748380661, + 0.8058966994285583, + 1.4186192761574472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.805838942527771, + -0.0006570005789399147, + 0.592134416103363, + -0.2275341188779899 + ], + [ + 0.01771843433380127, + 0.9995783567428589, + -0.023004036396741867, + -0.13784729947362628 + ], + [ + -0.5918696522712708, + 0.0290292426943779, + 0.8055108189582825, + 1.4209663563796453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.0018861819989979267, + 0.5929752588272095, + -0.22432485562749208 + ], + [ + 0.015192830935120583, + 0.9996010661125183, + -0.023810401558876038, + -0.13846649944782258 + ], + [ + -0.5927835702896118, + 0.028181549161672592, + 0.8048685789108276, + 1.4232847974449396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.005308737978339195, + 0.5961012840270996, + -0.22101579037947314 + ], + [ + 0.011914195492863655, + 0.9996176958084106, + -0.024949651211500168, + -0.13969660190173555 + ], + [ + -0.5960057973861694, + 0.027133934199810028, + 0.8025215268135071, + 1.4248106506466867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.010189252905547619, + 0.6008484959602356, + -0.21697783731509532 + ], + [ + 0.006486645899713039, + 0.9996517300605774, + -0.025581270456314087, + -0.14118525901862553 + ], + [ + -0.600899875164032, + 0.0243445485830307, + 0.7989534735679626, + 1.4256550554292542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.011551767587661743, + 0.6095070838928223, + -0.21399035276685444 + ], + [ + 0.003120924811810255, + 0.9997304677963257, + -0.023006461560726166, + -0.14450478078637805 + ], + [ + -0.60960853099823, + 0.020139366388320923, + 0.7924467325210571, + 1.4259250269617354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.011629345826804638, + 0.6185575723648071, + -0.21305388545617462 + ], + [ + 0.00494848657399416, + 0.9996731877326965, + -0.025079868733882904, + -0.14621978284631457 + ], + [ + -0.6186470985412598, + 0.022765010595321655, + 0.7853391170501709, + 1.4244813323531833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914246, + 0.016198858618736267, + 0.6225465536117554, + -0.21486253763948168 + ], + [ + 0.0066249435767531395, + 0.999388575553894, + -0.03433062508702278, + -0.14897039089884076 + ], + [ + -0.6227220296859741, + 0.030985135585069656, + 0.7818294167518616, + 1.423901076806443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511108, + 0.026653781533241272, + 0.6206187605857849, + -0.21709617968116487 + ], + [ + 0.002055118791759014, + 0.9989623427391052, + -0.04549755901098251, + -0.14662828353473117 + ], + [ + -0.6211875081062317, + 0.03693003207445145, + 0.7827913761138916, + 1.4190161986649037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.03707797825336456, + 0.6224811673164368, + -0.21860026264190674 + ], + [ + -0.005708340555429459, + 0.9986144304275513, + -0.05231335386633873, + -0.14491715550422668 + ], + [ + -0.6235583424568176, + 0.037342946976423264, + 0.7808845043182373, + 1.418047349691391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.04220186918973923, + 0.6274511814117432, + -0.2207275032699108 + ], + [ + -0.00994909554719925, + 0.9984463453292847, + -0.054826200008392334, + -0.14211596931729997 + ], + [ + -0.6287901401519775, + 0.0363854244351387, + 0.7767232656478882, + 1.414931617877313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.04268907383084297, + 0.6328980922698975, + -0.2226486466739859 + ], + [ + -0.010104116052389145, + 0.9984350800514221, + -0.05500286817550659, + -0.13959132376738956 + ], + [ + -0.6342556476593018, + 0.03612550348043442, + 0.772278904914856, + 1.4144290764927865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.040155068039894104, + 0.639006495475769, + -0.22465966203383037 + ], + [ + -0.007285444065928459, + 0.9985149502754211, + -0.053988661617040634, + -0.13624931905950818 + ], + [ + -0.6402255296707153, + 0.036816079169511795, + 0.7673043012619019, + 1.4145916598503079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.03601080924272537, + 0.6457105875015259, + -0.2265225498846599 + ], + [ + -0.0027196016162633896, + 0.9986183047294617, + -0.05247975140810013, + -0.13331431584698814 + ], + [ + -0.6467082500457764, + 0.0382719486951828, + 0.7617766857147217, + 1.4149252081939152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.03305539861321449, + 0.6532780528068542, + -0.23009067944756575 + ], + [ + 0.0010118745267391205, + 0.998661994934082, + -0.05170317366719246, + -0.13082403435025897 + ], + [ + -0.6541129946708679, + 0.039769116789102554, + 0.755350649356842, + 1.4148794467896224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.03392140194773674, + 0.6621549129486084, + -0.23576920921036176 + ], + [ + 0.002848452888429165, + 0.9985166192054749, + -0.054373130202293396, + -0.12816866561344692 + ], + [ + -0.6630171537399292, + 0.042589783668518066, + 0.7473918199539185, + 1.4138561652047295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966064, + 0.0397893562912941, + 0.6730932593345642, + -0.24298279199004175 + ], + [ + 0.002231152728199959, + 0.9981076717376709, + -0.061450231820344925, + -0.12561751461029053 + ], + [ + -0.6742646098136902, + 0.046881940215826035, + 0.7370002269744873, + 1.412540989741683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109741, + 0.049554504454135895, + 0.685396671295166, + -0.251610882963453 + ], + [ + -0.001142272725701332, + 0.9974822402000427, + -0.07090769708156586, + -0.12312962753432137 + ], + [ + -0.6871848106384277, + 0.05073024332523346, + 0.7247092723846436, + 1.4107452620778764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.059891149401664734, + 0.6987503170967102, + -0.264532315160547 + ], + [ + -0.006626000627875328, + 0.9968775510787964, + -0.07868443429470062, + -0.12102652898856571 + ], + [ + -0.7012810111045837, + 0.05146060883998871, + 0.7110251188278198, + 1.4083587869831493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.06956323981285095, + 0.7127651572227478, + -0.2768466189929417 + ], + [ + -0.012291919440031052, + 0.9962882399559021, + -0.08519771695137024, + -0.11726195740699769 + ], + [ + -0.716046154499054, + 0.0507020503282547, + 0.696209192276001, + 1.4083281581231526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.07782904803752899, + 0.7261784672737122, + -0.2868602630325726 + ], + [ + -0.0173418577760458, + 0.9957537651062012, + -0.0904083251953125, + -0.11352837347984314 + ], + [ + -0.7301313281059265, + 0.049163445830345154, + 0.6815358996391296, + 1.4052216688990593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821777, + 0.08739078044891357, + 0.7402608394622803, + -0.29805246588162015 + ], + [ + -0.025170691311359406, + 0.995176374912262, + -0.09481801092624664, + -0.11093531043188913 + ], + [ + -0.744976282119751, + 0.0445743203163147, + 0.665600061416626, + 1.4037897175380163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.09310662746429443, + 0.753730297088623, + -0.3093611640589578 + ], + [ + -0.029684361070394516, + 0.9948155879974365, + -0.09726637601852417, + -0.10752292190279278 + ], + [ + -0.7588788270950317, + 0.04090312123298645, + 0.6499460339546204, + 1.402959059391703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.0942610651254654, + 0.7655285000801086, + -0.31990474140644076 + ], + [ + -0.030780717730522156, + 0.9948177933692932, + -0.09690285474061966, + -0.1033562924861908 + ], + [ + -0.7706955075263977, + 0.038111262023448944, + 0.6360629200935364, + 1.4023860015273095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.09133201837539673, + 0.7758888006210327, + -0.3296321939059666 + ], + [ + -0.02819773182272911, + 0.9951298236846924, + -0.09445364773273468, + -0.09897051058496747 + ], + [ + -0.7807366847991943, + 0.03708188608288765, + 0.623758852481842, + 1.4024223638666529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954834, + 0.08540842682123184, + 0.7850309610366821, + -0.3389064346040998 + ], + [ + -0.023606853559613228, + 0.9956731796264648, + -0.08987560123205185, + -0.09427677530901772 + ], + [ + -0.7893104553222656, + 0.036610208451747894, + 0.6129019856452942, + 1.4024489887782505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.07984350621700287, + 0.7932844758033752, + -0.3471834003669875 + ], + [ + -0.020423011854290962, + 0.9961948990821838, + -0.08472685515880585, + -0.08892019704410008 + ], + [ + -0.7970308661460876, + 0.03493928909301758, + 0.6029270887374878, + 1.4029610237394061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.07579241693019867, + 0.8007444143295288, + -0.35468854572091785 + ], + [ + -0.0202743262052536, + 0.9966453909873962, + -0.07929037511348724, + -0.08306143581867217 + ], + [ + -0.804067850112915, + 0.03087913990020752, + 0.5937351584434509, + 1.4029210151944842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.07393410056829453, + 0.8076926469802856, + -0.36138764459320477 + ], + [ + -0.023839903995394707, + 0.9969736337661743, + -0.07399497926235199, + -0.07671900640215193 + ], + [ + -0.8107190132141113, + 0.024028053507208824, + 0.5849422812461853, + 1.4031123339629599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.0707332044839859, + 0.8156781792640686, + -0.3682291175637926 + ], + [ + -0.02774665132164955, + 0.9973699450492859, + -0.06695778667926788, + -0.07031396629129136 + ], + [ + -0.8182690739631653, + 0.01581251062452793, + 0.5746179819107056, + 1.4027346634055886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436523, + 0.06718616932630539, + 0.8239855766296387, + -0.3765308879315853 + ], + [ + -0.030379461124539375, + 0.9976992607116699, + -0.06060749292373657, + -0.06217442059516906 + ], + [ + -0.8261617422103882, + 0.009066363796591759, + 0.5633601546287537, + 1.403200997956097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.0605977401137352, + 0.8284255266189575, + -0.38314502156632285 + ], + [ + -0.027788326144218445, + 0.998136043548584, + -0.05433431267738342, + -0.057385602303913666 + ], + [ + -0.8301739692687988, + 0.007233412936329842, + 0.5574575662612915, + 1.4033035303929022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447021, + 0.0529155358672142, + 0.8308990597724915, + -0.38945188945957593 + ], + [ + -0.02377297542989254, + 0.9985765814781189, + -0.04774627089500427, + -0.0538137627499444 + ], + [ + -0.8322427868843079, + 0.006693793460726738, + 0.5543709993362427, + 1.4030835265613029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.04466269910335541, + 0.8347319960594177, + -0.39507308374132427 + ], + [ + -0.018322572112083435, + 0.9989745020866394, + -0.04140334948897362, + -0.051229117308344146 + ], + [ + -0.8357251286506653, + 0.007429473102092743, + 0.5490977764129639, + 1.4019819954122816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.039000529795885086, + 0.8392189145088196, + -0.4018844405987433 + ], + [ + -0.014011972583830357, + 0.9992029070854187, + -0.03737932816147804, + -0.05009970525332859 + ], + [ + -0.8400078415870667, + 0.0085151931270957, + 0.542507529258728, + 1.4005954261885158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.037511080503463745, + 0.8418089151382446, + -0.4098355600833893 + ], + [ + -0.011795873753726482, + 0.99924635887146, + -0.03698116913437843, + -0.04994590585572378 + ], + [ + -0.8425617218017578, + 0.009983401745557785, + 0.538507342338562, + 1.3992253585840975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.04023795202374458, + 0.8424282073974609, + -0.41770555349971566 + ], + [ + -0.010700724087655544, + 0.9991061091423035, + -0.040896590799093246, + -0.05048018043381827 + ], + [ + -0.8433207273483276, + 0.0129593126475811, + 0.5372543334960938, + 1.3972509774161237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767334, + 0.045516762882471085, + 0.8431676626205444, + -0.42538717001676557 + ], + [ + -0.010955527424812317, + 0.9988366961479187, + -0.04695947468280792, + -0.051624600887298575 + ], + [ + -0.8443242311477661, + 0.01591981202363968, + 0.5355960130691528, + 1.395090532898903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.05082269012928009, + 0.8445265889167786, + -0.4328554692183222 + ], + [ + -0.011070739477872849, + 0.9985277056694031, + -0.053102053701877594, + -0.0529183110169002 + ], + [ + -0.845982015132904, + 0.018958987668156624, + 0.532874345779419, + 1.393519048806812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095581, + 0.055733662098646164, + 0.8462933897972107, + -0.4406089132981641 + ], + [ + -0.010763686150312424, + 0.998199999332428, + -0.05899941176176071, + -0.054613720893859866 + ], + [ + -0.84805828332901, + 0.02214827574789524, + 0.5294398665428162, + 1.391700123708163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.060352012515068054, + 0.8465580940246582, + -0.44778580184493744 + ], + [ + -0.009884199127554893, + 0.9978387951850891, + -0.06496209651231766, + -0.056185582671846646 + ], + [ + -0.8486491441726685, + 0.025988563895225525, + 0.5283174514770508, + 1.390849752162184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.06465776264667511, + 0.8463590145111084, + -0.4539063173021589 + ], + [ + -0.009668562561273575, + 0.9974886178970337, + -0.07016392797231674, + -0.05709769272804259 + ], + [ + -0.8487701416015625, + 0.028910748660564423, + 0.527971088886261, + 1.3907303820337569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.06922449916601181, + 0.846060574054718, + -0.45890082003814836 + ], + [ + -0.011588459834456444, + 0.9971650242805481, + -0.07434799522161484, + -0.05745078631809779 + ], + [ + -0.8488087058067322, + 0.029493816196918488, + 0.5278768539428711, + 1.3904795475729874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.07206359505653381, + 0.8454700708389282, + -0.4631288436821529 + ], + [ + -0.013987669721245766, + 0.9969925880432129, + -0.0762244164943695, + -0.057598847661699565 + ], + [ + -0.8484203815460205, + 0.02850710041821003, + 0.5285549163818359, + 1.3903587677840676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.07331778109073639, + 0.845229983329773, + -0.466002420604229 + ], + [ + -0.01589363068342209, + 0.996941089630127, + -0.07652381807565689, + -0.05750332689285277 + ], + [ + -0.8482550382614136, + 0.027074074372649193, + 0.5288954973220825, + 1.3898941944763064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.07381334900856018, + 0.8455305099487305, + -0.4688728584562029 + ], + [ + -0.016490193083882332, + 0.9969165921211243, + -0.07671602070331573, + -0.05738652288913726 + ], + [ + -0.8485860824584961, + 0.026624489575624466, + 0.5283870100975037, + 1.3893965943285398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.07486776262521744, + 0.8453223705291748, + -0.4710184566932065 + ], + [ + -0.015686916187405586, + 0.9967933297157288, + -0.07846657186746597, + -0.05682595046928951 + ], + [ + -0.8484863042831421, + 0.028247127309441566, + 0.5284630060195923, + 1.3890770610837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.07563894987106323, + 0.8456615805625916, + -0.47304735354014804 + ], + [ + -0.012755099684000015, + 0.9966184496879578, + -0.08117222785949707, + -0.05598489897591727 + ], + [ + -0.8489417433738708, + 0.03209943324327469, + 0.5275107026100159, + 1.3881645498531205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.07548543065786362, + 0.8455944061279297, + -0.47510711664387156 + ], + [ + -0.00785839557647705, + 0.9964314699172974, + -0.08403933793306351, + -0.054774514402662 + ], + [ + -0.8489205837249756, + 0.03776659071445465, + 0.527169406414032, + 1.3863966586164065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.07426562905311584, + 0.8455573916435242, + -0.47674897684369766 + ], + [ + -0.001545831561088562, + 0.9962476491928101, + -0.08653426915407181, + -0.05328891919340406 + ], + [ + -0.8488110899925232, + 0.04444306343793869, + 0.5268250107765198, + 1.3845393280642373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.07352326065301895, + 0.8461398482322693, + -0.4785327011985438 + ], + [ + 0.005914658308029175, + 0.995903730392456, + -0.09022649377584457, + -0.052212546093123285 + ], + [ + -0.8493075966835022, + 0.052632056176662445, + 0.5252680778503418, + 1.383045501857996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.07322097569704056, + 0.8468546867370605, + -0.4805630396008492 + ], + [ + 0.011033521965146065, + 0.9956100583076477, + -0.09294576942920685, + -0.05129887342453002 + ], + [ + -0.8499425649642944, + 0.058303892612457275, + 0.5236395001411438, + 1.3816863045692445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.07066094130277634, + 0.8480715751647949, + -0.4823563166814191 + ], + [ + 0.012927105650305748, + 0.9957695603370667, + -0.09097189456224442, + -0.05015002897807529 + ], + [ + -0.8509119749069214, + 0.058736927807331085, + 0.5220141410827637, + 1.3817927847376892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278198, + 0.06957677006721497, + 0.849164605140686, + -0.4838571632930211 + ], + [ + 0.008596707135438919, + 0.9961779713630676, + -0.08692242205142975, + -0.04995579351697649 + ], + [ + -0.8519668579101562, + 0.05280609428882599, + 0.5209261178970337, + 1.38266379570961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.07382387667894363, + 0.8483970761299133, + -0.48510691838179315 + ], + [ + -0.002200312912464142, + 0.996349573135376, + -0.08533859997987747, + -0.05027344894409179 + ], + [ + -0.8516001105308533, + 0.04286668449640274, + 0.5224363803863525, + 1.3834095624216964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.525605320930481, + 0.08189307153224945, + 0.8467777967453003, + -0.48787385516507287 + ], + [ + -0.01534353569149971, + 0.9961066246032715, + -0.08681095391511917, + -0.0503627826316016 + ], + [ + -0.8505902290344238, + 0.03263574093580246, + 0.5248154997825623, + 1.3846469377194133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.08889098465442657, + 0.8429223299026489, + -0.49161236365352357 + ], + [ + -0.02570650726556778, + 0.9957157969474792, + -0.08882102370262146, + -0.050611488699913026 + ], + [ + -0.8472064733505249, + 0.025463547557592392, + 0.5306532382965088, + 1.387414267491017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656494, + 0.0957251563668251, + 0.8330931663513184, + -0.495191011769431 + ], + [ + -0.033817730844020844, + 0.9951630234718323, + -0.09223300963640213, + -0.050410725389208114 + ], + [ + -0.8378925323486328, + 0.022074006497859955, + 0.5453888177871704, + 1.3907544428961618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.10160455107688904, + 0.8230347633361816, + -0.49551689517498015 + ], + [ + -0.03878560662269592, + 0.9945821166038513, + -0.09644736349582672, + -0.05008147072792052 + ], + [ + -0.8283751010894775, + 0.021975718438625336, + 0.5597425699234009, + 1.3921967510282993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.10144573450088501, + 0.8163431286811829, + -0.49915787921633037 + ], + [ + -0.03442546725273132, + 0.9944319725036621, + -0.09959900379180908, + -0.05057159364223479 + ], + [ + -0.8219016194343567, + 0.028527840971946716, + 0.5689147710800171, + 1.394869108728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.09669722616672516, + 0.8022363185882568, + -0.5014497273053442 + ], + [ + -0.02457161247730255, + 0.994498610496521, + -0.10182727873325348, + -0.052093092577798025 + ], + [ + -0.8076692819595337, + 0.040276605635881424, + 0.5882585048675537, + 1.3967984532607454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.08511510491371155, + 0.793985903263092, + -0.4994373032706124 + ], + [ + -0.01131240651011467, + 0.9951122999191284, + -0.098099485039711, + -0.05256981820719582 + ], + [ + -0.7984549403190613, + 0.0500689335167408, + 0.5999691486358643, + 1.3958191646592957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544312, + 0.0724201649427414, + 0.7922754883766174, + -0.4991720933999334 + ], + [ + 0.004881802946329117, + 0.9954911470413208, + -0.09472878277301788, + -0.054155575803348 + ], + [ + -0.7955635190010071, + 0.06125922501087189, + 0.6027653217315674, + 1.396167457997799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.06573612987995148, + 0.7926512956619263, + -0.49759715640544894 + ], + [ + 0.01660158857703209, + 0.9953160285949707, + -0.09523835778236389, + -0.05586860947949546 + ], + [ + -0.7951991558074951, + 0.07088525593280792, + 0.6021907329559326, + 1.396101328424045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.0635758638381958, + 0.7964771389961243, + -0.49489476708003455 + ], + [ + 0.02113236114382744, + 0.9952152967453003, + -0.09539373219013214, + -0.05806485877718244 + ], + [ + -0.7987309098243713, + 0.0741933286190033, + 0.5970965623855591, + 1.3975370782613754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.06489643454551697, + 0.799883246421814, + -0.493203996181488 + ], + [ + 0.019521823152899742, + 0.9952563047409058, + -0.09530895203351974, + -0.058396117091178895 + ], + [ + -0.8022741079330444, + 0.07248000055551529, + 0.5925395488739014, + 1.4001107938289643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.06690725684165955, + 0.8006613254547119, + -0.4917907644169671 + ], + [ + 0.0153118334710598, + 0.9954007863998413, + -0.09456649422645569, + -0.05769681501388549 + ], + [ + -0.8033061027526855, + 0.0685615986585617, + 0.5916067957878113, + 1.4028324772545269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.06888251006603241, + 0.8000494241714478, + -0.489846539582525 + ], + [ + 0.009839741513133049, + 0.9956128001213074, + -0.09304984658956528, + -0.05638363974434989 + ], + [ + -0.8029489517211914, + 0.0633268877863884, + 0.592674195766449, + 1.4070994448236056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.07167219370603561, + 0.7971280217170715, + -0.48799475981082235 + ], + [ + 0.003971986472606659, + 0.9957034587860107, + -0.09251416474580765, + -0.0542736028943743 + ], + [ + -0.8003337979316711, + 0.05863227695226669, + 0.5966809391975403, + 1.4131422168910504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.07368713617324829, + 0.7914780378341675, + -0.48609899350575037 + ], + [ + -0.0028383247554302216, + 0.9958885908126831, + -0.09054207056760788, + -0.05207381509031567 + ], + [ + -0.7948957681655884, + 0.05268897861242294, + 0.6044540405273438, + 1.4202425511394228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.07392972707748413, + 0.7843143939971924, + -0.4846060291358403 + ], + [ + -0.010078910738229752, + 0.9962449073791504, + -0.08599112927913666, + -0.04928877122061592 + ], + [ + -0.7877265214920044, + 0.04506056383252144, + 0.6143748760223389, + 1.4285029823631048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852783, + 0.07217749953269958, + 0.7749629020690918, + -0.4833485611847469 + ], + [ + -0.01739228144288063, + 0.9967432618141174, + -0.07874224334955215, + -0.04645249594960893 + ], + [ + -0.7781224250793457, + 0.035961657762527466, + 0.6270822882652283, + 1.4380239776543209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.06780781596899033, + 0.7635822892189026, + -0.482229433208704 + ], + [ + -0.022726111114025116, + 0.9973263144493103, + -0.06945312023162842, + -0.044034725427627555 + ], + [ + -0.7662501931190491, + 0.027245398610830307, + 0.6419644951820374, + 1.4482814189046622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/boom_up/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..76d2def6af1dc131a9231ead180d761216fd4574 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/boom_up/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.01409677229821682, + -0.021288489922881126, + 0.01648467156184571 + ], + [ + 0.013991974294185638, + 0.9998893141746521, + -0.005063758231699467, + -0.015832862670932497 + ], + [ + 0.021357515826821327, + 0.004764239303767681, + 0.9997605681419373, + 0.029269684870860405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993339776992798, + -0.0066764033399522305, + -0.03587494045495987, + 0.022942322155726808 + ], + [ + 0.007027733605355024, + 0.9999284744262695, + 0.009676043875515461, + -0.03048968849863325 + ], + [ + 0.0358077734708786, + -0.009921719320118427, + 0.9993094205856323, + 0.0733897008693644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.003423885675147176, + -0.04378214478492737, + 0.01906475392423038 + ], + [ + -0.0026892416644841433, + 0.9998548030853271, + 0.016827436164021492, + -0.03983935062374387 + ], + [ + 0.043833404779434204, + -0.016693459823727608, + 0.9988994002342224, + 0.11274816063791514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020067639648914337, + 0.0018178781028836966, + 0.004041068399058921 + ], + [ + -0.02001941204071045, + 0.9995232820510864, + -0.023502860218286514, + -0.051240370639732906 + ], + [ + -0.00228865840472281, + 0.02346169576048851, + 0.9997221231460571, + 0.1647622610756329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530579, + 0.05287696793675423, + 0.04762083292007446, + -0.01358723803290299 + ], + [ + -0.05093449726700783, + 0.9978551268577576, + -0.04112015292048454, + -0.059841951046671185 + ], + [ + -0.04969300329685211, + 0.03859036788344383, + 0.998018741607666, + 0.19688394215490138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08022276312112808, + 0.09895365685224533, + -0.035641618187938415 + ], + [ + -0.07482220977544785, + 0.9955586791038513, + -0.05713612213730812, + -0.06515842513952937 + ], + [ + -0.10309778898954391, + 0.04926670715212822, + 0.9934503436088562, + 0.23388509966220175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521912, + 0.09010225534439087, + 0.10647290199995041, + -0.04551595285534859 + ], + [ + -0.08542878925800323, + 0.995202898979187, + -0.047677136957645416, + -0.05779393008351326 + ], + [ + -0.11025796085596085, + 0.038115233182907104, + 0.9931718707084656, + 0.2556923109292984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9878880381584167, + 0.10910330712795258, + 0.1103343814611435, + -0.05568800614987101 + ], + [ + -0.1089736670255661, + 0.9940183758735657, + -0.007222636602818966, + -0.035052935636469294 + ], + [ + -0.11046241223812103, + -0.00488838367164135, + 0.9938682913780212, + 0.2974922608562878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11517572402954102, + 0.10127005726099014, + -0.062484845480748584 + ], + [ + -0.1155034601688385, + 0.9933035373687744, + -0.0026410154532641172, + -0.02339489224127361 + ], + [ + -0.10089608281850815, + -0.009087270125746727, + 0.9948554635047913, + 0.33299068065519843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9912038445472717, + 0.11717354506254196, + 0.06152477487921715, + -0.07078831821680069 + ], + [ + -0.11816620081663132, + 0.9929121136665344, + 0.01273887138813734, + -0.006552996371340538 + ], + [ + -0.05959603562951088, + -0.019896965473890305, + 0.9980242848396301, + 0.3814697872528008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10898551344871521, + 0.03810727968811989, + -0.07052470070123673 + ], + [ + -0.11007972061634064, + 0.9935311675071716, + 0.02789670042693615, + 0.007277622207999228 + ], + [ + -0.03482043370604515, + -0.03190498426556587, + 0.9988842010498047, + 0.421574151343533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12342751026153564, + -0.020068813115358353, + -0.06537064556564604 + ], + [ + -0.12239201366901398, + 0.9913910031318665, + 0.04652000963687897, + 0.027336732719625743 + ], + [ + 0.02563788741827011, + -0.043698593974113464, + 0.9987157583236694, + 0.4851645976815905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13652752339839935, + -0.020918643102049828, + -0.060621628301484244 + ], + [ + -0.1353638619184494, + 0.9895585179328918, + 0.049502670764923096, + 0.03671895085488047 + ], + [ + 0.02745869942009449, + -0.046196579933166504, + 0.9985548853874207, + 0.5374152966908046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14335879683494568, + -0.021872254088521004, + -0.0562293144762516 + ], + [ + -0.14277836680412292, + 0.9894096851348877, + 0.026129750534892082, + 0.04761252880096435 + ], + [ + 0.025386551395058632, + -0.022730650380253792, + 0.9994192719459534, + 0.591464689746499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.15059123933315277, + -0.04844290763139725, + -0.05480234573994364 + ], + [ + -0.1487281173467636, + 0.9880677461624146, + 0.04002520442008972, + 0.05564152185406004 + ], + [ + 0.05389232188463211, + -0.032316409051418304, + 0.9980236887931824, + 0.6200949699750968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12358082085847855, + -0.06031331419944763, + -0.05203371246797698 + ], + [ + -0.1207491084933281, + 0.9914954304695129, + 0.04854371398687363, + 0.05861379004376275 + ], + [ + 0.06579944491386414, + -0.04079976677894592, + 0.9969984292984009, + 0.652931114741734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10944973677396774, + -0.06214163452386856, + -0.04807812556624413 + ], + [ + -0.10524313896894455, + 0.9921627044677734, + 0.06735746562480927, + 0.06281858040605273 + ], + [ + 0.06902686506509781, + -0.06028185784816742, + 0.9957918524742126, + 0.681133965075016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10997270047664642, + -0.030588766559958458, + -0.0490249029142516 + ], + [ + -0.1078801304101944, + 0.9921504259109497, + 0.06324061006307602, + 0.07001558939048222 + ], + [ + 0.03730339929461479, + -0.059527333825826645, + 0.9975294470787048, + 0.7307430132074015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.990229606628418, + 0.13941560685634613, + 0.0029355152510106564, + -0.05760252368875912 + ], + [ + -0.13941024243831635, + 0.9892725348472595, + 0.04364265128970146, + 0.07189851433890207 + ], + [ + 0.0031804428435862064, + -0.04362548515200615, + 0.9990428686141968, + 0.7692519722517047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.18429037928581238, + 0.04083311930298805, + -0.08891924564327512 + ], + [ + -0.18587321043014526, + 0.9817957282066345, + 0.039093632251024246, + 0.07024781367608479 + ], + [ + -0.03288520500063896, + -0.04598063603043556, + 0.998400866985321, + 0.8209808057120868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.1761280745267868, + 0.07524944096803665, + -0.10774667650461196 + ], + [ + -0.1787332147359848, + 0.9834593534469604, + 0.02936212159693241, + 0.060659854412078856 + ], + [ + -0.06883326917886734, + -0.04226810857653618, + 0.9967323541641235, + 0.8590615209490061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550232, + 0.1559009850025177, + 0.10445744544267654, + -0.11558986507143293 + ], + [ + -0.1605827808380127, + 0.9862918853759766, + 0.03796759992837906, + 0.05005321829659598 + ], + [ + -0.09710634499788284, + -0.054067134857177734, + 0.9938043355941772, + 0.908373266015734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16043990850448608, + 0.10332164913415909, + -0.1225426920396941 + ], + [ + -0.1622307002544403, + 0.986710786819458, + 0.009113379754126072, + 0.041366583151476725 + ], + [ + -0.10048643499612808, + -0.025707848370075226, + 0.9946062564849854, + 0.9495684262982437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15839089453220367, + 0.0569317452609539, + -0.13776211561475482 + ], + [ + -0.1557570844888687, + 0.986624538898468, + -0.048080768436193466, + 0.028711411693266457 + ], + [ + -0.06378581374883652, + 0.038527313619852066, + 0.9972196221351624, + 0.9866169896977288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.12986084818840027, + 0.036820583045482635, + -0.15082414959158216 + ], + [ + -0.12779107689857483, + 0.9903359413146973, + -0.053890399634838104, + 0.02381147976432528 + ], + [ + -0.043462999165058136, + 0.04869186878204346, + 0.99786776304245, + 1.0171494364738465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1303732544183731, + 0.011355924420058727, + -0.1695267428330013 + ], + [ + -0.12995941936969757, + 0.9910128712654114, + -0.031685881316661835, + 0.00921523349199976 + ], + [ + -0.015384859405457973, + 0.02993757277727127, + 0.9994333386421204, + 1.061984641305038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12228640168905258, + 0.020507536828517914, + -0.18363779179113252 + ], + [ + -0.12112308293581009, + 0.9913427829742432, + -0.050682183355093, + -0.006656985126435757 + ], + [ + -0.02652774006128311, + 0.047807130962610245, + 0.9985042810440063, + 1.0984032867572138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12498211860656738, + 0.11386945843696594, + -0.20918533992767335 + ], + [ + -0.11320650577545166, + 0.9880491495132446, + -0.10460938513278961, + -0.030683099418878555 + ], + [ + -0.12558293342590332, + 0.09021255373954773, + 0.9879729747772217, + 1.157809600353241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857361, + 0.13895663619041443, + 0.2117922008037567, + -0.23824262991973333 + ], + [ + -0.10959387570619583, + 0.9833987355232239, + -0.1446239948272705, + -0.050532507155622755 + ], + [ + -0.22837263345718384, + 0.1166960597038269, + 0.9665547013282776, + 1.1993145869459425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736633, + 0.16089852154254913, + 0.3294365108013153, + -0.27686011373996733 + ], + [ + -0.10751975327730179, + 0.9787876605987549, + -0.17439670860767365, + -0.09540804019996098 + ], + [ + -0.35050854086875916, + 0.1268320530653, + 0.9279317855834961, + 1.2343720142330443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.161844402551651, + 0.42879581451416016, + -0.3059045418160302 + ], + [ + -0.07678793370723724, + 0.9749354124069214, + -0.20881691575050354, + -0.13191999748774938 + ], + [ + -0.45184409618377686, + 0.15266719460487366, + 0.8789366483688354, + 1.2504389202424457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1683233678340912, + 0.4872375428676605, + -0.33890422054699487 + ], + [ + -0.06372948735952377, + 0.9725275635719299, + -0.22389432787895203, + -0.13799649723938534 + ], + [ + -0.511538565158844, + 0.16080224514007568, + 0.8440799117088318, + 1.2677059497833252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.17023156583309174, + 0.49248456954956055, + -0.3661235404951232 + ], + [ + -0.09409771859645844, + 0.9799454808235168, + -0.17564865946769714, + -0.10585161020926068 + ], + [ + -0.5125089883804321, + 0.10357628017663956, + 0.8524121642112732, + 1.2886576375407832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204773, + 0.17138928174972534, + 0.5290848016738892, + -0.4011161085537502 + ], + [ + -0.11018028855323792, + 0.9832146167755127, + -0.14542801678180695, + -0.0854407412154334 + ], + [ + -0.5451287031173706, + 0.06256769597530365, + 0.8360143303871155, + 1.3154419422319956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612305, + 0.1661430448293686, + 0.5384422540664673, + -0.4284540030360222 + ], + [ + -0.11259321868419647, + 0.9849455952644348, + -0.13116765022277832, + -0.07877814546227456 + ], + [ + -0.5521289110183716, + 0.047735460102558136, + 0.8323911428451538, + 1.321783223003149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.1421755701303482, + 0.5065333247184753, + -0.4648656987803323 + ], + [ + -0.1269027143716812, + 0.9897986650466919, + -0.06476350873708725, + -0.06012295934983662 + ], + [ + -0.5105738043785095, + -0.009204419329762459, + 0.8597846627235413, + 1.3407543142565659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525391, + 0.12768206000328064, + 0.4868294894695282, + -0.4846944010768618 + ], + [ + -0.132595032453537, + 0.9908668994903564, + -0.024523165076971054, + -0.04410890733769962 + ], + [ + -0.485514372587204, + -0.04336034879088402, + 0.8731527328491211, + 1.3520001595254456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.10844705998897552, + 0.4776364266872406, + -0.5012467404944556 + ], + [ + -0.13851292431354523, + 0.9899630546569824, + 0.028059717267751694, + -0.026342880895095212 + ], + [ + -0.4697994291782379, + -0.09062235057353973, + 0.8781093955039978, + 1.3512667536224638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.052844807505607605, + 0.4829251766204834, + -0.5029904999477522 + ], + [ + -0.09855006635189056, + 0.992685079574585, + 0.06974366307258606, + -0.021023149153483765 + ], + [ + -0.4757070541381836, + -0.10855284333229065, + 0.8728797435760498, + 1.3486790100336075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.06852293759584427, + 0.537290096282959, + -0.4955046846185412 + ], + [ + -0.10477883368730545, + 0.9938000440597534, + 0.03718654066324234, + -0.030933222536529813 + ], + [ + -0.531410813331604, + -0.08755598217248917, + 0.8425772786140442, + 1.3426146447658538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.14467664062976837, + 0.5528011322021484, + -0.49489319311720986 + ], + [ + -0.19230146706104279, + 0.9809144139289856, + 0.028759613633155823, + -0.027293680694486417 + ], + [ + -0.5380897521972656, + -0.12990626692771912, + 0.8328167796134949, + 1.3363568641628538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.17446689307689667, + 0.6060417890548706, + -0.49325753152370455 + ], + [ + -0.238027885556221, + 0.9709289073944092, + 0.02529500424861908, + -0.040722047373652454 + ], + [ + -0.5840103626251221, + -0.16388536989688873, + 0.7950304746627808, + 1.3143203834295272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.15146441757678986, + 0.6253744959831238, + -0.49005891182592937 + ], + [ + -0.17656175792217255, + 0.9840388894081116, + -0.02221343293786049, + -0.05772814772810255 + ], + [ + -0.6187573075294495, + -0.09341317415237427, + 0.7800085544586182, + 1.3057448066643307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1724855899810791, + 0.6312922239303589, + -0.5016465845108032 + ], + [ + -0.12414335459470749, + 0.9849303960800171, + -0.12041796743869781, + -0.0823706874038492 + ], + [ + -0.6425492763519287, + 0.012679804116487503, + 0.7661394476890564, + 1.2910466977613313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.17190036177635193, + 0.6263754367828369, + -0.5017388310602733 + ], + [ + -0.09708493202924728, + 0.9835876226425171, + -0.1520850509405136, + -0.10035858865295137 + ], + [ + -0.6422386169433594, + 0.05482344701886177, + 0.7645416259765625, + 1.2890832656941245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.16924382746219635, + 0.6121340394020081, + -0.5112755128826414 + ], + [ + -0.06050634756684303, + 0.9790657758712769, + -0.19434289634227753, + -0.1216644624045917 + ], + [ + -0.6322107911109924, + 0.11307834088802338, + 0.7665003538131714, + 1.280489702616419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634766, + 0.18365970253944397, + 0.610598623752594, + -0.518179111123085 + ], + [ + -0.057554930448532104, + 0.9737385511398315, + -0.2202741652727127, + -0.13206414823872703 + ], + [ + -0.6350188851356506, + 0.13454513251781464, + 0.7606895565986633, + 1.273037884601525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.18310168385505676, + 0.6242208480834961, + -0.5213873880931309 + ], + [ + -0.041914306581020355, + 0.9713501334190369, + -0.23392750322818756, + -0.1425091691698347 + ], + [ + -0.6491695642471313, + 0.1515013724565506, + 0.7454034090042114, + 1.2687100676127843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.73583984375, + 0.16783741116523743, + 0.6560261845588684, + -0.515988984465599 + ], + [ + -0.030435018241405487, + 0.9760149717330933, + -0.21556539833545685, + -0.14874959987401962 + ], + [ + -0.6764712929725647, + 0.13865543901920319, + 0.7232989072799683, + 1.2666397653222083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7091473340988159, + 0.15343397855758667, + 0.6881628632545471, + -0.512516702924456 + ], + [ + -0.024598143994808197, + 0.980823814868927, + -0.19333794713020325, + -0.16231129722935814 + ], + [ + -0.7046311497688293, + 0.12017756700515747, + 0.6993228197097778, + 1.262891709804535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.1412988007068634, + 0.6889380216598511, + -0.5102365059682301 + ], + [ + -0.010299809277057648, + 0.9815955758094788, + -0.19069351255893707, + -0.17042091032436915 + ], + [ + -0.7032033205032349, + 0.1284707933664322, + 0.699285626411438, + 1.2583178283572196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.14272023737430573, + 0.6817785501480103, + -0.5078421425478798 + ], + [ + -0.005622163414955139, + 0.9799388647079468, + -0.19921892881393433, + -0.17652941063472202 + ], + [ + -0.6965339183807373, + 0.1391068696975708, + 0.7039103507995605, + 1.2566789405005319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7165511846542358, + 0.15290018916130066, + 0.6805703043937683, + -0.5053619212252753 + ], + [ + -0.026668570935726166, + 0.9809715151786804, + -0.19231128692626953, + -0.1790579502241952 + ], + [ + -0.6970245242118835, + 0.11965104937553406, + 0.7069939374923706, + 1.264010316661426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.1482444703578949, + 0.6631469130516052, + -0.5005549317768642 + ], + [ + -0.037848759442567825, + 0.9833126068115234, + -0.1779431700706482, + -0.18249392141614643 + ], + [ + -0.6784598231315613, + 0.105450838804245, + 0.7270298004150391, + 1.2775450004509517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.16057254374027252, + 0.6456099152565002, + -0.496904094346932 + ], + [ + -0.058937277644872665, + 0.9825836420059204, + -0.1762266457080841, + -0.1887511054107121 + ], + [ + -0.662662923336029, + 0.09351947903633118, + 0.7430558800697327, + 1.2805983234303338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1336606740951538, + 0.6435877084732056, + -0.4811615662574768 + ], + [ + -0.029247593134641647, + 0.9849565625190735, + -0.17030882835388184, + -0.19865974950790405 + ], + [ + -0.6566694974899292, + 0.109523244202137, + 0.7461835145950317, + 1.2670561168193817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.12160331010818481, + 0.6562492847442627, + -0.47275117567607333 + ], + [ + -0.009480360895395279, + 0.9850897789001465, + -0.17177973687648773, + -0.20128018168040684 + ], + [ + -0.6673533916473389, + 0.12169958651065826, + 0.7347302436828613, + 1.2621129930274828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.12608471512794495, + 0.6632641553878784, + -0.46832121964863366 + ], + [ + -0.02282728999853134, + 0.9865032434463501, + -0.16214288771152496, + -0.20392117326600212 + ], + [ + -0.6747559309005737, + 0.10447032749652863, + 0.7306095957756042, + 1.2659702187776565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.12672460079193115, + 0.663916289806366, + -0.46580689971787587 + ], + [ + -0.028620939701795578, + 0.9872366786003113, + -0.15666703879833221, + -0.20700781122275763 + ], + [ + -0.6752961277961731, + 0.09646032750606537, + 0.73121178150177, + 1.2693003991927418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.1308019757270813, + 0.6597727537155151, + -0.46404643416404723 + ], + [ + -0.035178475081920624, + 0.9870927333831787, + -0.15623839199543, + -0.20957293101719449 + ], + [ + -0.6716932058334351, + 0.09240563213825226, + 0.7350438237190247, + 1.2723920667171478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.745140552520752, + 0.13616037368774414, + 0.6528597474098206, + -0.46068196763311114 + ], + [ + -0.04192494601011276, + 0.9865636229515076, + -0.1579066663980484, + -0.2106804039137704 + ], + [ + -0.6655883193016052, + 0.09029155969619751, + 0.7408370971679688, + 1.2762503010545458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.14112858474254608, + 0.6472257375717163, + -0.4558799751996994 + ], + [ + -0.04933154955506325, + 0.9862144589424133, + -0.1579476147890091, + -0.21080248171942575 + ], + [ + -0.6605943441390991, + 0.08639314770698547, + 0.7457555532455444, + 1.280832322563444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.14414788782596588, + 0.6431073546409607, + -0.45066144520044327 + ], + [ + -0.055480580776929855, + 0.9861721992492676, + -0.15616124868392944, + -0.2111675777435303 + ], + [ + -0.6567248702049255, + 0.08176682889461517, + 0.7496843934059143, + 1.2862992578148842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.14556653797626495, + 0.636434018611908, + -0.4439024501187461 + ], + [ + -0.061389338225126266, + 0.9863881468772888, + -0.15254445374011993, + -0.21185150599479674 + ], + [ + -0.6499763131141663, + 0.07647773623466492, + 0.7560965418815613, + 1.2932528140204294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032837, + 0.1454291194677353, + 0.6266437768936157, + -0.4363935708573886 + ], + [ + -0.06544648110866547, + 0.9866658449172974, + -0.1490209698677063, + -0.21335962465831212 + ], + [ + -0.6399600505828857, + 0.07308121025562286, + 0.7649250030517578, + 1.299528787774699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.1440925896167755, + 0.6165453791618347, + -0.42742620400020054 + ], + [ + -0.06753703206777573, + 0.9869939088821411, + -0.14588287472724915, + -0.21542371715818134 + ], + [ + -0.6295471787452698, + 0.07127682864665985, + 0.7736859917640686, + 1.3052563815287181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.13998255133628845, + 0.6081311702728271, + -0.41743729531764984 + ], + [ + -0.06584182381629944, + 0.9875703454017639, + -0.1427225023508072, + -0.21815197389466423 + ], + [ + -0.6205509901046753, + 0.07148247957229614, + 0.7809012532234192, + 1.3099983229296548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.13279315829277039, + 0.6052546501159668, + -0.40718500668661933 + ], + [ + -0.06041157245635986, + 0.9885125756263733, + -0.13854005932807922, + -0.22204468299661365 + ], + [ + -0.6166989803314209, + 0.0721726045012474, + 0.7838835716247559, + 1.3127077591248921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.1257798820734024, + 0.60993891954422, + -0.39751658443893706 + ], + [ + -0.05348119139671326, + 0.9893442988395691, + -0.13541647791862488, + -0.22646319242886134 + ], + [ + -0.620472252368927, + 0.07332996279001236, + 0.7807924747467041, + 1.3146791522460324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.12104804813861847, + 0.6155020594596863, + -0.3884667736291885 + ], + [ + -0.04740018770098686, + 0.9897552728652954, + -0.13467614352703094, + -0.23164305210113526 + ], + [ + -0.6254987120628357, + 0.07570873200893402, + 0.776543378829956, + 1.3160788255929947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.11858713626861572, + 0.6206338405609131, + -0.37997218206950595 + ], + [ + -0.04306604340672493, + 0.9898609519004822, + -0.13535372912883759, + -0.23608100221838269 + ], + [ + -0.6303924322128296, + 0.07818187773227692, + 0.7723296284675598, + 1.316859215608665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.11547547578811646, + 0.6275071501731873, + -0.3707571865490505 + ], + [ + -0.037941500544548035, + 0.9900326132774353, + -0.13563118875026703, + -0.2399349502835955 + ], + [ + -0.6369146704673767, + 0.08062747865915298, + 0.7667065858840942, + 1.3164311568055833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.11303699016571045, + 0.6334064602851868, + -0.3615859681538173 + ], + [ + -0.03384670615196228, + 0.9901584386825562, + -0.13579630851745605, + -0.24348619396345955 + ], + [ + -0.6425227522850037, + 0.0825159028172493, + 0.7618107795715332, + 1.317051129336868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.11086848378181458, + 0.6373112797737122, + -0.3520833048820496 + ], + [ + -0.030093934386968613, + 0.9902170896530151, + -0.13625141978263855, + -0.24675218510627747 + ], + [ + -0.6461824774742126, + 0.08472467958927155, + 0.7584655284881592, + 1.3165524729830878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.10702851414680481, + 0.6431562900543213, + -0.3414674414055688 + ], + [ + -0.02442311868071556, + 0.9904047250747681, + -0.13602215051651, + -0.2485411354473659 + ], + [ + -0.6515432596206665, + 0.08742660284042358, + 0.7535569071769714, + 1.3160705694130488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.10158804059028625, + 0.6501113176345825, + -0.3313797185080392 + ], + [ + -0.017815619707107544, + 0.9907956719398499, + -0.13418859243392944, + -0.24965001065390452 + ], + [ + -0.657759428024292, + 0.0894642025232315, + 0.7478961944580078, + 1.3164941931111471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.09570881724357605, + 0.6551191806793213, + -0.32101345121860503 + ], + [ + -0.013322986662387848, + 0.9914758801460266, + -0.12960730493068695, + -0.2507987630367279 + ], + [ + -0.6619393825531006, + 0.08840461820363998, + 0.7443257570266724, + 1.3168125111758708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.085726797580719, + 0.6633638143539429, + -0.3103092711653028 + ], + [ + -0.006847213953733444, + 0.9926762580871582, + -0.12061097472906113, + -0.25232651257514954 + ], + [ + -0.6688450574874878, + 0.0851164385676384, + 0.7385130524635315, + 1.3161316661749567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.07395096123218536, + 0.6733105778694153, + -0.30254032301051276 + ], + [ + 0.003801446408033371, + 0.9935560822486877, + -0.11327755451202393, + -0.25562474284853254 + ], + [ + -0.677348792552948, + 0.0858924388885498, + 0.73063063621521, + 1.3136288832255771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.072268545627594, + 0.6801671385765076, + -0.30048039385250636 + ], + [ + 0.012050924822688103, + 0.9928904175758362, + -0.11842051148414612, + -0.2578997428076608 + ], + [ + -0.6838894486427307, + 0.09458276629447937, + 0.7234288454055786, + 1.311528262410845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416382, + 0.08294961601495743, + 0.6780981421470642, + -0.3023961272793157 + ], + [ + 0.011849276721477509, + 0.9909136891365051, + -0.13397639989852905, + -0.25767540890829904 + ], + [ + -0.6830499768257141, + 0.10587465763092041, + 0.7226570844650269, + 1.308368177345821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390625, + 0.10026845335960388, + 0.6739415526390076, + -0.3043945300919669 + ], + [ + 0.004307657480239868, + 0.9884120225906372, + -0.15173354744911194, + -0.25556236340318406 + ], + [ + -0.6813459992408752, + 0.11396431177854538, + 0.7230351567268372, + 1.3065343476108142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.11133722960948944, + 0.6776542067527771, + -0.3061946446980749 + ], + [ + 0.0013496428728103638, + 0.9865368008613586, + -0.1635337620973587, + -0.2528256153379168 + ], + [ + -0.6867381930351257, + 0.11978787928819656, + 0.7169668674468994, + 1.3041326082987446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.11511974781751633, + 0.6840636730194092, + -0.306352982878685 + ], + [ + 0.002270229160785675, + 0.9857369065284729, + -0.16827817261219025, + -0.25062112259864805 + ], + [ + -0.6936789751052856, + 0.12276051193475723, + 0.7097460031509399, + 1.3057099686861038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.11353930830955505, + 0.6849480271339417, + -0.30521902007716045 + ], + [ + 0.0035201720893383026, + 0.9859286546707153, + -0.16712959110736847, + -0.24853898303849356 + ], + [ + -0.6942856907844543, + 0.1226927787065506, + 0.7091642022132874, + 1.3096080106922559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.10871295630931854, + 0.6842870712280273, + -0.30306704008579255 + ], + [ + 0.005068447440862656, + 0.9867600202560425, + -0.16210779547691345, + -0.24662203945432393 + ], + [ + -0.6928503513336182, + 0.12035829573869705, + 0.7109657526016235, + 1.3146799178549222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.10231171548366547, + 0.6811534762382507, + -0.3004960034659931 + ], + [ + 0.005377601832151413, + 0.9880359172821045, + -0.1541299819946289, + -0.24458357449940274 + ], + [ + -0.6887734532356262, + 0.11540054529905319, + 0.7157331705093384, + 1.3221957789446626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032104, + 0.09357401728630066, + 0.6753170490264893, + -0.29661387927191596 + ], + [ + 0.005032200366258621, + 0.9897680878639221, + -0.14259666204452515, + -0.2434166725703648 + ], + [ + -0.6817506551742554, + 0.10771739482879639, + 0.7236111164093018, + 1.3292320822307042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.08713700622320175, + 0.6687716245651245, + -0.2934876018720014 + ], + [ + 0.0022234320640563965, + 0.9912983775138855, + -0.13161508738994598, + -0.24304794892242976 + ], + [ + -0.6744208335876465, + 0.09866416454315186, + 0.7317253351211548, + 1.338278750351497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268921, + 0.0819198340177536, + 0.661016583442688, + -0.2883535472835813 + ], + [ + -0.002202838659286499, + 0.9927059412002563, + -0.12054046988487244, + -0.2415982324736459 + ], + [ + -0.666069746017456, + 0.08845336735248566, + 0.7406261563301086, + 1.3508224448987416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.07515870779752731, + 0.6547895073890686, + -0.2840787828862667 + ], + [ + -0.005974471569061279, + 0.9942134022712708, + -0.10725676268339157, + -0.24370845651626588 + ], + [ + -0.6590617299079895, + 0.07675204426050186, + 0.7481622099876404, + 1.3563461510837078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.06682216376066208, + 0.650288999080658, + -0.27933512903962815 + ], + [ + -0.006495116278529167, + 0.9954813718795776, + -0.09473494440317154, + -0.24519726768561773 + ], + [ + -0.6536809802055359, + 0.06746625155210495, + 0.7537569403648376, + 1.3617809186492646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.05733489617705345, + 0.6438463926315308, + -0.27519200288185053 + ], + [ + -0.004429847002029419, + 0.9964988231658936, + -0.08348912000656128, + -0.24750414977754867 + ], + [ + -0.6463789939880371, + 0.0608503632247448, + 0.7605862617492676, + 1.3663775011152028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.04943409934639931, + 0.6365248560905457, + -0.270587672740221 + ], + [ + -0.0010506212711334229, + 0.9970945715904236, + -0.07616645842790604, + -0.24878131573540824 + ], + [ + -0.6384406685829163, + 0.057954318821430206, + 0.767486035823822, + 1.371674713415759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.04127850383520126, + 0.6309370398521423, + -0.2669988239024367 + ], + [ + 0.005434446036815643, + 0.9973950982093811, + -0.07192674279212952, + -0.25027960274900707 + ], + [ + -0.6322625279426575, + 0.05915297567844391, + 0.7724927663803101, + 1.3759351759723255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.03469128534197807, + 0.622523307800293, + -0.2636321860040937 + ], + [ + 0.010678560473024845, + 0.9975593686103821, + -0.0690021738409996, + -0.25117825862339566 + ], + [ + -0.623397707939148, + 0.06059575825929642, + 0.7795534133911133, + 1.3787175825663975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.027961822226643562, + 0.6155270934104919, + -0.25894962169549296 + ], + [ + 0.015199368819594383, + 0.9977840781211853, + -0.06477567553520203, + -0.2510023532765252 + ], + [ + -0.6159743666648865, + 0.06037421524524689, + 0.7854492664337158, + 1.3823335037486895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.01998138800263405, + 0.6103324294090271, + -0.25380220982432367 + ], + [ + 0.019530203193426132, + 0.9981245398521423, + -0.05801715701818466, + -0.2511233273744583 + ], + [ + -0.6103470921516418, + 0.05786331743001938, + 0.7900179028511047, + 1.3877995025515557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.012407150119543076, + 0.6057325601577759, + -0.24894060275597232 + ], + [ + 0.02223769947886467, + 0.9985185861587524, + -0.04965963587164879, + -0.2517325908115932 + ], + [ + -0.6054513454437256, + 0.05297789350152016, + 0.7941171526908875, + 1.3937310036697559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400513, + 0.006813941057771444, + 0.5993016362190247, + -0.24415803027472327 + ], + [ + 0.022084321826696396, + 0.9989209771156311, + -0.04085582494735718, + -0.25270759165287016 + ], + [ + -0.5989333987236023, + 0.04594002664089203, + 0.7994800806045532, + 1.4002490869590214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409912, + 0.003537162207067013, + 0.5950278639793396, + -0.23906065411812494 + ], + [ + 0.02030157297849655, + 0.9992371797561646, + -0.033361103385686874, + -0.25329952897344316 + ], + [ + -0.5946919322013855, + 0.0388922281563282, + 0.8030123710632324, + 1.4061665080423866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.00019095931202173233, + 0.5924656391143799, + -0.23423831068085774 + ], + [ + 0.01952366530895233, + 0.999448299407959, + -0.02686913311481476, + -0.25402549062456403 + ], + [ + -0.5921438932418823, + 0.03321275860071182, + 0.8051475286483765, + 1.4111687047907284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.0016304003074765205, + 0.591600775718689, + -0.23025289455322281 + ], + [ + 0.019058510661125183, + 0.9995487332344055, + -0.02321813628077507, + -0.2551338160889489 + ], + [ + -0.5912959575653076, + 0.0299941748380661, + 0.8058966994285583, + 1.415088533290795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.805838942527771, + -0.0006570005789399147, + 0.592134416103363, + -0.2274560296663216 + ], + [ + 0.01771843433380127, + 0.9995783567428589, + -0.023004036396741867, + -0.25665432701792035 + ], + [ + -0.5918696522712708, + 0.0290292426943779, + 0.8055108189582825, + 1.4175160235336848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.0018861819989979267, + 0.5929752588272095, + -0.22455119746737182 + ], + [ + 0.015192830935120583, + 0.9996010661125183, + -0.023810401558876038, + -0.25841862738132476 + ], + [ + -0.5927835702896118, + 0.028181549161672592, + 0.8048685789108276, + 1.4199030115455389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.005308737978339195, + 0.5961012840270996, + -0.22165890606599195 + ], + [ + 0.011914195492863655, + 0.9996176958084106, + -0.024949651211500168, + -0.2607931456225259 + ], + [ + -0.5960057973861694, + 0.027133934199810028, + 0.8025215268135071, + 1.4215235683321952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.010189252905547619, + 0.6008484959602356, + -0.218223837384688 + ], + [ + 0.006486645899713039, + 0.9996517300605774, + -0.025581270456314087, + -0.26342838486603326 + ], + [ + -0.600899875164032, + 0.0243445485830307, + 0.7989534735679626, + 1.4226780649168151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.011551767587661743, + 0.6095070838928223, + -0.21541617093767437 + ], + [ + 0.003120924811810255, + 0.9997304677963257, + -0.023006461560726166, + -0.2679000842400959 + ], + [ + -0.60960853099823, + 0.020139366388320923, + 0.7924467325210571, + 1.4234392537389482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.011629345826804638, + 0.6185575723648071, + -0.21450256967917083 + ], + [ + 0.00494848657399416, + 0.9996731877326965, + -0.025079868733882904, + -0.2707504999467305 + ], + [ + -0.6186470985412598, + 0.022765010595321655, + 0.7853391170501709, + 1.4216454624618802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914246, + 0.016198858618736267, + 0.6225465536117554, + -0.2168989655801228 + ], + [ + 0.0066249435767531395, + 0.999388575553894, + -0.03433062508702278, + -0.274607811825616 + ], + [ + -0.6227220296859741, + 0.030985135585069656, + 0.7818294167518616, + 1.4200058026186058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511108, + 0.026653781533241272, + 0.6206187605857849, + -0.22047740225281034 + ], + [ + 0.002055118791759014, + 0.9989623427391052, + -0.04549755901098251, + -0.27335379215649197 + ], + [ + -0.6211875081062317, + 0.03693003207445145, + 0.7827913761138916, + 1.414331360310316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.03707797825336456, + 0.6224811673164368, + -0.2233462438583374 + ], + [ + -0.005708340555429459, + 0.9986144304275513, + -0.05231335386633873, + -0.27273980259895325 + ], + [ + -0.6235583424568176, + 0.037342946976423264, + 0.7808845043182373, + 1.4132674524784088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.04220186918973923, + 0.6274511814117432, + -0.22617757323384285 + ], + [ + -0.00994909554719925, + 0.9984463453292847, + -0.054826200008392334, + -0.2710581830569676 + ], + [ + -0.6287901401519775, + 0.0363854244351387, + 0.7767232656478882, + 1.4102327002074038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.04268907383084297, + 0.6328980922698975, + -0.22821042315023285 + ], + [ + -0.010104116052389145, + 0.9984350800514221, + -0.05500286817550659, + -0.2696731513398034 + ], + [ + -0.6342556476593018, + 0.03612550348043442, + 0.772278904914856, + 1.4097224394679069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.040155068039894104, + 0.639006495475769, + -0.22993718526193074 + ], + [ + -0.007285444065928459, + 0.9985149502754211, + -0.053988661617040634, + -0.2674827125242778 + ], + [ + -0.6402255296707153, + 0.036816079169511795, + 0.7673043012619019, + 1.4097529751594577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.03601080924272537, + 0.6457105875015259, + -0.23129655430998122 + ], + [ + -0.0027196016162633896, + 0.9986183047294617, + -0.05247975140810013, + -0.265702571102551 + ], + [ + -0.6467082500457764, + 0.0382719486951828, + 0.7617766857147217, + 1.4098514412811824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.03305539861321449, + 0.6532780528068542, + -0.23451065846213273 + ], + [ + 0.0010118745267391205, + 0.998661994934082, + -0.05170317366719246, + -0.26435940967287336 + ], + [ + -0.6541129946708679, + 0.039769116789102554, + 0.755350649356842, + 1.4095617477446793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.03392140194773674, + 0.6621549129486084, + -0.24034375255874224 + ], + [ + 0.002848452888429165, + 0.9985166192054749, + -0.054373130202293396, + -0.26282576397487095 + ], + [ + -0.6630171537399292, + 0.042589783668518066, + 0.7473918199539185, + 1.408112628664289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966064, + 0.0397893562912941, + 0.6730932593345642, + -0.24839414444565772 + ], + [ + 0.002231152728199959, + 0.9981076717376709, + -0.061450231820344925, + -0.26136015796661377 + ], + [ + -0.6742646098136902, + 0.046881940215826035, + 0.7370002269744873, + 1.4061650458723307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109741, + 0.049554504454135895, + 0.685396671295166, + -0.25840692928859166 + ], + [ + -0.001142272725701332, + 0.9974822402000427, + -0.07090769708156586, + -0.25992719190461294 + ], + [ + -0.6871848106384277, + 0.05073024332523346, + 0.7247092723846436, + 1.4037879715647017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.059891149401664734, + 0.6987503170967102, + -0.2728144055349486 + ], + [ + -0.006626000627875328, + 0.9968775510787964, + -0.07868443429470062, + -0.2588804531948907 + ], + [ + -0.7012810111045837, + 0.05146060883998871, + 0.7110251188278198, + 1.401242519932134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.06956323981285095, + 0.7127651572227478, + -0.28654572214399066 + ], + [ + -0.012291919440031052, + 0.9962882399559021, + -0.08519771695137024, + -0.2561730034351349 + ], + [ + -0.716046154499054, + 0.0507020503282547, + 0.696209192276001, + 1.4012588436773845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.07782904803752899, + 0.7261784672737122, + -0.2978008034995624 + ], + [ + -0.0173418577760458, + 0.9957537651062012, + -0.0904083251953125, + -0.2535029027462006 + ], + [ + -0.7301313281059265, + 0.049163445830345154, + 0.6815358996391296, + 1.3983106930851936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821777, + 0.08739078044891357, + 0.7402608394622803, + -0.31043698791095187 + ], + [ + -0.025170691311359406, + 0.995176374912262, + -0.09481801092624664, + -0.2519660195623125 + ], + [ + -0.744976282119751, + 0.0445743203163147, + 0.665600061416626, + 1.3974728995731898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.09310662746429443, + 0.753730297088623, + -0.32266211083957125 + ], + [ + -0.029684361070394516, + 0.9948155879974365, + -0.09726637601852417, + -0.24963943447385517 + ], + [ + -0.7588788270950317, + 0.04090312123298645, + 0.6499460339546204, + 1.3971157563584191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.0942610651254654, + 0.7655285000801086, + -0.3334783347845077 + ], + [ + -0.030780717730522156, + 0.9948177933692932, + -0.09690285474061966, + -0.24661005473136902 + ], + [ + -0.7706955075263977, + 0.038111262023448944, + 0.6360629200935364, + 1.3968979797959327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.09133201837539673, + 0.7758888006210327, + -0.34288838400159566 + ], + [ + -0.02819773182272911, + 0.9951298236846924, + -0.09445364773273468, + -0.2434064964226314 + ], + [ + -0.7807366847991943, + 0.03708188608288765, + 0.623758852481842, + 1.3970401929723364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954834, + 0.08540842682123184, + 0.7850309610366821, + -0.3514004673276629 + ], + [ + -0.023606853559613228, + 0.9956731796264648, + -0.08987560123205185, + -0.23992953758580343 + ], + [ + -0.7893104553222656, + 0.036610208451747894, + 0.6129019856452942, + 1.3970934382847378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.07984350621700287, + 0.7932844758033752, + -0.35895461442640847 + ], + [ + -0.020423011854290962, + 0.9961948990821838, + -0.08472685515880585, + -0.23578778788021632 + ], + [ + -0.7970308661460876, + 0.03493928909301758, + 0.6029270887374878, + 1.3978099742616925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.07579241693019867, + 0.8007444143295288, + -0.3659491333791188 + ], + [ + -0.0202743262052536, + 0.9966453909873962, + -0.07929037511348724, + -0.23113446533679963 + ], + [ + -0.804067850112915, + 0.03087913990020752, + 0.5937351584434509, + 1.3983332572664533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.07393410056829453, + 0.8076926469802856, + -0.37245663564971515 + ], + [ + -0.023839903995394707, + 0.9969736337661743, + -0.07399497926235199, + -0.2259802018574306 + ], + [ + -0.8107190132141113, + 0.024028053507208824, + 0.5849422812461853, + 1.3995149910950235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.0707332044839859, + 0.8156781792640686, + -0.3788997266973768 + ], + [ + -0.02774665132164955, + 0.9973699450492859, + -0.06695778667926788, + -0.22077434657301223 + ], + [ + -0.8182690739631653, + 0.01581251062452793, + 0.5746179819107056, + 1.4003492332313743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436523, + 0.06718616932630539, + 0.8239855766296387, + -0.38674318566918375 + ], + [ + -0.030379461124539375, + 0.9976992607116699, + -0.06060749292373657, + -0.2138247082233429 + ], + [ + -0.8261617422103882, + 0.009066363796591759, + 0.5633601546287537, + 1.4018229106590152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.0605977401137352, + 0.8284255266189575, + -0.3924251326237406 + ], + [ + -0.027788326144218445, + 0.998136043548584, + -0.05433431267738342, + -0.2102430078302111 + ], + [ + -0.8301739692687988, + 0.007233412936329842, + 0.5574575662612915, + 1.4021957848689386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447021, + 0.0529155358672142, + 0.8308990597724915, + -0.3976160007076604 + ], + [ + -0.02377297542989254, + 0.9985765814781189, + -0.04774627089500427, + -0.20787986389228277 + ], + [ + -0.8322427868843079, + 0.006693793460726738, + 0.5543709993362427, + 1.4020507698559335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.04466269910335541, + 0.8347319960594177, + -0.402014943259103 + ], + [ + -0.018322572112083435, + 0.9989745020866394, + -0.04140334948897362, + -0.20649829706123898 + ], + [ + -0.8357251286506653, + 0.007429473102092743, + 0.5490977764129639, + 1.4008272430215563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.039000529795885086, + 0.8392189145088196, + -0.4079908092639276 + ], + [ + -0.014011972583830357, + 0.9992029070854187, + -0.03737932816147804, + -0.20654633184841703 + ], + [ + -0.8400078415870667, + 0.0085151931270957, + 0.542507529258728, + 1.3992621902360447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.037511080503463745, + 0.8418089151382446, + -0.41575159335136413 + ], + [ + -0.011795873753726482, + 0.99924635887146, + -0.03698116913437843, + -0.2075413315977369 + ], + [ + -0.8425617218017578, + 0.009983401745557785, + 0.538507342338562, + 1.397650833508798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.04023795202374458, + 0.8424282073974609, + -0.4240976395926305 + ], + [ + -0.010700724087655544, + 0.9991061091423035, + -0.040896590799093246, + -0.20919532234328134 + ], + [ + -0.8433207273483276, + 0.0129593126475811, + 0.5372543334960938, + 1.3951922980355365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767334, + 0.045516762882471085, + 0.8431676626205444, + -0.432669852077961 + ], + [ + -0.010955527424812317, + 0.9988366961479187, + -0.04695947468280792, + -0.21143847227096557 + ], + [ + -0.8443242311477661, + 0.01591981202363968, + 0.5355960130691528, + 1.3925433629751205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.05082269012928009, + 0.8445265889167786, + -0.4410451827134405 + ], + [ + -0.011070739477872849, + 0.9985277056694031, + -0.053102053701877594, + -0.21382391844476972 + ], + [ + -0.845982015132904, + 0.018958987668156624, + 0.532874345779419, + 1.3904639433654291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095581, + 0.055733662098646164, + 0.8462933897972107, + -0.44965369046160153 + ], + [ + -0.010763686150312424, + 0.998199999332428, + -0.05899941176176071, + -0.21660732078552247 + ], + [ + -0.84805828332901, + 0.02214827574789524, + 0.5294398665428162, + 1.3881057749582189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.060352012515068054, + 0.8465580940246582, + -0.4576490450331143 + ], + [ + -0.009884199127554893, + 0.9978387951850891, + -0.06496209651231766, + -0.21926095148495267 + ], + [ + -0.8486491441726685, + 0.025988563895225525, + 0.5283174514770508, + 1.3866024782913071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.06465776264667511, + 0.8463590145111084, + -0.46454713766915456 + ], + [ + -0.009668562561273575, + 0.9974886178970337, + -0.07016392797231674, + -0.2212558195590973 + ], + [ + -0.8487701416015625, + 0.028910748660564423, + 0.527971088886261, + 1.3859724988256181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.06922449916601181, + 0.846060574054718, + -0.4703723084713731 + ], + [ + -0.011588459834456444, + 0.9971650242805481, + -0.07434799522161484, + -0.2226952760560172 + ], + [ + -0.8488087058067322, + 0.029493816196918488, + 0.5278768539428711, + 1.3855920008889266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.07206359505653381, + 0.8454700708389282, + -0.4751531692573002 + ], + [ + -0.013987669721245766, + 0.9969925880432129, + -0.0762244164943695, + -0.22395418235233852 + ], + [ + -0.8484203815460205, + 0.02850710041821003, + 0.5285549163818359, + 1.3856021544571433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.07331778109073639, + 0.845229983329773, + -0.4783198078274727 + ], + [ + -0.01589363068342209, + 0.996941089630127, + -0.07652381807565689, + -0.22498942995071414 + ], + [ + -0.8482550382614136, + 0.027074074372649193, + 0.5288954973220825, + 1.3853457499817015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.07381334900856018, + 0.8455305099487305, + -0.48135785920279367 + ], + [ + -0.016490193083882332, + 0.9969165921211243, + -0.07671602070331573, + -0.22600784361362458 + ], + [ + -0.8485860824584961, + 0.026624489575624466, + 0.5283870100975037, + 1.3848932520917483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.07486776262521744, + 0.8453223705291748, + -0.48376736712881496 + ], + [ + -0.015686916187405586, + 0.9967933297157288, + -0.07846657186746597, + -0.2265656146151679 + ], + [ + -0.8484863042831421, + 0.028247127309441566, + 0.5284630060195923, + 1.3842669788332922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.07563894987106323, + 0.8456615805625916, + -0.48601403066090176 + ], + [ + -0.012755099684000015, + 0.9966184496879578, + -0.08117222785949707, + -0.22683377606528146 + ], + [ + -0.8489417433738708, + 0.03209943324327469, + 0.5275107026100159, + 1.3826617898685591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.07548543065786362, + 0.8455944061279297, + -0.48813374524882863 + ], + [ + -0.00785839557647705, + 0.9964314699172974, + -0.08403933793306351, + -0.22673011663981846 + ], + [ + -0.8489205837249756, + 0.03776659071445465, + 0.527169406414032, + 1.3798792241045408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.07426562905311584, + 0.8455573916435242, + -0.48964997754778183 + ], + [ + -0.001545831561088562, + 0.9962476491928101, + -0.08653426915407181, + -0.22635136796746935 + ], + [ + -0.8488110899925232, + 0.04444306343793869, + 0.5268250107765198, + 1.3768189330441611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.07352326065301895, + 0.8461398482322693, + -0.49138876848987173 + ], + [ + 0.005914658308029175, + 0.995903730392456, + -0.09022649377584457, + -0.2263534269503185 + ], + [ + -0.8493075966835022, + 0.052632056176662445, + 0.5252680778503418, + 1.3738424108922482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.07322097569704056, + 0.8468546867370605, + -0.49344993132352827 + ], + [ + 0.011033521965146065, + 0.9956100583076477, + -0.09294576942920685, + -0.22652624368667604 + ], + [ + -0.8499425649642944, + 0.058303892612457275, + 0.5236395001411438, + 1.3714248194694518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.07066094130277634, + 0.8480715751647949, + -0.4948733977121966 + ], + [ + 0.012927105650305748, + 0.9957695603370667, + -0.09097189456224442, + -0.22654349395206996 + ], + [ + -0.8509119749069214, + 0.058736927807331085, + 0.5220141410827637, + 1.3713879575261048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278198, + 0.06957677006721497, + 0.849164605140686, + -0.49626170744214737 + ], + [ + 0.008596707135438919, + 0.9961779713630676, + -0.08692242205142975, + -0.22756009469713484 + ], + [ + -0.8519668579101562, + 0.05280609428882599, + 0.5209261178970337, + 1.373249223470688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.07382387667894363, + 0.8483970761299133, + -0.49835303111161505 + ], + [ + -0.002200312912464142, + 0.996349573135376, + -0.08533859997987747, + -0.22904702949523925 + ], + [ + -0.8516001105308533, + 0.04286668449640274, + 0.5224363803863525, + 1.3757180544606278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.525605320930481, + 0.08189307153224945, + 0.8467777967453003, + -0.5026614040817533 + ], + [ + -0.01534353569149971, + 0.9961066246032715, + -0.08681095391511917, + -0.23023117884567806 + ], + [ + -0.8505902290344238, + 0.03263574093580246, + 0.5248154997825623, + 1.3787538553561483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.08889098465442657, + 0.8429223299026489, + -0.5077651254364423 + ], + [ + -0.02570650726556778, + 0.9957157969474792, + -0.08882102370262146, + -0.23154727351665497 + ], + [ + -0.8472064733505249, + 0.025463547557592392, + 0.5306532382965088, + 1.3827871771348375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656494, + 0.0957251563668251, + 0.8330931663513184, + -0.5126950403622219 + ], + [ + -0.033817730844020844, + 0.9951630234718323, + -0.09223300963640213, + -0.23238339253834317 + ], + [ + -0.8378925323486328, + 0.022074006497859955, + 0.5453888177871704, + 1.386718053136553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.10160455107688904, + 0.8230347633361816, + -0.5142121325731277 + ], + [ + -0.03878560662269592, + 0.9945821166038513, + -0.09644736349582672, + -0.2330845801830292 + ], + [ + -0.8283751010894775, + 0.021975718438625336, + 0.5597425699234009, + 1.3881532188355923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.10144573450088501, + 0.8163431286811829, + -0.51793983234678 + ], + [ + -0.03442546725273132, + 0.9944319725036621, + -0.09959900379180908, + -0.23468357026576997 + ], + [ + -0.8219016194343567, + 0.028527840971946716, + 0.5689147710800171, + 1.3895873827423368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.09669722616672516, + 0.8022363185882568, + -0.5194630391512598 + ], + [ + -0.02457161247730255, + 0.994498610496521, + -0.10182727873325348, + -0.23735397659029278 + ], + [ + -0.8076692819595337, + 0.040276605635881424, + 0.5882585048675537, + 1.389295497010861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.08511510491371155, + 0.793985903263092, + -0.5153903057915824 + ], + [ + -0.01131240651011467, + 0.9951122999191284, + -0.098099485039711, + -0.2390822949920382 + ], + [ + -0.7984549403190613, + 0.0500689335167408, + 0.5999691486358643, + 1.386434815977301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544312, + 0.0724201649427414, + 0.7922754883766174, + -0.5128284673605646 + ], + [ + 0.004881802946329117, + 0.9954911470413208, + -0.09472878277301788, + -0.2418767635311399 + ], + [ + -0.7955635190010071, + 0.06125922501087189, + 0.6027653217315674, + 1.3846157184243202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.06573612987995148, + 0.7926512956619263, + -0.5100682393312455 + ], + [ + 0.01660158857703209, + 0.9953160285949707, + -0.09523835778236389, + -0.2446942789043699 + ], + [ + -0.7951991558074951, + 0.07088525593280792, + 0.6021907329559326, + 1.382653382727078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.0635758638381958, + 0.7964771389961243, + -0.5070286748068673 + ], + [ + 0.02113236114382744, + 0.9952152967453003, + -0.09539373219013214, + -0.24800880684171406 + ], + [ + -0.7987309098243713, + 0.0741933286190033, + 0.5970965623855591, + 1.3833767515420914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.06489643454551697, + 0.799883246421814, + -0.5056641116142273 + ], + [ + 0.019521823152899742, + 0.9952563047409058, + -0.09530895203351974, + -0.2494853276014328 + ], + [ + -0.8022741079330444, + 0.07248000055551529, + 0.5925395488739014, + 1.3861946337223052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.06690725684165955, + 0.8006613254547119, + -0.5047134231669562 + ], + [ + 0.0153118334710598, + 0.9954007863998413, + -0.09456649422645569, + -0.24995136690139771 + ], + [ + -0.8033061027526855, + 0.0685615986585617, + 0.5916067957878113, + 1.3895902941993306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.06888251006603241, + 0.8000494241714478, + -0.503229427252497 + ], + [ + 0.009839741513133049, + 0.9956128001213074, + -0.09304984658956528, + -0.24981698376791817 + ], + [ + -0.8029489517211914, + 0.0633268877863884, + 0.592674195766449, + 1.394795935196536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.07167219370603561, + 0.7971280217170715, + -0.5020015542379448 + ], + [ + 0.003971986472606659, + 0.9957034587860107, + -0.09251416474580765, + -0.24886250741141183 + ], + [ + -0.8003337979316711, + 0.05863227695226669, + 0.5966809391975403, + 1.4016837947666645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.07368713617324829, + 0.7914780378341675, + -0.5005837791306632 + ], + [ + -0.0028383247554302216, + 0.9958885908126831, + -0.09054207056760788, + -0.2478370580843517 + ], + [ + -0.7948957681655884, + 0.05268897861242294, + 0.6044540405273438, + 1.4098854033436095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.07392972707748413, + 0.7843143939971924, + -0.49922299231801714 + ], + [ + -0.010078910738229752, + 0.9962449073791504, + -0.08599112927913666, + -0.2462606214795794 + ], + [ + -0.7877265214920044, + 0.04506056383252144, + 0.6143748760223389, + 1.4195938651710749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852783, + 0.07217749953269958, + 0.7749629020690918, + -0.49770157252039227 + ], + [ + -0.01739228144288063, + 0.9967432618141174, + -0.07874224334955215, + -0.24466201315607344 + ], + [ + -0.7781224250793457, + 0.035961657762527466, + 0.6270822882652283, + 1.4308727451392582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.06780781596899033, + 0.7635822892189026, + -0.49579099640250207 + ], + [ + -0.022726111114025116, + 0.9973263144493103, + -0.06945312023162842, + -0.24349998831748965 + ], + [ + -0.7662501931190491, + 0.027245398610830307, + 0.6419644951820374, + 1.442832339182496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/move_left/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..91ab088f3ef26dff7816f770f1d88ca72094286e --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/move_left/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.01409677229821682, + -0.021288489922881126, + 0.015905373999050686 + ], + [ + 0.013991974294185638, + 0.9998893141746521, + -0.005063758231699467, + -0.015269492762429374 + ], + [ + 0.021357515826821327, + 0.004764239303767681, + 0.9997605681419373, + 0.029260202998561517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993339776992798, + -0.0066764033399522305, + -0.03587494045495987, + 0.021792596005967686 + ], + [ + 0.007027733605355024, + 0.9999284744262695, + 0.009676043875515461, + -0.02935494479483792 + ], + [ + 0.0358077734708786, + -0.009921719320118427, + 0.9993094205856323, + 0.07333743859188897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.003423885675147176, + -0.04378214478492737, + 0.017357991603868347 + ], + [ + -0.0026892416644841433, + 0.9998548030853271, + 0.016827436164021492, + -0.038120703689887056 + ], + [ + 0.043833404779434204, + -0.016693459823727608, + 0.9988994002342224, + 0.11264440029859543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020067639648914337, + 0.0018178781028836966, + 0.0018016870346452508 + ], + [ + -0.02001941204071045, + 0.9995232820510864, + -0.023502860218286514, + -0.04890998733895165 + ], + [ + -0.00228865840472281, + 0.02346169576048851, + 0.9997221231460571, + 0.16482111902801053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530579, + 0.05287696793675423, + 0.04762083292007446, + -0.016286060852663858 + ], + [ + -0.05093449726700783, + 0.9978551268577576, + -0.04112015292048454, + -0.05684540926345757 + ], + [ + -0.04969300329685211, + 0.03859036788344383, + 0.998018741607666, + 0.19713618035827365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08022276312112808, + 0.09895365685224533, + -0.03876720777153969 + ], + [ + -0.07482220977544785, + 0.9955586791038513, + -0.05713612213730812, + -0.06148854780622891 + ], + [ + -0.10309778898954391, + 0.04926670715212822, + 0.9934503436088562, + 0.23440749222040178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521912, + 0.09010225534439087, + 0.10647290199995041, + -0.04911644294857979 + ], + [ + -0.08542878925800323, + 0.995202898979187, + -0.047677136957645416, + -0.0534714033305645 + ], + [ + -0.11025796085596085, + 0.038115233182907104, + 0.9931718707084656, + 0.2562858037054539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9878880381584167, + 0.10910330712795258, + 0.1103343814611435, + -0.05970530777743885 + ], + [ + -0.1089736670255661, + 0.9940183758735657, + -0.007222636602818966, + -0.030010686297501837 + ], + [ + -0.11046241223812103, + -0.00488838367164135, + 0.9938682913780212, + 0.29797488498687746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11517572402954102, + 0.10127005726099014, + -0.06697452771237919 + ], + [ + -0.1155034601688385, + 0.9933035373687744, + -0.0026410154532641172, + -0.01769245625393731 + ], + [ + -0.10089608281850815, + -0.009087270125746727, + 0.9948554635047913, + 0.3334628402633326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9912038445472717, + 0.11717354506254196, + 0.06152477487921715, + -0.07578277707099915 + ], + [ + -0.11816620081663132, + 0.9929121136665344, + 0.01273887138813734, + -0.00020397743143673458 + ], + [ + -0.05959603562951088, + -0.019896965473890305, + 0.9980242848396301, + 0.3816966390822615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10898551344871521, + 0.03810727968811989, + -0.07608332845994405 + ], + [ + -0.11007972061634064, + 0.9935311675071716, + 0.02789670042693615, + 0.014214604933347022 + ], + [ + -0.03482043370604515, + -0.03190498426556587, + 0.9988842010498047, + 0.4215924770257303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12342751026153564, + -0.020068813115358353, + -0.07132760433639798 + ], + [ + -0.12239201366901398, + 0.9913910031318665, + 0.04652000963687897, + 0.03497410197768892 + ], + [ + 0.02563788741827011, + -0.043698593974113464, + 0.9987157583236694, + 0.4846891475234713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13652752339839935, + -0.020918643102049828, + -0.0669647953425135 + ], + [ + -0.1353638619184494, + 0.9895585179328918, + 0.049502670764923096, + 0.045075517105204715 + ], + [ + 0.02745869942009449, + -0.046196579933166504, + 0.9985548853874207, + 0.5368681431870376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14335879683494568, + -0.021872254088521004, + -0.06299787655472755 + ], + [ + -0.14277836680412292, + 0.9894096851348877, + 0.026129750534892082, + 0.05667003321647644 + ], + [ + 0.025386551395058632, + -0.022730650380253792, + 0.9994192719459534, + 0.5910797521322966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.15059123933315277, + -0.04844290763139725, + -0.06197506527815547 + ], + [ + -0.1487281173467636, + 0.9880677461624146, + 0.04002520442008972, + 0.06538548639842443 + ], + [ + 0.05389232188463211, + -0.032316409051418304, + 0.9980236887931824, + 0.619356037995645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12358082085847855, + -0.06031331419944763, + -0.05995982988817351 + ], + [ + -0.1207491084933281, + 0.9914954304695129, + 0.04854371398687363, + 0.06878288297142301 + ], + [ + 0.06579944491386414, + -0.04079976677894592, + 0.9969984292984009, + 0.6519564933776856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10944973677396774, + -0.06214163452386856, + -0.05665193693126951 + ], + [ + -0.10524313896894455, + 0.9921627044677734, + 0.06735746562480927, + 0.0734790943137237 + ], + [ + 0.06902686506509781, + -0.06028185784816742, + 0.9957918524742126, + 0.6798778231952871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10997270047664642, + -0.030588766559958458, + -0.05811224008458001 + ], + [ + -0.1078801304101944, + 0.9921504259109497, + 0.06324061006307602, + 0.08133018939835684 + ], + [ + 0.03730339929461479, + -0.059527333825826645, + 0.9975294470787048, + 0.7297470399524484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.990229606628418, + 0.13941560685634613, + 0.0029355152510106564, + -0.06683993282914162 + ], + [ + -0.13941024243831635, + 0.9892725348472595, + 0.04364265128970146, + 0.08415278449228832 + ], + [ + 0.0031804428435862064, + -0.04362548515200615, + 0.9990428686141968, + 0.7687437936048954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.18429037928581238, + 0.04083311930298805, + -0.09803619329418455 + ], + [ + -0.18587321043014526, + 0.9817957282066345, + 0.039093632251024246, + 0.08359260154621942 + ], + [ + -0.03288520500063896, + -0.04598063603043556, + 0.998400866985321, + 0.8208311436431749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.1761280745267868, + 0.07524944096803665, + -0.11741098189353943 + ], + [ + -0.1787332147359848, + 0.9834593534469604, + 0.02936212159693241, + 0.0746061652302742 + ], + [ + -0.06883326917886734, + -0.04226810857653618, + 0.9967323541641235, + 0.859380302876234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550232, + 0.1559009850025177, + 0.10445744544267654, + -0.12597805081095015 + ], + [ + -0.1605827808380127, + 0.9862918853759766, + 0.03796759992837906, + 0.06447107124328613 + ], + [ + -0.09710634499788284, + -0.054067134857177734, + 0.9938043355941772, + 0.9089143303717886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16043990850448608, + 0.10332164913415909, + -0.13333538401978356 + ], + [ + -0.1622307002544403, + 0.986710786819458, + 0.009113379754126072, + 0.056466956981590814 + ], + [ + -0.10048643499612808, + -0.025707848370075226, + 0.9946062564849854, + 0.9505512305796147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15839089453220367, + 0.0569317452609539, + -0.14910853270121982 + ], + [ + -0.1557570844888687, + 0.986624538898468, + -0.048080768436193466, + 0.04437835967114993 + ], + [ + -0.06378581374883652, + 0.038527313619852066, + 0.9972196221351624, + 0.9880201411587851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.12986084818840027, + 0.036820583045482635, + -0.16312397037233625 + ], + [ + -0.12779107689857483, + 0.9903359413146973, + -0.053890399634838104, + 0.039784722881657734 + ], + [ + -0.043462999165058136, + 0.04869186878204346, + 0.99786776304245, + 1.0184659345873766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1303732544183731, + 0.011355924420058727, + -0.18231913936138153 + ], + [ + -0.12995941936969757, + 0.9910128712654114, + -0.031685881316661835, + 0.02586967895286424 + ], + [ + -0.015384859405457973, + 0.02993757277727127, + 0.9994333386421204, + 1.0626580031546098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12228640168905258, + 0.020507536828517914, + -0.19706059624467578 + ], + [ + -0.12112308293581009, + 0.9913427829742432, + -0.050682183355093, + 0.010506773947605064 + ], + [ + -0.02652774006128311, + 0.047807130962610245, + 0.9985042810440063, + 1.0995501676244395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12498211860656738, + 0.11386945843696594, + -0.22295527362823486 + ], + [ + -0.11320650577545166, + 0.9880491495132446, + -0.10460938513278961, + -0.013063008934259414 + ], + [ + -0.12558293342590332, + 0.09021255373954773, + 0.9879729747772217, + 1.1612623281478882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857361, + 0.13895663619041443, + 0.2117922008037567, + -0.2519708831310272 + ], + [ + -0.10959387570619583, + 0.9833987355232239, + -0.1446239948272705, + -0.03242005816953523 + ], + [ + -0.22837263345718384, + 0.1166960597038269, + 0.9665547013282776, + 1.2050328681468963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736633, + 0.16089852154254913, + 0.3294365108013153, + -0.290051006930215 + ], + [ + -0.10751975327730179, + 0.9787876605987549, + -0.17439670860767365, + -0.07678562739065715 + ], + [ + -0.35050854086875916, + 0.1268320530653, + 0.9279317855834961, + 1.2425549958433424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.161844402551651, + 0.42879581451416016, + -0.3187817932878222 + ], + [ + -0.07678793370723724, + 0.9749354124069214, + -0.20881691575050354, + -0.11328946964229857 + ], + [ + -0.45184409618377686, + 0.15266719460487366, + 0.8789366483688354, + 1.2611474059649876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1683233678340912, + 0.4872375428676605, + -0.3514952212401799 + ], + [ + -0.06372948735952377, + 0.9725275635719299, + -0.22389432787895203, + -0.11904779687949589 + ], + [ + -0.511538565158844, + 0.16080224514007568, + 0.8440799117088318, + 1.2800001817430768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.17023156583309174, + 0.49248456954956055, + -0.3790082289491381 + ], + [ + -0.09409771859645844, + 0.9799454808235168, + -0.17564865946769714, + -0.08559822416305542 + ], + [ + -0.5125089883804321, + 0.10357628017663956, + 0.8524121642112732, + 1.3002752454621451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204773, + 0.17138928174972534, + 0.5290848016738892, + -0.4139329687527248 + ], + [ + -0.11018028855323792, + 0.9832146167755127, + -0.14542801678180695, + -0.06419764019761767 + ], + [ + -0.5451287031173706, + 0.06256769597530365, + 0.8360143303871155, + 1.3272486151286533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612305, + 0.1661430448293686, + 0.5384422540664673, + -0.44165356874465944 + ], + [ + -0.11259321868419647, + 0.9849455952644348, + -0.13116765022277832, + -0.056827369183301925 + ], + [ + -0.5521289110183716, + 0.047735460102558136, + 0.8323911428451538, + 1.3337805104255676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.1421755701303482, + 0.5065333247184753, + -0.4794352493967329 + ], + [ + -0.1269027143716812, + 0.9897986650466919, + -0.06476350873708725, + -0.037150816687515804 + ], + [ + -0.5105738043785095, + -0.009204419329762459, + 0.8597846627235413, + 1.3510681987489972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525391, + 0.12768206000328064, + 0.4868294894695282, + -0.5002646924768175 + ], + [ + -0.132595032453537, + 0.9908668994903564, + -0.024523165076971054, + -0.020355712205171586 + ], + [ + -0.485514372587204, + -0.04336034879088402, + 0.8731527328491211, + 1.3613485588857106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.10844705998897552, + 0.4776364266872406, + -0.5178232444354466 + ], + [ + -0.13851292431354523, + 0.9899630546569824, + 0.028059717267751694, + -0.0018388310660208975 + ], + [ + -0.4697994291782379, + -0.09062235057353973, + 0.8781093955039978, + 1.3595003130435943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.052844807505607605, + 0.4829251766204834, + -0.5212919927324567 + ], + [ + -0.09855006635189056, + 0.992685079574585, + 0.06974366307258606, + 0.0032958055271634034 + ], + [ + -0.4757070541381836, + -0.10855284333229065, + 0.8728797435760498, + 1.3568613038744246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.06852293759584427, + 0.537290096282959, + -0.5131523718152727 + ], + [ + -0.10477883368730545, + 0.9938000440597534, + 0.03718654066324234, + -0.005822848188025611 + ], + [ + -0.531410813331604, + -0.08755598217248917, + 0.8425772786140442, + 1.3527598980494908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.14467664062976837, + 0.5528011322021484, + -0.5107304713385445 + ], + [ + -0.19230146706104279, + 0.9809144139289856, + 0.028759613633155823, + 0.00019309137442282288 + ], + [ + -0.5380897521972656, + -0.12990626692771912, + 0.8328167796134949, + 1.3459200201034547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.17446689307689667, + 0.6060417890548706, + -0.5076958515644073 + ], + [ + -0.238027885556221, + 0.9709289073944092, + 0.02529500424861908, + -0.011707084342837334 + ], + [ + -0.5840103626251221, + -0.16388536989688873, + 0.7950304746627808, + 1.3244033832550048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.15146441757678986, + 0.6253744959831238, + -0.5051462436744145 + ], + [ + -0.17656175792217255, + 0.9840388894081116, + -0.02221343293786049, + -0.02921053182227271 + ], + [ + -0.6187573075294495, + -0.09341317415237427, + 0.7800085544586182, + 1.3186532625130245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1724855899810791, + 0.6312922239303589, + -0.516320844241551 + ], + [ + -0.12414335459470749, + 0.9849303960800171, + -0.12041796743869781, + -0.054485404529741835 + ], + [ + -0.6425492763519287, + 0.012679804116487503, + 0.7661394476890564, + 1.3075210289273944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.17190036177635193, + 0.6263754367828369, + -0.5168699193000793 + ], + [ + -0.09708493202924728, + 0.9835876226425171, + -0.1520850509405136, + -0.07256986581853458 + ], + [ + -0.6422386169433594, + 0.05482344701886177, + 0.7645416259765625, + 1.3070077187674387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.16924382746219635, + 0.6121340394020081, + -0.5271306986127581 + ], + [ + -0.06050634756684303, + 0.9790657758712769, + -0.19434289634227753, + -0.09433856658850398 + ], + [ + -0.6322107911109924, + 0.11307834088802338, + 0.7665003538131714, + 1.3000801598003933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634766, + 0.18365970253944397, + 0.610598623752594, + -0.533935922895159 + ], + [ + -0.057554930448532104, + 0.9737385511398315, + -0.2202741652727127, + -0.10436655187606811 + ], + [ + -0.6350188851356506, + 0.13454513251781464, + 0.7606895565986633, + 1.2937061753613608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.18310168385505676, + 0.6242208480834961, + -0.537196842602321 + ], + [ + -0.041914306581020355, + 0.9713501334190369, + -0.23392750322818756, + -0.11471677310126169 + ], + [ + -0.6491695642471313, + 0.1515013724565506, + 0.7454034090042114, + 1.2906713275909425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.73583984375, + 0.16783741116523743, + 0.6560261845588684, + -0.5318930525779724 + ], + [ + -0.030435018241405487, + 0.9760149717330933, + -0.21556539833545685, + -0.12056900015473365 + ], + [ + -0.6764712929725647, + 0.13865543901920319, + 0.7232989072799683, + 1.2894633138179779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7091473340988159, + 0.15343397855758667, + 0.6881628632545471, + -0.5283942273684911 + ], + [ + -0.024598143994808197, + 0.980823814868927, + -0.19333794713020325, + -0.13358495554753713 + ], + [ + -0.7046311497688293, + 0.12017756700515747, + 0.6993228197097778, + 1.2864576731409345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.1412988007068634, + 0.6889380216598511, + -0.5268367277554104 + ], + [ + -0.010299809277057648, + 0.9815955758094788, + -0.19069351255893707, + -0.14151424481613295 + ], + [ + -0.7032033205032349, + 0.1284707933664322, + 0.699285626411438, + 1.2825551882471358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.14272023737430573, + 0.6817785501480103, + -0.5249213684626988 + ], + [ + -0.005622163414955139, + 0.9799388647079468, + -0.19921892881393433, + -0.14724416865621295 + ], + [ + -0.6965339183807373, + 0.1391068696975708, + 0.7039103507995605, + 1.2815094096320017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7165511846542358, + 0.15290018916130066, + 0.6805703043937683, + -0.5224324942316327 + ], + [ + -0.026668570935726166, + 0.9809715151786804, + -0.19231128692626953, + -0.14854085047330176 + ], + [ + -0.6970245242118835, + 0.11965104937553406, + 0.7069939374923706, + 1.2887439197472164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.1482444703578949, + 0.6631469130516052, + -0.5186192407267434 + ], + [ + -0.037848759442567825, + 0.9833126068115234, + -0.1779431700706482, + -0.15098379925744873 + ], + [ + -0.6784598231315613, + 0.105450838804245, + 0.7270298004150391, + 1.3017342437335424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.16057254374027252, + 0.6456099152565002, + -0.5153219475064958 + ], + [ + -0.058937277644872665, + 0.9825836420059204, + -0.1762266457080841, + -0.15601759079311575 + ], + [ + -0.662662923336029, + 0.09351947903633118, + 0.7430558800697327, + 1.3043640560763223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1336606740951538, + 0.6435877084732056, + -0.5009999814033508 + ], + [ + -0.029247593134641647, + 0.9849565625190735, + -0.17030882835388184, + -0.16620521652698517 + ], + [ + -0.6566694974899292, + 0.109523244202137, + 0.7461835145950317, + 1.2915742845535279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.12160331010818481, + 0.6562492847442627, + -0.4930456984043121 + ], + [ + -0.009480360895395279, + 0.9850897789001465, + -0.17177973687648773, + -0.16888561141278063 + ], + [ + -0.6673533916473389, + 0.12169958651065826, + 0.7347302436828613, + 1.287813575744629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.12608471512794495, + 0.6632641553878784, + -0.48859149418558395 + ], + [ + -0.02282728999853134, + 0.9865032434463501, + -0.16214288771152496, + -0.1704690755861146 + ], + [ + -0.6747559309005737, + 0.10447032749652863, + 0.7306095957756042, + 1.2917960033416749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.12672460079193115, + 0.663916289806366, + -0.48638160109519957 + ], + [ + -0.028620939701795578, + 0.9872366786003113, + -0.15666703879833221, + -0.17275889723428658 + ], + [ + -0.6752961277961731, + 0.09646032750606537, + 0.73121178150177, + 1.295319616828646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.1308019757270813, + 0.6597727537155151, + -0.48493300727435523 + ], + [ + -0.035178475081920624, + 0.9870927333831787, + -0.15623839199543, + -0.17452363244124822 + ], + [ + -0.6716932058334351, + 0.09240563213825226, + 0.7350438237190247, + 1.2985897411618914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.745140552520752, + 0.13616037368774414, + 0.6528597474098206, + -0.4819092767238617 + ], + [ + -0.04192494601011276, + 0.9865636229515076, + -0.1579066663980484, + -0.17483023093853678 + ], + [ + -0.6655883193016052, + 0.09029155969619751, + 0.7408370971679688, + 1.3025981139796121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.14112858474254608, + 0.6472257375717163, + -0.47742025927134923 + ], + [ + -0.04933154955506325, + 0.9862144589424133, + -0.1579476147890091, + -0.17411456598980085 + ], + [ + -0.6605943441390991, + 0.08639314770698547, + 0.7457555532455444, + 1.3072970222745623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.14414788782596588, + 0.6431073546409607, + -0.47254724240303037 + ], + [ + -0.055480580776929855, + 0.9861721992492676, + -0.15616124868392944, + -0.17366807766258716 + ], + [ + -0.6567248702049255, + 0.08176682889461517, + 0.7496843934059143, + 1.3128849589824676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.14556653797626495, + 0.636434018611908, + -0.4662806669984545 + ], + [ + -0.061389338225126266, + 0.9863881468772888, + -0.15254445374011993, + -0.1735327865396227 + ], + [ + -0.6499763131141663, + 0.07647773623466492, + 0.7560965418815613, + 1.3198202763966151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032837, + 0.1454291194677353, + 0.6266437768936157, + -0.4594290857655661 + ], + [ + -0.06544648110866547, + 0.9866658449172974, + -0.1490209698677063, + -0.17428116683449063 + ], + [ + -0.6399600505828857, + 0.07308121025562286, + 0.7649250030517578, + 1.3260131774629866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.1440925896167755, + 0.6165453791618347, + -0.4511835186481476 + ], + [ + -0.06753703206777573, + 0.9869939088821411, + -0.14588287472724915, + -0.1756528359566416 + ], + [ + -0.6295471787452698, + 0.07127682864665985, + 0.7736859917640686, + 1.331687458378928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.13998255133628845, + 0.6081311702728271, + -0.44199430962971276 + ], + [ + -0.06584182381629944, + 0.9875703454017639, + -0.1427225023508072, + -0.17782133655888693 + ], + [ + -0.6205509901046753, + 0.07148247957229614, + 0.7809012532234192, + 1.336493318625859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.13279315829277039, + 0.6052546501159668, + -0.43252314261027747 + ], + [ + -0.06041157245635986, + 0.9885125756263733, + -0.13854005932807922, + -0.18128648752825602 + ], + [ + -0.6166989803314209, + 0.0721726045012474, + 0.7838835716247559, + 1.3394753407069615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.1257798820734024, + 0.60993891954422, + -0.423406283889498 + ], + [ + -0.05348119139671326, + 0.9893442988395691, + -0.13541647791862488, + -0.18534607309954507 + ], + [ + -0.620472252368927, + 0.07332996279001236, + 0.7807924747467041, + 1.3420347824437278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.12104804813861847, + 0.6155020594596863, + -0.4147762131690979 + ], + [ + -0.04740018770098686, + 0.9897552728652954, + -0.13467614352703094, + -0.19015683367848396 + ], + [ + -0.6254987120628357, + 0.07570873200893402, + 0.776543378829956, + 1.3441271233558654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.11858713626861572, + 0.6206338405609131, + -0.4066070823669434 + ], + [ + -0.04306604340672493, + 0.9898609519004822, + -0.13535372912883759, + -0.194173678408776 + ], + [ + -0.6303924322128296, + 0.07818187773227692, + 0.7723296284675598, + 1.3456070876121522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.11547547578811646, + 0.6275071501731873, + -0.397686202117375 + ], + [ + -0.037941500544548035, + 0.9900326132774353, + -0.13563118875026703, + -0.19764115817206246 + ], + [ + -0.6369146704673767, + 0.08062747865915298, + 0.7667065858840942, + 1.345952890941075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.11303699016571045, + 0.6334064602851868, + -0.38880377766064234 + ], + [ + -0.03384670615196228, + 0.9901584386825562, + -0.13579630851745605, + -0.20077055077893394 + ], + [ + -0.6425227522850037, + 0.0825159028172493, + 0.7618107795715332, + 1.3472955989497049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.11086848378181458, + 0.6373112797737122, + -0.3796417891298022 + ], + [ + -0.030093934386968613, + 0.9902170896530151, + -0.13625141978263855, + -0.20360760466115815 + ], + [ + -0.6461824774742126, + 0.08472467958927155, + 0.7584655284881592, + 1.347459404196058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.10702851414680481, + 0.6431562900543213, + -0.3693755745887756 + ], + [ + -0.02442311868071556, + 0.9904047250747681, + -0.13602215051651, + -0.20504851357213089 + ], + [ + -0.6515432596206665, + 0.08742660284042358, + 0.7535569071769714, + 1.347740706375667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.10158804059028625, + 0.6501113176345825, + -0.35967036349432807 + ], + [ + -0.017815619707107544, + 0.9907956719398499, + -0.13418859243392944, + -0.20584746313095093 + ], + [ + -0.657759428024292, + 0.0894642025232315, + 0.7478961944580078, + 1.3489450479234968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.09570881724357605, + 0.6551191806793213, + -0.3497775766849518 + ], + [ + -0.013322986662387848, + 0.9914758801460266, + -0.12960730493068695, + -0.20658761289715766 + ], + [ + -0.6619393825531006, + 0.08840461820363998, + 0.7443257570266724, + 1.3498276472091675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.085726797580719, + 0.6633638143539429, + -0.33962138397353037 + ], + [ + -0.006847213953733444, + 0.9926762580871582, + -0.12061097472906113, + -0.20777632353561265 + ], + [ + -0.6688450574874878, + 0.0851164385676384, + 0.7385130524635315, + 1.3497368071419853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.07395096123218536, + 0.6733105778694153, + -0.3324114078794207 + ], + [ + 0.003801446408033371, + 0.9935560822486877, + -0.11327755451202393, + -0.21094439071629728 + ], + [ + -0.677348792552948, + 0.0858924388885498, + 0.73063063621521, + 1.3480837731020792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.072268545627594, + 0.6801671385765076, + -0.3305246252673013 + ], + [ + 0.012050924822688103, + 0.9928904175758362, + -0.11842051148414612, + -0.2130613659960883 + ], + [ + -0.6838894486427307, + 0.09458276629447937, + 0.7234288454055786, + 1.3471155636651175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416382, + 0.08294961601495743, + 0.6780981421470642, + -0.3323580687386649 + ], + [ + 0.011849276721477509, + 0.9909136891365051, + -0.13397639989852905, + -0.21235871324794633 + ], + [ + -0.6830499768257141, + 0.10587465763092041, + 0.7226570844650269, + 1.3448841175692423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390625, + 0.10026845335960388, + 0.6739415526390076, + -0.3339932687963758 + ], + [ + 0.004307657480239868, + 0.9884120225906372, + -0.15173354744911194, + -0.2094500445808683 + ], + [ + -0.6813459992408752, + 0.11396431177854538, + 0.7230351567268372, + 1.3438003164700099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.11133722960948944, + 0.6776542067527771, + -0.33539007908957347 + ], + [ + 0.0013496428728103638, + 0.9865368008613586, + -0.1635337620973587, + -0.20609959584474563 + ], + [ + -0.6867381930351257, + 0.11978787928819656, + 0.7169668674468994, + 1.3423849877289364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.11511974781751633, + 0.6840636730194092, + -0.33540071177482605 + ], + [ + 0.002270229160785675, + 0.9857369065284729, + -0.16827817261219025, + -0.20341472208499908 + ], + [ + -0.6936789751052856, + 0.12276051193475723, + 0.7097460031509399, + 1.344899064064026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.11353930830955505, + 0.6849480271339417, + -0.3346606697354998 + ], + [ + 0.0035201720893383026, + 0.9859286546707153, + -0.16712959110736847, + -0.20082199959882668 + ], + [ + -0.6942856907844543, + 0.1226927787065506, + 0.7091642022132874, + 1.3492898220675331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.10871295630931854, + 0.6842870712280273, + -0.3331597009726933 + ], + [ + 0.005068447440862656, + 0.9867600202560425, + -0.16210779547691345, + -0.19837891073312078 + ], + [ + -0.6928503513336182, + 0.12035829573869705, + 0.7109657526016235, + 1.3546433142253331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.10231171548366547, + 0.6811534762382507, + -0.33145035665375844 + ], + [ + 0.005377601832151413, + 0.9880359172821045, + -0.1541299819946289, + -0.19573141824560505 + ], + [ + -0.6887734532356262, + 0.11540054529905319, + 0.7157331705093384, + 1.3621747148718153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032104, + 0.09357401728630066, + 0.6753170490264893, + -0.3286958253724235 + ], + [ + 0.005032200366258621, + 0.9897680878639221, + -0.14259666204452515, + -0.19389852508476801 + ], + [ + -0.6817506551742554, + 0.10771739482879639, + 0.7236111164093018, + 1.3689310470308576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.08713700622320175, + 0.6687716245651245, + -0.32660612058639527 + ], + [ + 0.0022234320640563965, + 0.9912983775138855, + -0.13161508738994598, + -0.19274642312526702 + ], + [ + -0.6744208335876465, + 0.09866416454315186, + 0.7317253351211548, + 1.3775956445421491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268921, + 0.0819198340177536, + 0.661016583442688, + -0.3225003893034799 + ], + [ + -0.002202838659286499, + 0.9927059412002563, + -0.12054046988487244, + -0.19043149522372654 + ], + [ + -0.666069746017456, + 0.08845336735248566, + 0.7406261563301086, + 1.3896264907291958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.07515870779752731, + 0.6547895073890686, + -0.31927791333198546 + ], + [ + -0.005974471569061279, + 0.9942134022712708, + -0.10725676268339157, + -0.1916986870765686 + ], + [ + -0.6590617299079895, + 0.07675204426050186, + 0.7481622099876404, + 1.3946084673404693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.06682216376066208, + 0.650288999080658, + -0.3156052223954882 + ], + [ + -0.006495116278529167, + 0.9954813718795776, + -0.09473494440317154, + -0.19252193230816297 + ], + [ + -0.6536809802055359, + 0.06746625155210495, + 0.7537569403648376, + 1.399692658833095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.05733489617705345, + 0.6438463926315308, + -0.31269325651441304 + ], + [ + -0.004429847002029419, + 0.9964988231658936, + -0.08348912000656128, + -0.19431194044862474 + ], + [ + -0.6463789939880371, + 0.0608503632247448, + 0.7605862617492676, + 1.4039616898127965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.04943409934639931, + 0.6365248560905457, + -0.3092746494156974 + ], + [ + -0.0010506212711334229, + 0.9970945715904236, + -0.07616645842790604, + -0.19516665966170174 + ], + [ + -0.6384406685829163, + 0.057954318821430206, + 0.767486035823822, + 1.4090810727391925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.04127850383520126, + 0.6309370398521423, + -0.3068150452205113 + ], + [ + 0.005434446036815643, + 0.9973950982093811, + -0.07192674279212952, + -0.1964303102024964 + ], + [ + -0.6322625279426575, + 0.05915297567844391, + 0.7724927663803101, + 1.413469160454614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.03469128534197807, + 0.622523307800293, + -0.30461819308144705 + ], + [ + 0.010678560473024845, + 0.9975593686103821, + -0.0690021738409996, + -0.19704079714843206 + ], + [ + -0.623397707939148, + 0.06059575825929642, + 0.7795534133911133, + 1.4162395098549978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.027961822226643562, + 0.6155270934104919, + -0.3010563665798732 + ], + [ + 0.015199368819594383, + 0.9977840781211853, + -0.06477567553520203, + -0.1965390865323799 + ], + [ + -0.6159743666648865, + 0.06037421524524689, + 0.7854492664337158, + 1.419822539431708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.01998138800263405, + 0.6103324294090271, + -0.2970292770862579 + ], + [ + 0.019530203193426132, + 0.9981245398521423, + -0.05801715701818466, + -0.1963220445215702 + ], + [ + -0.6103470921516418, + 0.05786331743001938, + 0.7900179028511047, + 1.4252192854881287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.012407150119543076, + 0.6057325601577759, + -0.2932453359195164 + ], + [ + 0.02223769947886467, + 0.9985185861587524, + -0.04965963587164879, + -0.19650298636513097 + ], + [ + -0.6054513454437256, + 0.05297789350152016, + 0.7941171526908875, + 1.4309792863300868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400513, + 0.006813941057771444, + 0.5993016362190247, + -0.28951119439942496 + ], + [ + 0.022084321826696396, + 0.9989209771156311, + -0.04085582494735718, + -0.1968883542077882 + ], + [ + -0.5989333987236023, + 0.04594002664089203, + 0.7994800806045532, + 1.4370989969798498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409912, + 0.003537162207067013, + 0.5950278639793396, + -0.28524132767745425 + ], + [ + 0.02030157297849655, + 0.9992371797561646, + -0.033361103385686874, + -0.1968009596679892 + ], + [ + -0.5946919322013855, + 0.0388922281563282, + 0.8030123710632324, + 1.4427333652973175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.00019095931202173233, + 0.5924656391143799, + -0.281181901046208 + ], + [ + 0.01952366530895233, + 0.999448299407959, + -0.02686913311481476, + -0.19690988337993623 + ], + [ + -0.5921438932418823, + 0.03321275860071182, + 0.8051475286483765, + 1.4476180639266967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.0016304003074765205, + 0.591600775718689, + -0.2778012149674552 + ], + [ + 0.019058510661125183, + 0.9995487332344055, + -0.02321813628077507, + -0.19742496298892157 + ], + [ + -0.5912959575653076, + 0.0299941748380661, + 0.8058966994285583, + 1.4516558953693934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.805838942527771, + -0.0006570005789399147, + 0.592134416103363, + -0.2753849314280919 + ], + [ + 0.01771843433380127, + 0.9995783567428589, + -0.023004036396741867, + -0.19830379448618207 + ], + [ + -0.5918696522712708, + 0.0290292426943779, + 0.8055108189582825, + 1.454415157863072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.0018861819989979267, + 0.5929752588272095, + -0.2727511376142502 + ], + [ + 0.015192830935120583, + 0.9996010661125183, + -0.023810401558876038, + -0.1993541332706809 + ], + [ + -0.5927835702896118, + 0.028181549161672592, + 0.8048685789108276, + 1.457160918712616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.005308737978339195, + 0.5961012840270996, + -0.26996964737347195 + ], + [ + 0.011914195492863655, + 0.9996176958084106, + -0.024949651211500168, + -0.20096653360341277 + ], + [ + -0.5960057973861694, + 0.027133934199810028, + 0.8025215268135071, + 1.4592680320739746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.010189252905547619, + 0.6008484959602356, + -0.2664722000701087 + ], + [ + 0.006486645899713039, + 0.9996517300605774, + -0.025581270456314087, + -0.20270343400591187 + ], + [ + -0.600899875164032, + 0.0243445485830307, + 0.7989534735679626, + 1.4609072953973499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.011551767587661743, + 0.6095070838928223, + -0.2636239586557661 + ], + [ + 0.003120924811810255, + 0.9997304677963257, + -0.023006461560726166, + -0.20639503815876586 + ], + [ + -0.60960853099823, + 0.020139366388320923, + 0.7924467325210571, + 1.4623036954062325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.011629345826804638, + 0.6185575723648071, + -0.2627132152489253 + ], + [ + 0.00494848657399416, + 0.9996731877326965, + -0.025079868733882904, + -0.20879336141741703 + ], + [ + -0.6186470985412598, + 0.022765010595321655, + 0.7853391170501709, + 1.4615962738309587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914246, + 0.016198858618736267, + 0.6225465536117554, + -0.26506112882069177 + ], + [ + 0.0066249435767531395, + 0.999388575553894, + -0.03433062508702278, + -0.21220552638705287 + ], + [ + -0.6227220296859741, + 0.030985135585069656, + 0.7818294167518616, + 1.4610959672927857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511108, + 0.026653781533241272, + 0.6206187605857849, + -0.26849318332331523 + ], + [ + 0.002055118791759014, + 0.9989623427391052, + -0.04549755901098251, + -0.21012139109468886 + ], + [ + -0.6211875081062317, + 0.03693003207445145, + 0.7827913761138916, + 1.4560748157160623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.03707797825336456, + 0.6224811673164368, + -0.27100564002990724 + ], + [ + -0.005708340555429459, + 0.9986144304275513, + -0.05231335386633873, + -0.20846314525604248 + ], + [ + -0.6235583424568176, + 0.037342946976423264, + 0.7808845043182373, + 1.4555651350021361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.04220186918973923, + 0.6274511814117432, + -0.2736575612340655 + ], + [ + -0.00994909554719925, + 0.9984463453292847, + -0.054826200008392334, + -0.2059446488746575 + ], + [ + -0.6287901401519775, + 0.0363854244351387, + 0.7767232656478882, + 1.4531840366636004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.04268907383084297, + 0.6328980922698975, + -0.27578870276042394 + ], + [ + -0.010104116052389145, + 0.9984350800514221, + -0.05500286817550659, + -0.20397402656504085 + ], + [ + -0.6342556476593018, + 0.03612550348043442, + 0.772278904914856, + 1.453392983027867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.040155068039894104, + 0.639006495475769, + -0.27777701488562995 + ], + [ + -0.007285444065928459, + 0.9985149502754211, + -0.053988661617040634, + -0.20138725803898913 + ], + [ + -0.6402255296707153, + 0.036816079169511795, + 0.7673043012619019, + 1.454244280883244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.03601080924272537, + 0.6457105875015259, + -0.2794678329059056 + ], + [ + -0.0027196016162633896, + 0.9986183047294617, + -0.05247975140810013, + -0.199328172739063 + ], + [ + -0.6467082500457764, + 0.0382719486951828, + 0.7617766857147217, + 1.4552558430262974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.03305539861321449, + 0.6532780528068542, + -0.2828711560453687 + ], + [ + 0.0010118745267391205, + 0.998661994934082, + -0.05170317366719246, + -0.19765937305135386 + ], + [ + -0.6541129946708679, + 0.039769116789102554, + 0.755350649356842, + 1.4559527231965745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.03392140194773674, + 0.6621549129486084, + -0.288533429486411 + ], + [ + 0.002848452888429165, + 0.9985166192054749, + -0.054373130202293396, + -0.1956892819032073 + ], + [ + -0.6630171537399292, + 0.042589783668518066, + 0.7473918199539185, + 1.4556906964438303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966064, + 0.0397893562912941, + 0.6730932593345642, + -0.295905552148819 + ], + [ + 0.002231152728199959, + 0.9981076717376709, + -0.061450231820344925, + -0.19364055467396973 + ], + [ + -0.6742646098136902, + 0.046881940215826035, + 0.7370002269744873, + 1.4552030112743377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109741, + 0.049554504454135895, + 0.685396671295166, + -0.304824800661632 + ], + [ + -0.001142272725701332, + 0.9974822402000427, + -0.07090769708156586, + -0.19145008244684764 + ], + [ + -0.6871848106384277, + 0.05073024332523346, + 0.7247092723846436, + 1.4543878609793526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.059891149401664734, + 0.6987503170967102, + -0.3179621327945164 + ], + [ + -0.006626000627875328, + 0.9968775510787964, + -0.07868443429470062, + -0.18949535047688654 + ], + [ + -0.7012810111045837, + 0.05146060883998871, + 0.7110251188278198, + 1.4532892262254442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.06956323981285095, + 0.7127651572227478, + -0.3303528910023825 + ], + [ + -0.012291919440031052, + 0.9962882399559021, + -0.08519771695137024, + -0.18586055803724696 + ], + [ + -0.716046154499054, + 0.0507020503282547, + 0.696209192276001, + 1.4547121470996311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.07782904803752899, + 0.7261784672737122, + -0.3403417736121586 + ], + [ + -0.0173418577760458, + 0.9957537651062012, + -0.0904083251953125, + -0.1822967532521912 + ], + [ + -0.7301313281059265, + 0.049163445830345154, + 0.6815358996391296, + 1.4530839829104287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821777, + 0.08739078044891357, + 0.7402608394622803, + -0.35147922941616605 + ], + [ + -0.025170691311359406, + 0.995176374912262, + -0.09481801092624664, + -0.1796671417270388 + ], + [ + -0.744976282119751, + 0.0445743203163147, + 0.665600061416626, + 1.4534181994029454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.09310662746429443, + 0.753730297088623, + -0.362479852778571 + ], + [ + -0.029684361070394516, + 0.9948155879974365, + -0.09726637601852417, + -0.1764608666832958 + ], + [ + -0.7588788270950317, + 0.04090312123298645, + 0.6499460339546204, + 1.454243038381849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.0942610651254654, + 0.7655285000801086, + -0.3725166413784027 + ], + [ + -0.030780717730522156, + 0.9948177933692932, + -0.09690285474061966, + -0.1727669619321823 + ], + [ + -0.7706955075263977, + 0.038111262023448944, + 0.6360629200935364, + 1.4551320672035217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.09133201837539673, + 0.7758888006210327, + -0.3815610866206033 + ], + [ + -0.02819773182272911, + 0.9951298236846924, + -0.09445364773273468, + -0.16914215382294995 + ], + [ + -0.7807366847991943, + 0.03708188608288765, + 0.623758852481842, + 1.4563904549734934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954834, + 0.08540842682123184, + 0.7850309610366821, + -0.39002954959869385 + ], + [ + -0.023606853559613228, + 0.9956731796264648, + -0.08987560123205185, + -0.16537648372990743 + ], + [ + -0.7893104553222656, + 0.036610208451747894, + 0.6129019856452942, + 1.457503635406494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.07984350621700287, + 0.7932844758033752, + -0.39756244683265685 + ], + [ + -0.020423011854290962, + 0.9961948990821838, + -0.08472685515880585, + -0.16084852473118474 + ], + [ + -0.7970308661460876, + 0.03493928909301758, + 0.6029270887374878, + 1.4591380599907466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.07579241693019867, + 0.8007444143295288, + -0.40445880106517246 + ], + [ + -0.0202743262052536, + 0.9966453909873962, + -0.07929037511348724, + -0.15559185777391707 + ], + [ + -0.804067850112915, + 0.03087913990020752, + 0.5937351584434509, + 1.4603578908102852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.07393410056829453, + 0.8076926469802856, + -0.4107098236083984 + ], + [ + -0.023839903995394707, + 0.9969736337661743, + -0.07399497926235199, + -0.14956501703070743 + ], + [ + -0.8107190132141113, + 0.024028053507208824, + 0.5849422812461853, + 1.4620017715181624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.0707332044839859, + 0.8156781792640686, + -0.41687290280205863 + ], + [ + -0.02774665132164955, + 0.9973699450492859, + -0.06695778667926788, + -0.1434512661610331 + ], + [ + -0.8182690739631653, + 0.01581251062452793, + 0.5746179819107056, + 1.4632628156117031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436523, + 0.06718616932630539, + 0.8239855766296387, + -0.4243956618309021 + ], + [ + -0.030379461124539375, + 0.9976992607116699, + -0.06060749292373657, + -0.13569072536379098 + ], + [ + -0.8261617422103882, + 0.009066363796591759, + 0.5633601546287537, + 1.4653002467155456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.0605977401137352, + 0.8284255266189575, + -0.4304209345408848 + ], + [ + -0.027788326144218445, + 0.998136043548584, + -0.05433431267738342, + -0.1316865132365908 + ], + [ + -0.8301739692687988, + 0.007233412936329842, + 0.5574575662612915, + 1.4663172644206455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447021, + 0.0529155358672142, + 0.8308990597724915, + -0.43626348427363804 + ], + [ + -0.02377297542989254, + 0.9985765814781189, + -0.04774627089500427, + -0.12901289807366473 + ], + [ + -0.8322427868843079, + 0.006693793460726738, + 0.5543709993362427, + 1.4667687346254077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.04466269910335541, + 0.8347319960594177, + -0.4411969016620091 + ], + [ + -0.018322572112083435, + 0.9989745020866394, + -0.04140334948897362, + -0.1274397815806525 + ], + [ + -0.8357251286506653, + 0.007429473102092743, + 0.5490977764129639, + 1.466352400643485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.039000529795885086, + 0.8392189145088196, + -0.4473992832728795 + ], + [ + -0.014011972583830357, + 0.9992029070854187, + -0.03737932816147804, + -0.1272260812685958 + ], + [ + -0.8400078415870667, + 0.0085151931270957, + 0.542507529258728, + 1.4656894220965249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.037511080503463745, + 0.8418089151382446, + -0.4552558317865644 + ], + [ + -0.011795873753726482, + 0.99924635887146, + -0.03698116913437843, + -0.12781342982500793 + ], + [ + -0.8425617218017578, + 0.009983401745557785, + 0.538507342338562, + 1.4648801061085293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.04023795202374458, + 0.8424282073974609, + -0.4635788891656058 + ], + [ + -0.010700724087655544, + 0.9991061091423035, + -0.040896590799093246, + -0.12898780816101602 + ], + [ + -0.8433207273483276, + 0.0129593126475811, + 0.5372543334960938, + 1.4632053983552116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767334, + 0.045516762882471085, + 0.8431676626205444, + -0.47188615798950195 + ], + [ + -0.010955527424812317, + 0.9988366961479187, + -0.04695947468280792, + -0.1306550943851471 + ], + [ + -0.8443242311477661, + 0.01591981202363968, + 0.5355960130691528, + 1.461362886428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.05082269012928009, + 0.8445265889167786, + -0.4799026767185756 + ], + [ + -0.011070739477872849, + 0.9985277056694031, + -0.053102053701877594, + -0.13247912943576062 + ], + [ + -0.845982015132904, + 0.018958987668156624, + 0.532874345779419, + 1.4601534755911145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095581, + 0.055733662098646164, + 0.8462933897972107, + -0.4881202699116298 + ], + [ + -0.010763686150312424, + 0.998199999332428, + -0.05899941176176071, + -0.1347371245920658 + ], + [ + -0.84805828332901, + 0.02214827574789524, + 0.5294398665428162, + 1.4587168214661734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.060352012515068054, + 0.8465580940246582, + -0.49593315982818603 + ], + [ + -0.009884199127554893, + 0.9978387951850891, + -0.06496209651231766, + -0.13691558680683374 + ], + [ + -0.8486491441726685, + 0.025988563895225525, + 0.5283174514770508, + 1.4580728738648552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.06465776264667511, + 0.8463590145111084, + -0.5027290163040161 + ], + [ + -0.009668562561273575, + 0.9974886178970337, + -0.07016392797231674, + -0.13838117156709945 + ], + [ + -0.8487701416015625, + 0.028910748660564423, + 0.527971088886261, + 1.458193097795759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.06922449916601181, + 0.846060574054718, + -0.5084326257024493 + ], + [ + -0.011588459834456444, + 0.9971650242805481, + -0.07434799522161484, + -0.13911284451505967 + ], + [ + -0.8488087058067322, + 0.029493816196918488, + 0.5278768539428711, + 1.458365638426372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.07206359505653381, + 0.8454700708389282, + -0.5132862512043544 + ], + [ + -0.013987669721245766, + 0.9969925880432129, + -0.0762244164943695, + -0.13960954370456083 + ], + [ + -0.8484203815460205, + 0.02850710041821003, + 0.5285549163818359, + 1.4587629615238735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.07331778109073639, + 0.845229983329773, + -0.5166264677047729 + ], + [ + -0.01589363068342209, + 0.996941089630127, + -0.07652381807565689, + -0.139911313444376 + ], + [ + -0.8482550382614136, + 0.027074074372649193, + 0.5288954973220825, + 1.4588733954429627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.07381334900856018, + 0.8455305099487305, + -0.5198367563656399 + ], + [ + -0.016490193083882332, + 0.9969165921211243, + -0.07671602070331573, + -0.1403025840648583 + ], + [ + -0.8485860824584961, + 0.026624489575624466, + 0.5283870100975037, + 1.4589110604694913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.07486776262521744, + 0.8453223705291748, + -0.522432198047638 + ], + [ + -0.015686916187405586, + 0.9967933297157288, + -0.07846657186746597, + -0.14036015367827245 + ], + [ + -0.8484863042831421, + 0.028247127309441566, + 0.5284630060195923, + 1.4589145681517466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.07563894987106323, + 0.8456615805625916, + -0.5248163325445993 + ], + [ + -0.012755099684000015, + 0.9966184496879578, + -0.08117222785949707, + -0.14031604326197078 + ], + [ + -0.8489417433738708, + 0.03209943324327469, + 0.5275107026100159, + 1.4581796050071716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.07548543065786362, + 0.8455944061279297, + -0.5272191566058567 + ], + [ + -0.00785839557647705, + 0.9964314699172974, + -0.08403933793306351, + -0.1400742482457842 + ], + [ + -0.8489205837249756, + 0.03776659071445465, + 0.527169406414032, + 1.4563876602990287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.07426562905311584, + 0.8455573916435242, + -0.5291203304018293 + ], + [ + -0.001545831561088562, + 0.9962476491928101, + -0.08653426915407181, + -0.13968587706770216 + ], + [ + -0.8488110899925232, + 0.04444306343793869, + 0.5268250107765198, + 1.4544044366564068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.07352326065301895, + 0.8461398482322693, + -0.5311112379005977 + ], + [ + 0.005914658308029175, + 0.995903730392456, + -0.09022649377584457, + -0.13980009664808002 + ], + [ + -0.8493075966835022, + 0.052632056176662445, + 0.5252680778503418, + 1.452697706256594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.07322097569704056, + 0.8468546867370605, + -0.5333613533973693 + ], + [ + 0.011033521965146065, + 0.9956100583076477, + -0.09294576942920685, + -0.13988350848853587 + ], + [ + -0.8499425649642944, + 0.058303892612457275, + 0.5236395001411438, + 1.451350507736206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.07066094130277634, + 0.8480715751647949, + -0.5351280743735177 + ], + [ + 0.012927105650305748, + 0.9957695603370667, + -0.09097189456224442, + -0.139491733679814 + ], + [ + -0.8509119749069214, + 0.058736927807331085, + 0.5220141410827637, + 1.4519568603379387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278198, + 0.06957677006721497, + 0.849164605140686, + -0.5367279602459499 + ], + [ + 0.008596707135438919, + 0.9961779713630676, + -0.08692242205142975, + -0.13952427914312907 + ], + [ + -0.8519668579101562, + 0.05280609428882599, + 0.5209261178970337, + 1.453903269495283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.07382387667894363, + 0.8483970761299133, + -0.5387570770127432 + ], + [ + -0.002200312912464142, + 0.996349573135376, + -0.08533859997987747, + -0.1394628397183759 + ], + [ + -0.8516001105308533, + 0.04286668449640274, + 0.5224363803863525, + 1.4559645040716445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.525605320930481, + 0.08189307153224945, + 0.8467777967453003, + -0.5427222814559937 + ], + [ + -0.01534353569149971, + 0.9961066246032715, + -0.08681095391511917, + -0.13891167865906442 + ], + [ + -0.8505902290344238, + 0.03263574093580246, + 0.5248154997825623, + 1.458496542930603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.08889098465442657, + 0.8429223299026489, + -0.5479013201849802 + ], + [ + -0.02570650726556778, + 0.9957157969474792, + -0.08882102370262146, + -0.1387437613052981 + ], + [ + -0.8472064733505249, + 0.025463547557592392, + 0.5306532382965088, + 1.4620754818916322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656494, + 0.0957251563668251, + 0.8330931663513184, + -0.5537520950181144 + ], + [ + -0.033817730844020844, + 0.9951630234718323, + -0.09223300963640213, + -0.13830515214375086 + ], + [ + -0.8378925323486328, + 0.022074006497859955, + 0.5453888177871704, + 1.465343565259661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.10160455107688904, + 0.8230347633361816, + -0.5562768211364746 + ], + [ + -0.03878560662269592, + 0.9945821166038513, + -0.09644736349582672, + -0.13801474964618682 + ], + [ + -0.8283751010894775, + 0.021975718438625336, + 0.5597425699234009, + 1.4663854942321777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.10144573450088501, + 0.8163431286811829, + -0.5611838940211705 + ], + [ + -0.03442546725273132, + 0.9944319725036621, + -0.09959900379180908, + -0.1394407672711781 + ], + [ + -0.8219016194343567, + 0.028527840971946716, + 0.5689147710800171, + 1.4683128527913776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.09669722616672516, + 0.8022363185882568, + -0.565329033613205 + ], + [ + -0.02457161247730255, + 0.994498610496521, + -0.10182727873325348, + -0.14243486439330239 + ], + [ + -0.8076692819595337, + 0.040276605635881424, + 0.5882585048675537, + 1.468275599684034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.08511510491371155, + 0.793985903263092, + -0.5638249670437404 + ], + [ + -0.01131240651011467, + 0.9951122999191284, + -0.098099485039711, + -0.14476592250381198 + ], + [ + -0.7984549403190613, + 0.0500689335167408, + 0.5999691486358643, + 1.4659536247253417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544312, + 0.0724201649427414, + 0.7922754883766174, + -0.563123334816524 + ], + [ + 0.004881802946329117, + 0.9954911470413208, + -0.09472878277301788, + -0.1484764539450407 + ], + [ + -0.7955635190010071, + 0.06125922501087189, + 0.6027653217315674, + 1.4654018628597258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.06573612987995148, + 0.7926512956619263, + -0.5613276101521083 + ], + [ + 0.01660158857703209, + 0.9953160285949707, + -0.09523835778236389, + -0.15185622345123972 + ], + [ + -0.7951991558074951, + 0.07088525593280792, + 0.6021907329559326, + 1.4648076754978725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.0635758638381958, + 0.7964771389961243, + -0.5583445591926575 + ], + [ + 0.02113236114382744, + 0.9952152967453003, + -0.09539373219013214, + -0.15505346384431634 + ], + [ + -0.7987309098243713, + 0.0741933286190033, + 0.5970965623855591, + 1.4666786645821164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.06489643454551697, + 0.799883246421814, + -0.556711172580719 + ], + [ + 0.019521823152899742, + 0.9952563047409058, + -0.09530895203351974, + -0.15581481736898423 + ], + [ + -0.8022741079330444, + 0.07248000055551529, + 0.5925395488739014, + 1.4701710281372071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.06690725684165955, + 0.8006613254547119, + -0.5557477786540985 + ], + [ + 0.0153118334710598, + 0.9954007863998413, + -0.09456649422645569, + -0.15530277658998967 + ], + [ + -0.8033061027526855, + 0.0685615986585617, + 0.5916067957878113, + 1.4737878036499024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.06888251006603241, + 0.8000494241714478, + -0.5544318795204163 + ], + [ + 0.009839741513133049, + 0.9956128001213074, + -0.09304984658956528, + -0.15405617236026695 + ], + [ + -0.8029489517211914, + 0.0633268877863884, + 0.592674195766449, + 1.4789484453201294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.07167219370603561, + 0.7971280217170715, + -0.5535819308417184 + ], + [ + 0.003971986472606659, + 0.9957034587860107, + -0.09251416474580765, + -0.15195617497393063 + ], + [ + -0.8003337979316711, + 0.05863227695226669, + 0.5966809391975403, + 1.4856170512267521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.07368713617324829, + 0.7914780378341675, + -0.5529752076693943 + ], + [ + -0.0028383247554302216, + 0.9958885908126831, + -0.09054207056760788, + -0.1496764698113714 + ], + [ + -0.7948957681655884, + 0.05268897861242294, + 0.6044540405273438, + 1.4931908755983625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.07392972707748413, + 0.7843143939971924, + -0.5528048360688346 + ], + [ + -0.010078910738229752, + 0.9962449073791504, + -0.08599112927913666, + -0.1467783240314041 + ], + [ + -0.7877265214920044, + 0.04506056383252144, + 0.6143748760223389, + 1.5019208170345852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852783, + 0.07217749953269958, + 0.7749629020690918, + -0.5529534581729344 + ], + [ + -0.01739228144288063, + 0.9967432618141174, + -0.07874224334955215, + -0.14382796485509192 + ], + [ + -0.7781224250793457, + 0.035961657762527466, + 0.6270822882652283, + 1.5118159625189644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.06780781596899033, + 0.7635822892189026, + -0.55322425365448 + ], + [ + -0.022726111114025116, + 0.9973263144493103, + -0.06945312023162842, + -0.1414947457611561 + ], + [ + -0.7662501931190491, + 0.027245398610830307, + 0.6419644951820374, + 1.522181898355484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/move_right/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2851f7aacdf85ad22f40f77cdaaa14ff0001350b --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/move_right/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.01409677229821682, + -0.021288489922881126, + 0.01704785852772849 + ], + [ + 0.013991974294185638, + 0.9998893141746521, + -0.005063758231699467, + -0.01525350193466459 + ], + [ + 0.021357515826821327, + 0.004764239303767681, + 0.9997605681419373, + 0.029284611588077887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993339776992798, + -0.0066764033399522305, + -0.03587494045495987, + 0.02407678795499461 + ], + [ + 0.007027733605355024, + 0.9999284744262695, + 0.009676043875515461, + -0.029338881403739962 + ], + [ + 0.0358077734708786, + -0.009921719320118427, + 0.9993094205856323, + 0.07341928493125098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.003423885675147176, + -0.04378214478492737, + 0.020783255281192917 + ], + [ + -0.0026892416644841433, + 0.9998548030853271, + 0.016827436164021492, + -0.03812992394702243 + ], + [ + 0.043833404779434204, + -0.016693459823727608, + 0.9988994002342224, + 0.1127946862578392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020067639648914337, + 0.0018178781028836966, + 0.006372187544724771 + ], + [ + -0.02001941204071045, + 0.9995232820510864, + -0.023502860218286514, + -0.04900150465113776 + ], + [ + -0.00228865840472281, + 0.02346169576048851, + 0.9997221231460571, + 0.16481065658958896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530579, + 0.05287696793675423, + 0.04762083292007446, + -0.010586261110646384 + ], + [ + -0.05093449726700783, + 0.9978551268577576, + -0.04112015292048454, + -0.05713646353355476 + ], + [ + -0.04969300329685211, + 0.03859036788344383, + 0.998018741607666, + 0.19685222033943447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08022276312112808, + 0.09895365685224533, + -0.03196592965722084 + ], + [ + -0.07482220977544785, + 0.9955586791038513, + -0.05713612213730812, + -0.06200161438754627 + ], + [ + -0.10309778898954391, + 0.04926670715212822, + 0.9934503436088562, + 0.23370053595304488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521912, + 0.09010225534439087, + 0.10647290199995041, + -0.04119464471936226 + ], + [ + -0.08542878925800323, + 0.995202898979187, + -0.047677136957645416, + -0.054154833644628524 + ], + [ + -0.11025796085596085, + 0.038115233182907104, + 0.9931718707084656, + 0.25540374001860616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9878880381584167, + 0.10910330712795258, + 0.1103343814611435, + -0.05067318857141903 + ], + [ + -0.1089736670255661, + 0.9940183758735657, + -0.007222636602818966, + -0.03100701696744987 + ], + [ + -0.11046241223812103, + -0.00488838367164135, + 0.9938682913780212, + 0.2969649429321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11517572402954102, + 0.10127005726099014, + -0.05681049865909985 + ], + [ + -0.1155034601688385, + 0.9933035373687744, + -0.0026410154532641172, + -0.018880491844245367 + ], + [ + -0.10089608281850815, + -0.009087270125746727, + 0.9948554635047913, + 0.3324250519829137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9912038445472717, + 0.11717354506254196, + 0.06152477487921715, + -0.06445473313331604 + ], + [ + -0.11816620081663132, + 0.9929121136665344, + 0.01273887138813734, + -0.001554448297912521 + ], + [ + -0.05959603562951088, + -0.019896965473890305, + 0.9980242848396301, + 0.38101554153220996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10898551344871521, + 0.03810727968811989, + -0.06359596934488841 + ], + [ + -0.11007972061634064, + 0.9935311675071716, + 0.02789670042693615, + 0.01283074558845588 + ], + [ + -0.03482043370604515, + -0.03190498426556587, + 0.9988842010498047, + 0.42115473443056856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12342751026153564, + -0.020068813115358353, + -0.05772096665416445 + ], + [ + -0.12239201366901398, + 0.9913910031318665, + 0.04652000963687897, + 0.03329558293308531 + ], + [ + 0.02563788741827011, + -0.043698593974113464, + 0.9987157583236694, + 0.4850407528366361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13652752339839935, + -0.020918643102049828, + -0.05225005234139306 + ], + [ + -0.1353638619184494, + 0.9895585179328918, + 0.049502670764923096, + 0.04306439687098776 + ], + [ + 0.02745869942009449, + -0.046196579933166504, + 0.9985548853874207, + 0.5372761010069932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14335879683494568, + -0.021872254088521004, + -0.04716701164841652 + ], + [ + -0.14277836680412292, + 0.9894096851348877, + 0.026129750534892082, + 0.05438557934761047 + ], + [ + 0.025386551395058632, + -0.022730650380253792, + 0.9994192719459534, + 0.5914859369546175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.15059123933315277, + -0.04844290763139725, + -0.04504806209887777 + ], + [ + -0.1487281173467636, + 0.9880677461624146, + 0.04002520442008972, + 0.06283586152962276 + ], + [ + 0.05389232188463211, + -0.032316409051418304, + 0.9980236887931824, + 0.6202799063708101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12358082085847855, + -0.06031331419944763, + -0.041847831466368265 + ], + [ + -0.1207491084933281, + 0.9914954304695129, + 0.04854371398687363, + 0.0665748992732593 + ], + [ + 0.06579944491386414, + -0.04079976677894592, + 0.9969984292984009, + 0.653159683227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10944973677396774, + -0.06214163452386856, + -0.037377862172467365 + ], + [ + -0.10524313896894455, + 0.9921627044677734, + 0.06735746562480927, + 0.0714343704708985 + ], + [ + 0.06902686506509781, + -0.06028185784816742, + 0.9957918524742126, + 0.6812189165736948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10997270047664642, + -0.030588766559958458, + -0.03767527019126075 + ], + [ + -0.1078801304101944, + 0.9921504259109497, + 0.06324061006307602, + 0.07911094100134713 + ], + [ + 0.03730339929461479, + -0.059527333825826645, + 0.9975294470787048, + 0.7305144241665091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.990229606628418, + 0.13941560685634613, + 0.0029355152510106564, + -0.0453378042280674 + ], + [ + -0.13941024243831635, + 0.9892725348472595, + 0.04364265128970146, + 0.08112559065648488 + ], + [ + 0.0031804428435862064, + -0.04362548515200615, + 0.9990428686141968, + 0.7688128546494991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.18429037928581238, + 0.04083311930298805, + -0.07558994646583285 + ], + [ + -0.18587321043014526, + 0.9817957282066345, + 0.039093632251024246, + 0.07934407102210181 + ], + [ + -0.03288520500063896, + -0.04598063603043556, + 0.998400866985321, + 0.8200794818145888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.1761280745267868, + 0.07524944096803665, + -0.09385529732704162 + ], + [ + -0.1787332147359848, + 0.9834593534469604, + 0.02936212159693241, + 0.07031656807661056 + ], + [ + -0.06883326917886734, + -0.04226810857653618, + 0.9967323541641235, + 0.8577283044159413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550232, + 0.1559009850025177, + 0.10445744544267654, + -0.1012818831375667 + ], + [ + -0.1605827808380127, + 0.9862918853759766, + 0.03796759992837906, + 0.06043356132507324 + ], + [ + -0.09710634499788284, + -0.054067134857177734, + 0.9938043355941772, + 0.9064727994118418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16043990850448608, + 0.10332164913415909, + -0.10753272246462958 + ], + [ + -0.1622307002544403, + 0.986710786819458, + 0.009113379754126072, + 0.052202607146331244 + ], + [ + -0.10048643499612808, + -0.025707848370075226, + 0.9946062564849854, + 0.9479098728597164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15839089453220367, + 0.0569317452609539, + -0.12207126256397792 + ], + [ + -0.1557570844888687, + 0.986624538898468, + -0.048080768436193466, + 0.040106165353740966 + ], + [ + -0.06378581374883652, + 0.038527313619852066, + 0.9972196221351624, + 0.9862705874102456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.12986084818840027, + 0.036820583045482635, + -0.13481401886258806 + ], + [ + -0.12779107689857483, + 0.9903359413146973, + -0.053890399634838104, + 0.03613354925598417 + ], + [ + -0.043462999165058136, + 0.04869186878204346, + 0.99786776304245, + 1.0172241346112318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1303732544183731, + 0.011355924420058727, + -0.15286039817333222 + ], + [ + -0.12995941936969757, + 0.9910128712654114, + -0.031685881316661835, + 0.022008027634450367 + ], + [ + -0.015384859405457973, + 0.02993757277727127, + 0.9994333386421204, + 1.062200853046562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12228640168905258, + 0.020507536828517914, + -0.1664415783711842 + ], + [ + -0.12112308293581009, + 0.9913427829742432, + -0.050682183355093, + 0.0067692616741572105 + ], + [ + -0.02652774006128311, + 0.047807130962610245, + 0.9985042810440063, + 1.0987315973596914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12498211860656738, + 0.11386945843696594, + -0.19141597843170166 + ], + [ + -0.11320650577545166, + 0.9880491495132446, + -0.10460938513278961, + -0.01668561711907387 + ], + [ + -0.12558293342590332, + 0.09021255373954773, + 0.9879729747772217, + 1.1572436742782592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857361, + 0.13895663619041443, + 0.2117922008037567, + -0.21990895676612854 + ], + [ + -0.10959387570619583, + 0.9833987355232239, + -0.1446239948272705, + -0.03605231233579772 + ], + [ + -0.22837263345718384, + 0.1166960597038269, + 0.9665547013282776, + 1.197463946580887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736633, + 0.16089852154254913, + 0.3294365108013153, + -0.258152699811118 + ], + [ + -0.10751975327730179, + 0.9787876605987549, + -0.17439670860767365, + -0.08047201893159321 + ], + [ + -0.35050854086875916, + 0.1268320530653, + 0.9279317855834961, + 1.2305375601564135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.161844402551651, + 0.42879581451416016, + -0.28729337436812263 + ], + [ + -0.07678793370723724, + 0.9749354124069214, + -0.20881691575050354, + -0.11600995643649782 + ], + [ + -0.45184409618377686, + 0.15266719460487366, + 0.8789366483688354, + 1.2451392151287624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1683233678340912, + 0.4872375428676605, + -0.3201573938301631 + ], + [ + -0.06372948735952377, + 0.9725275635719299, + -0.22389432787895203, + -0.12137847527435848 + ], + [ + -0.511538565158844, + 0.16080224514007568, + 0.8440799117088318, + 1.2612924856458392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.17023156583309174, + 0.49248456954956055, + -0.3468186901296888 + ], + [ + -0.09409771859645844, + 0.9799454808235168, + -0.17564865946769714, + -0.08914705240726471 + ], + [ + -0.5125089883804321, + 0.10357628017663956, + 0.8524121642112732, + 1.280946335043226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204773, + 0.17138928174972534, + 0.5290848016738892, + -0.3816395505496434 + ], + [ + -0.11018028855323792, + 0.9832146167755127, + -0.14542801678180695, + -0.06847893140997205 + ], + [ + -0.5451287031173706, + 0.06256769597530365, + 0.8360143303871155, + 1.3060664712360928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612305, + 0.1661430448293686, + 0.5384422540664673, + -0.4086087155342102 + ], + [ + -0.11259321868419647, + 0.9849455952644348, + -0.13116765022277832, + -0.061331097930669785 + ], + [ + -0.5521289110183716, + 0.047735460102558136, + 0.8323911428451538, + 1.3116953539848328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.1421755701303482, + 0.5065333247184753, + -0.4444466389928545 + ], + [ + -0.1269027143716812, + 0.9897986650466919, + -0.06476350873708725, + -0.04237195693595069 + ], + [ + -0.5105738043785095, + -0.009204419329762459, + 0.8597846627235413, + 1.3300617336545673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525391, + 0.12768206000328064, + 0.4868294894695282, + -0.4637249825681959 + ], + [ + -0.132595032453537, + 0.9908668994903564, + -0.024523165076971054, + -0.025962587863206862 + ], + [ + -0.485514372587204, + -0.04336034879088402, + 0.8731527328491211, + 1.3408182368448802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.10844705998897552, + 0.4776364266872406, + -0.47996053566251484 + ], + [ + -0.13851292431354523, + 0.9899630546569824, + 0.028059717267751694, + -0.007854249493352004 + ], + [ + -0.4697994291782379, + -0.09062235057353973, + 0.8781093955039978, + 1.3390975949764252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.052844807505607605, + 0.4829251766204834, + -0.4823336385999407 + ], + [ + -0.09855006635189056, + 0.992685079574585, + 0.06974366307258606, + -0.0010967117159494332 + ], + [ + -0.4757070541381836, + -0.10855284333229065, + 0.8728797435760498, + 1.3356583608899797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.06852293759584427, + 0.537290096282959, + -0.474724520274571 + ], + [ + -0.10477883368730545, + 0.9938000440597534, + 0.03718654066324234, + -0.010612737728016717 + ], + [ + -0.531410813331604, + -0.08755598217248917, + 0.8425772786140442, + 1.3284668322971889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.14467664062976837, + 0.5528011322021484, + -0.4722767808777945 + ], + [ + -0.19230146706104279, + 0.9809144139289856, + 0.028759613633155823, + -0.00881760593929461 + ], + [ + -0.5380897521972656, + -0.12990626692771912, + 0.8328167796134949, + 1.3207066717147826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.17446689307689667, + 0.6060417890548706, + -0.4704448006153107 + ], + [ + -0.238027885556221, + 0.9709289073944092, + 0.02529500424861908, + -0.02313242284953594 + ], + [ + -0.5840103626251221, + -0.16388536989688873, + 0.7950304746627808, + 1.296370885848999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.15146441757678986, + 0.6253744959831238, + -0.467528185742242 + ], + [ + -0.17656175792217255, + 0.9840388894081116, + -0.02221343293786049, + -0.037887281068733764 + ], + [ + -0.6187573075294495, + -0.09341317415237427, + 0.7800085544586182, + 1.2882457605430058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1724855899810791, + 0.6312922239303589, + -0.47829876368386404 + ], + [ + -0.12414335459470749, + 0.9849303960800171, + -0.12041796743869781, + -0.060728041789361406 + ], + [ + -0.6425492763519287, + 0.012679804116487503, + 0.7661394476890564, + 1.2752099796022687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.17190036177635193, + 0.6263754367828369, + -0.47776715278625487 + ], + [ + -0.09708493202924728, + 0.9835876226425171, + -0.1520850509405136, + -0.07756280518003872 + ], + [ + -0.6422386169433594, + 0.05482344701886177, + 0.7645416259765625, + 1.27397830418178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.16924382746219635, + 0.6121340394020081, + -0.48652293736594066 + ], + [ + -0.06050634756684303, + 0.9790657758712769, + -0.19434289634227753, + -0.09751947171773229 + ], + [ + -0.6322107911109924, + 0.11307834088802338, + 0.7665003538131714, + 1.2668439353534153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634766, + 0.18365970253944397, + 0.610598623752594, + -0.49255714961460656 + ], + [ + -0.057554930448532104, + 0.9737385511398315, + -0.2202741652727127, + -0.10745807385444642 + ], + [ + -0.6350188851356506, + 0.13454513251781464, + 0.7606895565986633, + 1.2595965895312173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.18310168385505676, + 0.6242208480834961, + -0.4955334983553205 + ], + [ + -0.041914306581020355, + 0.9713501334190369, + -0.23392750322818756, + -0.1170160722051348 + ], + [ + -0.6491695642471313, + 0.1515013724565506, + 0.7454034090042114, + 1.2550597400665282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.73583984375, + 0.16783741116523743, + 0.6560261845588684, + -0.4906860213279724 + ], + [ + -0.030435018241405487, + 0.9760149717330933, + -0.21556539833545685, + -0.12227336117625237 + ], + [ + -0.6764712929725647, + 0.13865543901920319, + 0.7232989072799683, + 1.2515809214115143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7091473340988159, + 0.15343397855758667, + 0.6881628632545471, + -0.4878715225628444 + ], + [ + -0.024598143994808197, + 0.980823814868927, + -0.19333794713020325, + -0.13499056377581187 + ], + [ + -0.7046311497688293, + 0.12017756700515747, + 0.6993228197097778, + 1.2461930360112872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.1412988007068634, + 0.6889380216598511, + -0.48540058265413555 + ], + [ + -0.010299809277057648, + 0.9815955758094788, + -0.19069351255893707, + -0.1421145765568529 + ], + [ + -0.7032033205032349, + 0.1284707933664322, + 0.699285626411438, + 1.2415684804235185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.14272023737430573, + 0.6817785501480103, + -0.4822812568119594 + ], + [ + -0.005622163414955139, + 0.9799388647079468, + -0.19921892881393433, + -0.1475782857963017 + ], + [ + -0.6965339183807373, + 0.1391068696975708, + 0.7039103507995605, + 1.2401153939110892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7165511846542358, + 0.15290018916130066, + 0.6805703043937683, + -0.4790299653325762 + ], + [ + -0.026668570935726166, + 0.9809715151786804, + -0.19231128692626953, + -0.15015620391283716 + ], + [ + -0.6970245242118835, + 0.11965104937553406, + 0.7069939374923706, + 1.2465241485663823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.1482444703578949, + 0.6631469130516052, + -0.47334182122775487 + ], + [ + -0.037848759442567825, + 0.9833126068115234, + -0.1779431700706482, + -0.15331960841161865 + ], + [ + -0.6784598231315613, + 0.105450838804245, + 0.7270298004150391, + 1.2598635803631373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.16057254374027252, + 0.6456099152565002, + -0.46839310986655097 + ], + [ + -0.058937277644872665, + 0.9825836420059204, + -0.1762266457080841, + -0.1597222196736506 + ], + [ + -0.662662923336029, + 0.09351947903633118, + 0.7430558800697327, + 1.2627109580380576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1336606740951538, + 0.6435877084732056, + -0.45276886796951293 + ], + [ + -0.029247593134641647, + 0.9849565625190735, + -0.17030882835388184, + -0.16807706248760224 + ], + [ + -0.6566694974899292, + 0.109523244202137, + 0.7461835145950317, + 1.2495474367141723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.12160331010818481, + 0.6562492847442627, + -0.44453506588935854 + ], + [ + -0.009480360895395279, + 0.9850897789001465, + -0.17177973687648773, + -0.16950318920825208 + ], + [ + -0.6673533916473389, + 0.12169958651065826, + 0.7347302436828613, + 1.244340269088745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.12608471512794495, + 0.6632641553878784, + -0.4396933297089168 + ], + [ + -0.02282728999853134, + 0.9865032434463501, + -0.16214288771152496, + -0.17198219880887441 + ], + [ + -0.6747559309005737, + 0.10447032749652863, + 0.7306095957756042, + 1.2470693244934081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.12672460079193115, + 0.663916289806366, + -0.4366873395442963 + ], + [ + -0.028620939701795578, + 0.9872366786003113, + -0.15666703879833221, + -0.17468876631132194 + ], + [ + -0.6752961277961731, + 0.09646032750606537, + 0.73121178150177, + 1.249785363640104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.1308019757270813, + 0.6597727537155151, + -0.43419058271816796 + ], + [ + -0.035178475081920624, + 0.9870927333831787, + -0.15623839199543, + -0.1769358707325799 + ], + [ + -0.6716932058334351, + 0.09240563213825226, + 0.7350438237190247, + 1.2525307784761701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.745140552520752, + 0.13616037368774414, + 0.6528597474098206, + -0.4299623353481293 + ], + [ + -0.04192494601011276, + 0.9865636229515076, + -0.1579066663980484, + -0.17775299860324179 + ], + [ + -0.6655883193016052, + 0.09029155969619751, + 0.7408370971679688, + 1.2561970997197287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.14112858474254608, + 0.6472257375717163, + -0.4243397228377206 + ], + [ + -0.04933154955506325, + 0.9862144589424133, + -0.1579476147890091, + -0.1776100586439882 + ], + [ + -0.6605943441390991, + 0.08639314770698547, + 0.7457555532455444, + 1.2604891944612775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.14414788782596588, + 0.6431073546409607, + -0.4183970000743866 + ], + [ + -0.055480580776929855, + 0.9861721992492676, + -0.15616124868392944, + -0.17766267947852613 + ], + [ + -0.6567248702049255, + 0.08176682889461517, + 0.7496843934059143, + 1.265600768327713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.14556653797626495, + 0.636434018611908, + -0.4108770807470594 + ], + [ + -0.061389338225126266, + 0.9863881468772888, + -0.15254445374011993, + -0.17802297813551768 + ], + [ + -0.6499763131141663, + 0.07647773623466492, + 0.7560965418815613, + 1.2722791517802647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032837, + 0.1454291194677353, + 0.6266437768936157, + -0.40255474993160795 + ], + [ + -0.06544648110866547, + 0.9866658449172974, + -0.1490209698677063, + -0.17914290543113437 + ], + [ + -0.6399600505828857, + 0.07308121025562286, + 0.7649250030517578, + 1.278473287991115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.1440925896167755, + 0.6165453791618347, + -0.3928001911640167 + ], + [ + -0.06753703206777573, + 0.9869939088821411, + -0.14588287472724915, + -0.18074705780403955 + ], + [ + -0.6295471787452698, + 0.07127682864665985, + 0.7736859917640686, + 1.284201614039285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.13998255133628845, + 0.6081311702728271, + -0.382161617074694 + ], + [ + -0.06584182381629944, + 0.9875703454017639, + -0.1427225023508072, + -0.1828629390682493 + ], + [ + -0.6205509901046753, + 0.07148247957229614, + 0.7809012532234192, + 1.2889768428121293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.13279315829277039, + 0.6052546501159668, + -0.3715269453184945 + ], + [ + -0.06041157245635986, + 0.9885125756263733, + -0.13854005932807922, + -0.18598132973057882 + ], + [ + -0.6166989803314209, + 0.0721726045012474, + 0.7838835716247559, + 1.2915490199497768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.1257798820734024, + 0.60993891954422, + -0.3617082428591592 + ], + [ + -0.05348119139671326, + 0.9893442988395691, + -0.13541647791862488, + -0.1895634470496859 + ], + [ + -0.620472252368927, + 0.07332996279001236, + 0.7807924747467041, + 1.293106113399778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.12104804813861847, + 0.6155020594596863, + -0.3524734902381897 + ], + [ + -0.04740018770098686, + 0.9897552728652954, + -0.13467614352703094, + -0.19394884869456291 + ], + [ + -0.6254987120628357, + 0.07570873200893402, + 0.776543378829956, + 1.2940872263908387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.11858713626861572, + 0.6206338405609131, + -0.34371478271484374 + ], + [ + -0.04306604340672493, + 0.9898609519004822, + -0.13535372912883759, + -0.19766818021663599 + ], + [ + -0.6303924322128296, + 0.07818187773227692, + 0.7723296284675598, + 1.2944552445411681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.11547547578811646, + 0.6275071501731873, + -0.3343261889730181 + ], + [ + -0.037941500544548035, + 0.9900326132774353, + -0.13563118875026703, + -0.20076320164544242 + ], + [ + -0.6369146704673767, + 0.08062747865915298, + 0.7667065858840942, + 1.2935439123426165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.11303699016571045, + 0.6334064602851868, + -0.3249376440388816 + ], + [ + -0.03384670615196228, + 0.9901584386825562, + -0.13579630851745605, + -0.20359433312075478 + ], + [ + -0.6425227522850037, + 0.0825159028172493, + 0.7618107795715332, + 1.2936908436162131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.11086848378181458, + 0.6373112797737122, + -0.3151485145773206 + ], + [ + -0.030093934386968613, + 0.9902170896530151, + -0.13625141978263855, + -0.20615269168359893 + ], + [ + -0.6461824774742126, + 0.08472467958927155, + 0.7584655284881592, + 1.292810828958239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.10702851414680481, + 0.6431562900543213, + -0.3043854355812073 + ], + [ + -0.02442311868071556, + 0.9904047250747681, + -0.13602215051651, + -0.20714192374476365 + ], + [ + -0.6515432596206665, + 0.08742660284042358, + 0.7535569071769714, + 1.2918941412653242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.10158804059028625, + 0.6501113176345825, + -0.2942654265676226 + ], + [ + -0.017815619707107544, + 0.9907956719398499, + -0.13418859243392944, + -0.2073948769569397 + ], + [ + -0.657759428024292, + 0.0894642025232315, + 0.7478961944580078, + 1.2918139433179583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.09570881724357605, + 0.6551191806793213, + -0.2838269498348236 + ], + [ + -0.013322986662387848, + 0.9914758801460266, + -0.12960730493068695, + -0.2077600357234478 + ], + [ + -0.6619393825531006, + 0.08840461820363998, + 0.7443257570266724, + 1.2915769815444946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.085726797580719, + 0.6633638143539429, + -0.2733552266870226 + ], + [ + -0.006847213953733444, + 0.9926762580871582, + -0.12061097472906113, + -0.2083867037509169 + ], + [ + -0.6688450574874878, + 0.0851164385676384, + 0.7385130524635315, + 1.290114047731672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.07395096123218536, + 0.6733105778694153, + -0.2659925227846418 + ], + [ + 0.003801446408033371, + 0.9935560822486877, + -0.11327755451202393, + -0.21060117441202914 + ], + [ + -0.677348792552948, + 0.0858924388885498, + 0.73063063621521, + 1.28692885354587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.072268545627594, + 0.6801671385765076, + -0.26382875255175997 + ], + [ + 0.012050924822688103, + 0.9928904175758362, + -0.11842051148414612, + -0.21195956715515682 + ], + [ + -0.6838894486427307, + 0.09458276629447937, + 0.7234288454055786, + 1.2845885283606393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416382, + 0.08294961601495743, + 0.6780981421470642, + -0.2647554213660104 + ], + [ + 0.011849276721477509, + 0.9909136891365051, + -0.13397639989852905, + -0.21126180877430098 + ], + [ + -0.6830499768257141, + 0.10587465763092041, + 0.7226570844650269, + 1.2816532054288046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390625, + 0.10026845335960388, + 0.6739415526390076, + -0.26539920490128655 + ], + [ + 0.004307657480239868, + 0.9884120225906372, + -0.15173354744911194, + -0.20904635553700585 + ], + [ + -0.6813459992408752, + 0.11396431177854538, + 0.7230351567268372, + 1.2799484628268651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.11133722960948944, + 0.6776542067527771, + -0.26643807881219045 + ], + [ + 0.0013496428728103638, + 0.9865368008613586, + -0.1635337620973587, + -0.20597157257795334 + ], + [ + -0.6867381930351257, + 0.11978787928819656, + 0.7169668674468994, + 1.2772429648467472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.11511974781751633, + 0.6840636730194092, + -0.2662537581920624 + ], + [ + 0.002270229160785675, + 0.9857369065284729, + -0.16827817261219025, + -0.20319678008556366 + ], + [ + -0.6936789751052856, + 0.12276051193475723, + 0.7097460031509399, + 1.2783058824539184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.11353930830955505, + 0.6849480271339417, + -0.26474783761160714 + ], + [ + 0.0035201720893383026, + 0.9859286546707153, + -0.16712959110736847, + -0.20048004002443381 + ], + [ + -0.6942856907844543, + 0.1226927787065506, + 0.7091642022132874, + 1.2818449263913292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.10871295630931854, + 0.6842870712280273, + -0.26228944863591874 + ], + [ + 0.005068447440862656, + 0.9867600202560425, + -0.16210779547691345, + -0.197880754756076 + ], + [ + -0.6928503513336182, + 0.12035829573869705, + 0.7109657526016235, + 1.2865460225514003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.10231171548366547, + 0.6811534762382507, + -0.2593689425672804 + ], + [ + 0.005377601832151413, + 0.9880359172821045, + -0.1541299819946289, + -0.19519673097772258 + ], + [ + -0.6887734532356262, + 0.11540054529905319, + 0.7157331705093384, + 1.293690954378673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032104, + 0.09357401728630066, + 0.6753170490264893, + -0.2551210605757577 + ], + [ + 0.005032200366258621, + 0.9897680878639221, + -0.14259666204452515, + -0.19339242950507574 + ], + [ + -0.6817506551742554, + 0.10771739482879639, + 0.7236111164093018, + 1.3003664097104755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.08713700622320175, + 0.6687716245651245, + -0.25150600481033325 + ], + [ + 0.0022234320640563965, + 0.9912983775138855, + -0.13161508738994598, + -0.1925202683210373 + ], + [ + -0.6744208335876465, + 0.09866416454315186, + 0.7317253351211548, + 1.3089974111829485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268921, + 0.0819198340177536, + 0.661016583442688, + -0.24578066519328526 + ], + [ + -0.002202838659286499, + 0.9927059412002563, + -0.12054046988487244, + -0.19065807291439602 + ], + [ + -0.666069746017456, + 0.08845336735248566, + 0.7406261563301086, + 1.3211164597102574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.07515870779752731, + 0.6547895073890686, + -0.2410631468296051 + ], + [ + -0.005974471569061279, + 0.9942134022712708, + -0.10725676268339157, + -0.192320032119751 + ], + [ + -0.6590617299079895, + 0.07675204426050186, + 0.7481622099876404, + 1.3260660474300385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.06682216376066208, + 0.650288999080658, + -0.23603916246550424 + ], + [ + -0.006495116278529167, + 0.9954813718795776, + -0.09473494440317154, + -0.1932048473911626 + ], + [ + -0.6536809802055359, + 0.06746625155210495, + 0.7537569403648376, + 1.3309627729143416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.05733489617705345, + 0.6438463926315308, + -0.23159686885561262 + ], + [ + -0.004429847002029419, + 0.9964988231658936, + -0.08348912000656128, + -0.19478276990141188 + ], + [ + -0.6463789939880371, + 0.0608503632247448, + 0.7605862617492676, + 1.3352608367374965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.04943409934639931, + 0.6365248560905457, + -0.22659006139210291 + ], + [ + -0.0010506212711334229, + 0.9970945715904236, + -0.07616645842790604, + -0.1952795264039721 + ], + [ + -0.6384406685829163, + 0.057954318821430206, + 0.767486035823822, + 1.3404943037714276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.04127850383520126, + 0.6309370398521423, + -0.22270093645368305 + ], + [ + 0.005434446036815643, + 0.9973950982093811, + -0.07192674279212952, + -0.19584028463278497 + ], + [ + -0.6322625279426575, + 0.05915297567844391, + 0.7724927663803101, + 1.3448235145636966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.03469128534197807, + 0.622523307800293, + -0.21884004933493478 + ], + [ + 0.010678560473024845, + 0.9975593686103821, + -0.0690021738409996, + -0.1958692065136773 + ], + [ + -0.623397707939148, + 0.06059575825929642, + 0.7795534133911133, + 1.3478438756125315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.027961822226643562, + 0.6155270934104919, + -0.21374310908998762 + ], + [ + 0.015199368819594383, + 0.9977840781211853, + -0.06477567553520203, + -0.19485412793180773 + ], + [ + -0.6159743666648865, + 0.06037421524524689, + 0.7854492664337158, + 1.3515373810700009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.01998138800263405, + 0.6103324294090271, + -0.20833722710609437 + ], + [ + 0.019530203193426132, + 0.9981245398521423, + -0.05801715701818466, + -0.19413466176390648 + ], + [ + -0.6103470921516418, + 0.05786331743001938, + 0.7900179028511047, + 1.3568604111671447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.012407150119543076, + 0.6057325601577759, + -0.20323208917890276 + ], + [ + 0.02223769947886467, + 0.9985185861587524, + -0.04965963587164879, + -0.193986949509808 + ], + [ + -0.6054513454437256, + 0.05297789350152016, + 0.7941171526908875, + 1.3624767912455968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400513, + 0.006813941057771444, + 0.5993016362190247, + -0.19802613002913338 + ], + [ + 0.022084321826696396, + 0.9989209771156311, + -0.04085582494735718, + -0.1943644317133086 + ], + [ + -0.5989333987236023, + 0.04594002664089203, + 0.7994800806045532, + 1.3686494656971522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409912, + 0.003537162207067013, + 0.5950278639793396, + -0.1924716909783227 + ], + [ + 0.02030157297849655, + 0.9992371797561646, + -0.033361103385686874, + -0.19445757810132844 + ], + [ + -0.5946919322013855, + 0.0388922281563282, + 0.8030123710632324, + 1.3740889251232147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.00019095931202173233, + 0.5924656391143799, + -0.1872724599157061 + ], + [ + 0.01952366530895233, + 0.999448299407959, + -0.02686913311481476, + -0.1946339818239212 + ], + [ + -0.5921438932418823, + 0.03321275860071182, + 0.8051475286483765, + 1.3785910043716432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.0016304003074765205, + 0.591600775718689, + -0.1828964955466134 + ], + [ + 0.019058510661125183, + 0.9995487332344055, + -0.02321813628077507, + -0.19518150401966913 + ], + [ + -0.5912959575653076, + 0.0299941748380661, + 0.8058966994285583, + 1.3820519140788488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.805838942527771, + -0.0006570005789399147, + 0.592134416103363, + -0.17960521711621966 + ], + [ + 0.01771843433380127, + 0.9995783567428589, + -0.023004036396741867, + -0.19619783200536456 + ], + [ + -0.5918696522712708, + 0.0290292426943779, + 0.8055108189582825, + 1.3840672220502581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.0018861819989979267, + 0.5929752588272095, + -0.1761249154806137 + ], + [ + 0.015192830935120583, + 0.9996010661125183, + -0.023810401558876038, + -0.19753099355846643 + ], + [ + -0.5927835702896118, + 0.028181549161672592, + 0.8048685789108276, + 1.3860268902778625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.005308737978339195, + 0.5961012840270996, + -0.17270504907199313 + ], + [ + 0.011914195492863655, + 0.9996176958084106, + -0.024949651211500168, + -0.1995232139208487 + ], + [ + -0.5960057973861694, + 0.027133934199810028, + 0.8025215268135071, + 1.3870661869049072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.010189252905547619, + 0.6008484959602356, + -0.16872947462967464 + ], + [ + 0.006486645899713039, + 0.9996517300605774, + -0.025581270456314087, + -0.20191020987874694 + ], + [ + -0.600899875164032, + 0.0243445485830307, + 0.7989534735679626, + 1.3874258249487195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.011551767587661743, + 0.6095070838928223, + -0.16578256504876274 + ], + [ + 0.003120924811810255, + 0.9997304677963257, + -0.023006461560726166, + -0.20600982686770813 + ], + [ + -0.60960853099823, + 0.020139366388320923, + 0.7924467325210571, + 1.387060585294451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.011629345826804638, + 0.6185575723648071, + -0.1648432398864201 + ], + [ + 0.00494848657399416, + 0.9996731877326965, + -0.025079868733882904, + -0.20817692137562802 + ], + [ + -0.6186470985412598, + 0.022765010595321655, + 0.7853391170501709, + 1.3845305209841048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914246, + 0.016198858618736267, + 0.6225465536117554, + -0.1667003743989127 + ], + [ + 0.0066249435767531395, + 0.999388575553894, + -0.03433062508702278, + -0.21137267633740392 + ], + [ + -0.6227220296859741, + 0.030985135585069656, + 0.7818294167518616, + 1.3828109121322631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511108, + 0.026653781533241272, + 0.6206187605857849, + -0.16908039861066002 + ], + [ + 0.002055118791759014, + 0.9989623427391052, + -0.04549755901098251, + -0.20986068459653429 + ], + [ + -0.6211875081062317, + 0.03693003207445145, + 0.7827913761138916, + 1.3772727432591574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.03707797825336456, + 0.6224811673164368, + -0.1709408664703369 + ], + [ + -0.005708340555429459, + 0.9986144304275513, + -0.05231335386633873, + -0.20919381284713745 + ], + [ + -0.6235583424568176, + 0.037342946976423264, + 0.7808845043182373, + 1.3757496671676637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.04220186918973923, + 0.6274511814117432, + -0.1732475152696882 + ], + [ + -0.00994909554719925, + 0.9984463453292847, + -0.054826200008392334, + -0.20722950349961008 + ], + [ + -0.6287901401519775, + 0.0363854244351387, + 0.7767232656478882, + 1.3719802814211164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.04268907383084297, + 0.6328980922698975, + -0.1750703670637948 + ], + [ + -0.010104116052389145, + 0.9984350800514221, + -0.05500286817550659, + -0.20529044854215214 + ], + [ + -0.6342556476593018, + 0.03612550348043442, + 0.772278904914856, + 1.3707585329328265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.040155068039894104, + 0.639006495475769, + -0.1768198324101312 + ], + [ + -0.007285444065928459, + 0.9985149502754211, + -0.053988661617040634, + -0.20234477354479688 + ], + [ + -0.6402255296707153, + 0.036816079169511795, + 0.7673043012619019, + 1.3701003541265215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.03601080924272537, + 0.6457105875015259, + -0.1783512712887355 + ], + [ + -0.0027196016162633896, + 0.9986183047294617, + -0.05247975140810013, + -0.19968871421047618 + ], + [ + -0.6467082500457764, + 0.0382719486951828, + 0.7617766857147217, + 1.3695208064488003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.03305539861321449, + 0.6532780528068542, + -0.18173018186432974 + ], + [ + 0.0010118745267391205, + 0.998661994934082, + -0.05170317366719246, + -0.19752407097177846 + ], + [ + -0.6541129946708679, + 0.039769116789102554, + 0.755350649356842, + 1.3684884713377272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.03392140194773674, + 0.6621549129486084, + -0.18757953228269303 + ], + [ + 0.002848452888429165, + 0.9985166192054749, + -0.054373130202293396, + -0.19530514768511056 + ], + [ + -0.6630171537399292, + 0.042589783668518066, + 0.7473918199539185, + 1.3662780974251882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966064, + 0.0397893562912941, + 0.6730932593345642, + -0.1954713842868805 + ], + [ + 0.002231152728199959, + 0.9981076717376709, + -0.061450231820344925, + -0.19333711790293456 + ], + [ + -0.6742646098136902, + 0.046881940215826035, + 0.7370002269744873, + 1.363503024339676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109741, + 0.049554504454135895, + 0.685396671295166, + -0.2051930115904127 + ], + [ + -0.001142272725701332, + 0.9974822402000427, + -0.07090769708156586, + -0.1916067369920867 + ], + [ + -0.6871848106384277, + 0.05073024332523346, + 0.7247092723846436, + 1.3601453726632255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.059891149401664734, + 0.6987503170967102, + -0.21938458790097917 + ], + [ + -0.006626000627875328, + 0.9968775510787964, + -0.07868443429470062, + -0.19041163170656988 + ], + [ + -0.7012810111045837, + 0.05146060883998871, + 0.7110251188278198, + 1.356312080689839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.06956323981285095, + 0.7127651572227478, + -0.23303945013454982 + ], + [ + -0.012291919440031052, + 0.9962882399559021, + -0.08519771695137024, + -0.1875744028048856 + ], + [ + -0.716046154499054, + 0.0507020503282547, + 0.696209192276001, + 1.354874854700906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.07782904803752899, + 0.7261784672737122, + -0.24431929291997637 + ], + [ + -0.0173418577760458, + 0.9957537651062012, + -0.0904083251953125, + -0.1847345229738525 + ], + [ + -0.7301313281059265, + 0.049163445830345154, + 0.6815358996391296, + 1.3504483790738242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821777, + 0.08739078044891357, + 0.7402608394622803, + -0.25701022437640597 + ], + [ + -0.025170691311359406, + 0.995176374912262, + -0.09481801092624664, + -0.18323418826716287 + ], + [ + -0.744976282119751, + 0.0445743203163147, + 0.665600061416626, + 1.3478444177082607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.09310662746429443, + 0.753730297088623, + -0.2695434221199581 + ], + [ + -0.029684361070394516, + 0.9948155879974365, + -0.09726637601852417, + -0.18070148969335215 + ], + [ + -0.7588788270950317, + 0.04090312123298645, + 0.6499460339546204, + 1.345831777368273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.0942610651254654, + 0.7655285000801086, + -0.2808664348125458 + ], + [ + -0.030780717730522156, + 0.9948177933692932, + -0.09690285474061966, + -0.17719938528537751 + ], + [ + -0.7706955075263977, + 0.038111262023448944, + 0.6360629200935364, + 1.3441519141197205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.09133201837539673, + 0.7758888006210327, + -0.29095949128695897 + ], + [ + -0.02819773182272911, + 0.9951298236846924, + -0.09445364773273468, + -0.17323485318464893 + ], + [ + -0.7807366847991943, + 0.03708188608288765, + 0.623758852481842, + 1.3430721018654959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954834, + 0.08540842682123184, + 0.7850309610366821, + -0.30027735233306885 + ], + [ + -0.023606853559613228, + 0.9956731796264648, + -0.08987560123205185, + -0.16882982916491374 + ], + [ + -0.7893104553222656, + 0.036610208451747894, + 0.6129019856452942, + 1.3420387916564942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.07984350621700287, + 0.7932844758033752, + -0.30857556796073915 + ], + [ + -0.020423011854290962, + 0.9961948990821838, + -0.08472685515880585, + -0.16385946019313166 + ], + [ + -0.7970308661460876, + 0.03493928909301758, + 0.6029270887374878, + 1.341632938010352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.07579241693019867, + 0.8007444143295288, + -0.31617887803486416 + ], + [ + -0.0202743262052536, + 0.9966453909873962, + -0.07929037511348724, + -0.15860404338155473 + ], + [ + -0.804067850112915, + 0.03087913990020752, + 0.5937351584434509, + 1.3408963816506523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.07393410056829453, + 0.8076926469802856, + -0.3231344566345215 + ], + [ + -0.023839903995394707, + 0.9969736337661743, + -0.07399497926235199, + -0.1531341912288751 + ], + [ + -0.8107190132141113, + 0.024028053507208824, + 0.5849422812461853, + 1.340625553539821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.0707332044839859, + 0.8156781792640686, + -0.3302559414591108 + ], + [ + -0.02774665132164955, + 0.9973699450492859, + -0.06695778667926788, + -0.1476370467032705 + ], + [ + -0.8182690739631653, + 0.01581251062452793, + 0.5746179819107056, + 1.3398210810252598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436523, + 0.06718616932630539, + 0.8239855766296387, + -0.33887841176986694 + ], + [ + -0.030379461124539375, + 0.9976992607116699, + -0.06060749292373657, + -0.14030840345472098 + ], + [ + -0.8261617422103882, + 0.009066363796591759, + 0.5633601546287537, + 1.3397236618995667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.0605977401137352, + 0.8284255266189575, + -0.34514921964917866 + ], + [ + -0.027788326144218445, + 0.998136043548584, + -0.05433431267738342, + -0.13594209689753395 + ], + [ + -0.8301739692687988, + 0.007233412936329842, + 0.5574575662612915, + 1.3391820508411953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447021, + 0.0529155358672142, + 0.8308990597724915, + -0.3508044058935983 + ], + [ + -0.02377297542989254, + 0.9985765814781189, + -0.04774627089500427, + -0.13268072856856244 + ], + [ + -0.8322427868843079, + 0.006693793460726738, + 0.5543709993362427, + 1.3383655617918286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.04466269910335541, + 0.8347319960594177, + -0.35589112533841816 + ], + [ + -0.018322572112083435, + 0.9989745020866394, + -0.04140334948897362, + -0.13028763278893063 + ], + [ + -0.8357251286506653, + 0.007429473102092743, + 0.5490977764129639, + 1.336456837790353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.039000529795885086, + 0.8392189145088196, + -0.3624759665897914 + ], + [ + -0.014011972583830357, + 0.9992029070854187, + -0.03737932816147804, + -0.1294199558331498 + ], + [ + -0.8400078415870667, + 0.0085151931270957, + 0.542507529258728, + 1.3341681943280357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.037511080503463745, + 0.8418089151382446, + -0.370331321648189 + ], + [ + -0.011795873753726482, + 0.99924635887146, + -0.03698116913437843, + -0.12967380762845276 + ], + [ + -0.8425617218017578, + 0.009983401745557785, + 0.538507342338562, + 1.3319960859843663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.04023795202374458, + 0.8424282073974609, + -0.3782243039267404 + ], + [ + -0.010700724087655544, + 0.9991061091423035, + -0.040896590799093246, + -0.1306876946160836 + ], + [ + -0.8433207273483276, + 0.0129593126475811, + 0.5372543334960938, + 1.3292378770964486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767334, + 0.045516762882471085, + 0.8431676626205444, + -0.3861708641052246 + ], + [ + -0.010955527424812317, + 0.9988366961479187, + -0.04695947468280792, + -0.13240797877311705 + ], + [ + -0.8443242311477661, + 0.01591981202363968, + 0.5355960130691528, + 1.3262710094451904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.05082269012928009, + 0.8445265889167786, + -0.3939979752131871 + ], + [ + -0.011070739477872849, + 0.9985277056694031, + -0.053102053701877594, + -0.1342631000259093 + ], + [ + -0.845982015132904, + 0.018958987668156624, + 0.532874345779419, + 1.3238295165811267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095581, + 0.055733662098646164, + 0.8462933897972107, + -0.4021423338481358 + ], + [ + -0.010763686150312424, + 0.998199999332428, + -0.05899941176176071, + -0.13648391708731653 + ], + [ + -0.84805828332901, + 0.02214827574789524, + 0.5294398665428162, + 1.3210890772002084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.060352012515068054, + 0.8465580940246582, + -0.4095016870498657 + ], + [ + -0.009884199127554893, + 0.9978387951850891, + -0.06496209651231766, + -0.13853094734996557 + ], + [ + -0.8486491441726685, + 0.025988563895225525, + 0.5283174514770508, + 1.319379356588636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.06465776264667511, + 0.8463590145111084, + -0.41572443866729736 + ], + [ + -0.009668562561273575, + 0.9974886178970337, + -0.07016392797231674, + -0.13997234072004044 + ], + [ + -0.8487701416015625, + 0.028910748660564423, + 0.527971088886261, + 1.318509783063616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.06922449916601181, + 0.846060574054718, + -0.42084050280707225 + ], + [ + -0.011588459834456444, + 0.9971650242805481, + -0.07434799522161484, + -0.14103321785905532 + ], + [ + -0.8488087058067322, + 0.029493816196918488, + 0.5278768539428711, + 1.3177059100355422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.07206359505653381, + 0.8454700708389282, + -0.4249957617350987 + ], + [ + -0.013987669721245766, + 0.9969925880432129, + -0.0762244164943695, + -0.14194348630947726 + ], + [ + -0.8484203815460205, + 0.02850710041821003, + 0.5285549163818359, + 1.3171979607173374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.07331778109073639, + 0.845229983329773, + -0.4276957607269287 + ], + [ + -0.01589363068342209, + 0.996941089630127, + -0.07652381807565689, + -0.1425814433991909 + ], + [ + -0.8482550382614136, + 0.027074074372649193, + 0.5288954973220825, + 1.3163665490150451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.07381334900856018, + 0.8455305099487305, + -0.4303939612933568 + ], + [ + -0.016490193083882332, + 0.9969165921211243, + -0.07671602070331573, + -0.14309178243790355 + ], + [ + -0.8485860824584961, + 0.026624489575624466, + 0.5283870100975037, + 1.3153787859507968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.07486776262521744, + 0.8453223705291748, + -0.4323536257743835 + ], + [ + -0.015686916187405586, + 0.9967933297157288, + -0.07846657186746597, + -0.14303141140618494 + ], + [ + -0.8484863042831421, + 0.028247127309441566, + 0.5284630060195923, + 1.3144294717652456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.07563894987106323, + 0.8456615805625916, + -0.43424505165645055 + ], + [ + -0.012755099684000015, + 0.9966184496879578, + -0.08117222785949707, + -0.14250263177922795 + ], + [ + -0.8489417433738708, + 0.03209943324327469, + 0.5275107026100159, + 1.312646734714508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.07548543065786362, + 0.8455944061279297, + -0.4360217052868434 + ], + [ + -0.00785839557647705, + 0.9964314699172974, + -0.08403933793306351, + -0.14143038279669626 + ], + [ + -0.8489205837249756, + 0.03776659071445465, + 0.527169406414032, + 1.3098882224219186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.07426562905311584, + 0.8455573916435242, + -0.4372786239896502 + ], + [ + -0.001545831561088562, + 0.9962476491928101, + -0.08653426915407181, + -0.13995441009317125 + ], + [ + -0.8488110899925232, + 0.04444306343793869, + 0.5268250107765198, + 1.3069538244519916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.07352326065301895, + 0.8461398482322693, + -0.4388102317878178 + ], + [ + 0.005914658308029175, + 0.995903730392456, + -0.09022649377584457, + -0.13876587639536175 + ], + [ + -0.8493075966835022, + 0.052632056176662445, + 0.5252680778503418, + 1.3041902064936501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.07322097569704056, + 0.8468546867370605, + -0.44065161752700804 + ], + [ + 0.011033521965146065, + 0.9956100583076477, + -0.09294576942920685, + -0.1379416086226702 + ], + [ + -0.8499425649642944, + 0.058303892612457275, + 0.5236395001411438, + 1.3017606163024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.07066094130277634, + 0.8480715751647949, + -0.442101640020098 + ], + [ + 0.012927105650305748, + 0.9957695603370667, + -0.09097189456224442, + -0.13720178925033127 + ], + [ + -0.8509119749069214, + 0.058736927807331085, + 0.5220141410827637, + 1.3012238819258553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278198, + 0.06957677006721497, + 0.849164605140686, + -0.4433909104892186 + ], + [ + 0.008596707135438919, + 0.9961779713630676, + -0.08692242205142975, + -0.13799160907098226 + ], + [ + -0.8519668579101562, + 0.05280609428882599, + 0.5209261178970337, + 1.302009749685015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.07382387667894363, + 0.8483970761299133, + -0.4447028724806649 + ], + [ + -0.002200312912464142, + 0.996349573135376, + -0.08533859997987747, + -0.13985763872095516 + ], + [ + -0.8516001105308533, + 0.04286668449640274, + 0.5224363803863525, + 1.3031631128106798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.525605320930481, + 0.08189307153224945, + 0.8467777967453003, + -0.4478129777908325 + ], + [ + -0.01534353569149971, + 0.9961066246032715, + -0.08681095391511917, + -0.14168228281821524 + ], + [ + -0.8505902290344238, + 0.03263574093580246, + 0.5248154997825623, + 1.3049042501449586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.08889098465442657, + 0.8429223299026489, + -0.4514761689049857 + ], + [ + -0.02570650726556778, + 0.9957157969474792, + -0.08882102370262146, + -0.14341500091126988 + ], + [ + -0.8472064733505249, + 0.025463547557592392, + 0.5306532382965088, + 1.3081259627342223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656494, + 0.0957251563668251, + 0.8330931663513184, + -0.4541339571135385 + ], + [ + -0.033817730844020844, + 0.9951630234718323, + -0.09223300963640213, + -0.1444889657838004 + ], + [ + -0.8378925323486328, + 0.022074006497859955, + 0.5453888177871704, + 1.312128930773054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.10160455107688904, + 0.8230347633361816, + -0.4534522066116333 + ], + [ + -0.03878560662269592, + 0.9945821166038513, + -0.09644736349582672, + -0.1451513012647629 + ], + [ + -0.8283751010894775, + 0.021975718438625336, + 0.5597425699234009, + 1.313964475631714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.10144573450088501, + 0.8163431286811829, + -0.4559138175419399 + ], + [ + -0.03442546725273132, + 0.9944319725036621, + -0.09959900379180908, + -0.14581439663682666 + ], + [ + -0.8219016194343567, + 0.028527840971946716, + 0.5689147710800171, + 1.3161436386789593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.09669722616672516, + 0.8022363185882568, + -0.45558373284339904 + ], + [ + -0.02457161247730255, + 0.994498610496521, + -0.10182727873325348, + -0.14701220477478844 + ], + [ + -0.8076692819595337, + 0.040276605635881424, + 0.5882585048675537, + 1.3178183505875725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.08511510491371155, + 0.793985903263092, + -0.4510026420184544 + ], + [ + -0.01131240651011467, + 0.9951122999191284, + -0.098099485039711, + -0.14688619069542203 + ], + [ + -0.7984549403190613, + 0.0500689335167408, + 0.5999691486358643, + 1.316300355911255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544312, + 0.0724201649427414, + 0.7922754883766174, + -0.44887722594397406 + ], + [ + 0.004881802946329117, + 0.9954911470413208, + -0.09472878277301788, + -0.14755588538944722 + ], + [ + -0.7955635190010071, + 0.06125922501087189, + 0.6027653217315674, + 1.3153813135623933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.06573612987995148, + 0.7926512956619263, + -0.44633778558458603 + ], + [ + 0.01660158857703209, + 0.9953160285949707, + -0.09523835778236389, + -0.14870666493262563 + ], + [ + -0.7951991558074951, + 0.07088525593280792, + 0.6021907329559326, + 1.3139470356532506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.0635758638381958, + 0.7964771389961243, + -0.4435788826942444 + ], + [ + 0.02113236114382744, + 0.9952152967453003, + -0.09539373219013214, + -0.15102020177458014 + ], + [ + -0.7987309098243713, + 0.0741933286190033, + 0.5970965623855591, + 1.3142351652213504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.06489643454551697, + 0.799883246421814, + -0.4421569352149963 + ], + [ + 0.019521823152899742, + 0.9952563047409058, + -0.09530895203351974, + -0.15206662732362747 + ], + [ + -0.8022741079330444, + 0.07248000055551529, + 0.5925395488739014, + 1.3161343994140624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.06690725684165955, + 0.8006613254547119, + -0.4407564089298248 + ], + [ + 0.0153118334710598, + 0.9954007863998413, + -0.09456649422645569, + -0.15234540532529353 + ], + [ + -0.8033061027526855, + 0.0685615986585617, + 0.5916067957878113, + 1.318634967803955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.06888251006603241, + 0.8000494241714478, + -0.4386440873146057 + ], + [ + 0.009839741513133049, + 0.9956128001213074, + -0.09304984658956528, + -0.15214445115200112 + ], + [ + -0.8029489517211914, + 0.0633268877863884, + 0.592674195766449, + 1.3229469347000122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.07167219370603561, + 0.7971280217170715, + -0.4364143832070487 + ], + [ + 0.003971986472606659, + 0.9957034587860107, + -0.09251416474580765, + -0.1511799353318555 + ], + [ + -0.8003337979316711, + 0.05863227695226669, + 0.5966809391975403, + 1.3292089604309627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.07368713617324829, + 0.7914780378341675, + -0.43370756496701923 + ], + [ + -0.0028383247554302216, + 0.9958885908126831, + -0.09054207056760788, + -0.15023440336329597 + ], + [ + -0.7948957681655884, + 0.05268897861242294, + 0.6044540405273438, + 1.3369370788846697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.07392972707748413, + 0.7843143939971924, + -0.43102418538502285 + ], + [ + -0.010078910738229752, + 0.9962449073791504, + -0.08599112927913666, + -0.14877106866879122 + ], + [ + -0.7877265214920044, + 0.04506056383252144, + 0.6143748760223389, + 1.3461760304995944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852783, + 0.07217749953269958, + 0.7749629020690918, + -0.42809667553220476 + ], + [ + -0.01739228144288063, + 0.9967432618141174, + -0.07874224334955215, + -0.14728654425059046 + ], + [ + -0.7781224250793457, + 0.035961657762527466, + 0.6270822882652283, + 1.3570807602746147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.06780781596899033, + 0.7635822892189026, + -0.4247961759567261 + ], + [ + -0.022726111114025116, + 0.9973263144493103, + -0.06945312023162842, + -0.1460399679839611 + ], + [ + -0.7662501931190491, + 0.027245398610830307, + 0.6419644951820374, + 1.3689318597316742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/orbit_left/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bd17a8744c77794a01c0d91762bc8f35ef534f50 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/orbit_left/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997046914499296, + -0.01409677229821682, + -0.019792957907943283, + 0.014993987417013192 + ], + [ + 0.01399953399890512, + 0.9998893141746521, + -0.005042820628552576, + -0.015283176964567194 + ], + [ + 0.01986185417309353, + 0.004764239303767681, + 0.9997914001643486, + 0.029435483198554834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9994368420833651, + -0.006676403339952232, + -0.032884784070183644, + 0.01996475969705757 + ], + [ + 0.0069987515367832525, + 0.9999284744262698, + 0.009697027463873178, + -0.029363932620444642 + ], + [ + 0.03281769086134491, + -0.009921719320118429, + 0.9994120841167888, + 0.07366159500786741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992216710744604, + 0.003423885675147176, + -0.039298059237393594, + 0.014612431664608787 + ], + [ + -0.002764735684486618, + 0.9998548030853271, + 0.01681519744692705, + -0.0381035525394385 + ], + [ + 0.03934992835755509, + -0.016693459823727608, + 0.9990860635105977, + 0.11310854473618397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997682081315973, + 0.020067639648914337, + 0.007800581027780653, + -0.0018263097656000902 + ], + [ + -0.019878413666018564, + 0.9995232820510864, + -0.02362223458986689, + -0.04885561880496222 + ], + [ + -0.008270904921706602, + 0.02346169576048851, + 0.9996905289121879, + 0.16560804903553383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9970808511563677, + 0.05287696793675424, + 0.05508045157138812, + -0.020765883456087108 + ], + [ + -0.050625497221137676, + 0.9978551268577578, + -0.04149998818264222, + -0.05665431689245499 + ], + [ + -0.057156706255937294, + 0.03859036788344384, + 0.9976191227651878, + 0.1983332906239933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9909249086789593, + 0.08022276312112808, + 0.10785240330562941, + -0.04405246690917512 + ], + [ + -0.07430634990387672, + 0.9955586791038513, + -0.05780541404170682, + -0.06114787378023617 + ], + [ + -0.11201070550796058, + 0.04926670715212822, + 0.9924849324612924, + 0.2361294885168868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9890555227553185, + 0.09010225534439088, + 0.11683648413178102, + -0.055261986053545493 + ], + [ + -0.08492484045778356, + 0.9952028989791872, + -0.04856911462839754, + -0.05299367694306507 + ], + [ + -0.12065219676239682, + 0.03811523318290711, + 0.9919628169014582, + 0.2583399067016709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9864968429710647, + 0.1091033071279526, + 0.12214921398446055, + -0.06670580524067665 + ], + [ + -0.10887942459205116, + 0.9940183758735659, + -0.008526282014992377, + -0.02923075540085886 + ], + [ + -0.12234880538709274, + -0.004888383671641351, + 0.9924751356807301, + 0.3003250004445954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9867164700606683, + 0.11517572402954102, + 0.11456515930711006, + -0.07486827041724288 + ], + [ + -0.11545743370839241, + 0.9933035373687744, + -0.004195864043437469, + -0.016753670942642924 + ], + [ + -0.11428123576050205, + -0.009087270125746727, + 0.9934068713002265, + 0.3360303138443439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9901725564824764, + 0.11717354506254199, + 0.07634571211396156, + -0.08465852805535255 + ], + [ + -0.11834354419468332, + 0.9929121136665346, + 0.010969749638026487, + 0.0008932288367718769 + ], + [ + -0.07451921842904248, + -0.019896965473890308, + 0.9970210863753756, + 0.38418074412911457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9925511024156095, + 0.10898551344871521, + 0.05444729722997459, + -0.08591786234249853 + ], + [ + -0.1105238625416288, + 0.9935311675071716, + 0.026081537427095288, + 0.015373270330074084 + ], + [ + -0.051252577253105926, + -0.03190498426556587, + 0.9981759779895016, + 0.4240795017112399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9923510521780681, + 0.12342751026153564, + -0.002255488963782303, + -0.08217946143337483 + ], + [ + -0.12320737279486378, + 0.9913910031318665, + 0.04431545549307684, + 0.03641570062649958 + ], + [ + 0.007705815948645661, + -0.043698593974113464, + 0.9990150587432902, + 0.48674345354212845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9906349004759236, + 0.13652752339839935, + -0.0016543478954536735, + -0.07870265228277755 + ], + [ + -0.1363009288701214, + 0.9895585179328918, + 0.0468609252520638, + 0.046797840445907554 + ], + [ + 0.008034880978819336, + -0.046196579933166504, + 0.9989000350348296, + 0.5390717522535412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9896701164307669, + 0.14335879683494568, + -0.0011464183927153814, + -0.07562871311138514 + ], + [ + -0.1432942733559973, + 0.9894096851348877, + 0.02313389534092972, + 0.05855533509934664 + ], + [ + 0.004450725672209942, + -0.022730650380253792, + 0.9997317386027634, + 0.5934815535748029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9882468889048049, + 0.15059123933315277, + -0.026275175569109847, + -0.07555820214645896 + ], + [ + -0.14958876091397963, + 0.9880677461624146, + 0.03667795641257701, + 0.06752703068515022 + ], + [ + 0.03148503398323653, + -0.032316409051418304, + 0.9989816606852913, + 0.6215372698904583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9916597022350552, + 0.12358082085847855, + -0.03658975071795847, + -0.07453037862525987 + ], + [ + -0.12187634845913092, + 0.9914954304695129, + 0.0456398406640668, + 0.0706874630903582 + ], + [ + 0.04191877667135734, + -0.04079976677894592, + 0.9982876595134431, + 0.6541070481351662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9933073746393798, + 0.10944973677396774, + -0.0368945542560029, + -0.0721630803730679 + ], + [ + -0.10692195244109674, + 0.9921627044677734, + 0.0646594352095484, + 0.07532575718186169 + ], + [ + 0.043682354243457525, + -0.06028185784816742, + 0.9972251368083781, + 0.6821090007038947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9939272417038892, + 0.10997270047664642, + -0.0038289789442561566, + -0.07444834695804743 + ], + [ + -0.10954375345721964, + 0.9921504259109497, + 0.06031304483256056, + 0.08331412788374443 + ], + [ + 0.010431711515359134, + -0.059527333825826645, + 0.9981721899466747, + 0.7326337772399721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9897461927531019, + 0.13941560685634616, + 0.031076760191503787, + -0.08390381060461102 + ], + [ + -0.14059425885772603, + 0.9892725348472597, + 0.03966296868051306, + 0.08671811985453683 + ], + [ + -0.02521374637556919, + -0.043625485152006156, + 0.9987297109525046, + 0.772384893386231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9803622350159238, + 0.18429037928581238, + 0.0701925284880533, + -0.11570163875408015 + ], + [ + -0.1869595238148396, + 0.9817957282066345, + 0.03351565146488761, + 0.08711857743273008 + ], + [ + -0.06273811400432776, + -0.04598063603043556, + 0.9969702387514658, + 0.8253159986638611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9786389103606712, + 0.1761280745267868, + 0.10604155711301678, + -0.1358087510386928 + ], + [ + -0.1795673072113778, + 0.9834593534469604, + 0.02373348721505889, + 0.07813257265318879 + ], + [ + -0.10010742395772314, + -0.04226810857653618, + 0.994078421681084, + 0.8647676867315981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9782647394965915, + 0.15590098500251773, + 0.13672224877024503, + -0.14514170464820775 + ], + [ + -0.16174517862953228, + 0.9862918853759768, + 0.0326629045874884, + 0.06783987699857094 + ], + [ + -0.1297558644769156, + -0.05406713485717775, + 0.9900707627833885, + 0.915110209046856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9774875955707963, + 0.16043990850448608, + 0.137029434533908, + -0.15336244696124302 + ], + [ + -0.16244818743352327, + 0.986710786819458, + 0.0035270660827197192, + 0.05989406945626432 + ], + [ + -0.13464253745325155, + -0.025707848370075226, + 0.990560707965674, + 0.9571028851979785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9830548914900705, + 0.15839089453220367, + 0.09227915458013985, + -0.17031265610087232 + ], + [ + -0.15393078572391844, + 0.986624538898468, + -0.053640869384309564, + 0.047546205929978484 + ], + [ + -0.09954110292732914, + 0.038527313619852066, + 0.9942872691707403, + 0.9940694901868895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9887786417935651, + 0.12986084818840027, + 0.07384383597797288, + -0.1854255347088878 + ], + [ + -0.1256866868080392, + 0.9903359413146973, + -0.05863097531951766, + 0.042421778019821374 + ], + [ + -0.08074407308786288, + 0.04869186878204346, + 0.9955448254483306, + 1.024309401947824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9902085103408241, + 0.1303732544183731, + 0.04989901493373516, + -0.20565469630399572 + ], + [ + -0.1286289840766884, + 0.9910128712654114, + -0.03671553095246677, + 0.028775789679820484 + ], + [ + -0.05423729004414155, + 0.02993757277727127, + 0.9980791595143788, + 1.0680806038443424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9906455255789339, + 0.12228640168905258, + 0.06056011306342636, + -0.22126720078189185 + ], + [ + -0.11897769649628032, + 0.9913427829742432, + -0.055531906737959186, + 0.01320827034192105 + ], + [ + -0.0668266275762032, + 0.047807130962610245, + 0.9966186442680862, + 1.1054494853618904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9799700756157742, + 0.12498211860656738, + 0.15504234446639803, + -0.24737967612669035 + ], + [ + -0.10872661804732685, + 0.9880491495132446, + -0.10925822136451965, + -0.010756629608524726 + ], + [ + -0.16684479004218325, + 0.09021255373954773, + 0.9818474871861655, + 1.1698398200410307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.957289974152096, + 0.13895663619041446, + 0.253548717684482, + -0.27623520473251034 + ], + [ + -0.10321837045266936, + 0.9833987355232241, + -0.1492410314665474, + -0.03035233305284584 + ], + [ + -0.2700775081929811, + 0.11669605970382693, + 0.9557406499360774, + 1.2165010385163504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9146503598511491, + 0.16089852154254916, + 0.37084556082927855, + -0.31345696713329313 + ], + [ + -0.09958720929488583, + 0.9787876605987551, + -0.17904495821680738, + -0.07487698268183765 + ], + [ + -0.3917871042284574, + 0.12683205306530002, + 0.9112719137987312, + 1.2575182999487575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8679517619544316, + 0.161844402551651, + 0.46953825730206233, + -0.34119838638130456 + ], + [ + -0.06702477398625722, + 0.9749354124069214, + -0.21215223481894102, + -0.11238956223762897 + ], + [ + -0.49210514859669424, + 0.15266719460487366, + 0.8570444806581521, + 1.2791646923980438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8325959534244037, + 0.1683233678340912, + 0.5276847978525905, + -0.37334460645828005 + ], + [ + -0.05294232550405647, + 0.9725275635719299, + -0.22668751131391843, + -0.11859203603720597 + ], + [ + -0.5513447930793812, + 0.16080224514007568, + 0.8186339353700237, + 1.3001150877068008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8281675807206385, + 0.17023156583309174, + 0.5340034469850425, + -0.40140536999424736 + ], + [ + -0.08531519410100177, + 0.9799454808235168, + -0.18007817711584517, + -0.08390873223729724 + ], + [ + -0.5539492686918549, + 0.10357628017663956, + 0.8260824223900661, + 1.3211013433697087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8031060845921363, + 0.17138928174972537, + 0.5706543031882637, + -0.43607441034634953 + ], + [ + -0.1026439494304073, + 0.9832146167755129, + -0.1508417173599276, + -0.061760638962359844 + ], + [ + -0.5869282949353045, + 0.06256769597530366, + 0.8072177154766735, + 1.349603773977725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7968092694414277, + 0.16614304482936862, + 0.5809401874625147, + -0.4642249339271687 + ], + [ + -0.10557412918857005, + 0.984945595264435, + -0.13688056328313214, + -0.05414486554780239 + ], + [ + -0.594936223963784, + 0.04773546010255815, + 0.8023541851857624, + 1.3569908357892035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8219180034128093, + 0.1421755701303482, + 0.5515767606499163, + -0.5036689700835676 + ], + [ + -0.12323251149897753, + 0.9897986650466919, + -0.07150076285252946, + -0.033458696828422715 + ], + [ + -0.5561156088779768, + -0.009204419329762459, + 0.8310539726963919, + 1.3737760310725753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8358581842504335, + 0.12768206000328067, + 0.5338898467156739, + -0.525773458423177 + ], + [ + -0.1310352499954258, + 0.9908668994903567, + -0.03182124314641346, + -0.01607999012200098 + ], + [ + -0.5330767571772842, + -0.043360348790884025, + 0.8449550708931132, + 1.3839420035515713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8432923266794492, + 0.10844705998897552, + 0.5264003298237059, + -0.5443558262410221 + ], + [ + -0.13988344591384577, + 0.9899630546569824, + 0.02014446559986782, + 0.003145596808626229 + ], + [ + -0.5189322765651478, + -0.09062235057353973, + 0.8499981802730564, + 1.3821991133569274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.844418658740086, + 0.052844807505607605, + 0.5330709087902958, + -0.548561459868949 + ], + [ + -0.10244918800467244, + 0.992685079574585, + 0.06387846267661515, + 0.007313493068987421 + ], + [ + -0.5257959176995989, + -0.10855284333229065, + 0.8436556768212111, + 1.3803268230048635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8069724913436702, + 0.06852293759584427, + 0.5866003418748417, + -0.5394831244335577 + ], + [ + -0.10681520277442492, + 0.9938000440597534, + 0.030853772081051545, + -0.0017295967687246672 + ], + [ + -0.5808492782165403, + -0.08755598217248917, + 0.809288600536131, + 1.3786132197607728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7852295433841332, + 0.14467664062976837, + 0.6020658228864918, + -0.5368533009707287 + ], + [ + -0.19370274269137658, + 0.9809144139289856, + 0.016917951530728777, + 0.007578033734942867 + ], + [ + -0.5881274068732784, + -0.12990626692771912, + 0.7982672003220604, + 1.3725902727542854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7364784984846414, + 0.17446689307689667, + 0.6535753382318056, + -0.5323206437012903 + ], + [ + -0.23914647835464128, + 0.9709289073944092, + 0.010299195739289472, + -0.0024274200562939795 + ], + [ + -0.6327783281246717, + -0.16388536989688873, + 0.756791349548737, + 1.3531654571641032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7236992124177215, + 0.15146441757678986, + 0.6732889883038138, + -0.5297826088653969 + ], + [ + -0.17476861415994294, + 0.9840388894081116, + -0.03351749495510797, + -0.022506348889965354 + ], + [ + -0.6676191923363306, + -0.09341317415237427, + 0.7386193638633519, + 1.3493303450481375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7129593779895254, + 0.1724855899810791, + 0.6796599467877336, + -0.5411055769928955 + ], + [ + -0.11595385772179877, + 0.9849303960800171, + -0.12832288280555196, + -0.05055980340486304 + ], + [ + -0.6915516027562871, + 0.012679804116487503, + 0.7222157617851401, + 1.339742764754085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7164736723152832, + 0.17190036177635193, + 0.6761033668741742, + -0.5424329815224475 + ], + [ + -0.08663441238186999, + 0.9835876226425171, + -0.15827136613408718, + -0.06993755513889724 + ], + [ + -0.6922138211544467, + 0.05482344701886177, + 0.7196070905341087, + 1.3399350796929541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7285107170266314, + 0.16924382746219635, + 0.6637986854084859, + -0.5538944637474625 + ], + [ + -0.04699982018376109, + 0.9790657758712769, + -0.1980434203837102, + -0.09355328436134555 + ], + [ + -0.683420169775544, + 0.11307834088802338, + 0.7212143567184935, + 1.3333381546360594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7255491333091847, + 0.183659702539444, + 0.663209989809147, + -0.5612068077779577 + ], + [ + -0.04193759766953952, + 0.9737385511398318, + -0.22377335812655083, + -0.1039273949081109 + ], + [ + -0.6868912631409201, + 0.13454513251781466, + 0.7141974367203142, + 1.3277537706150433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7127453543840109, + 0.18310168385505676, + 0.677102517540824, + -0.5644475004257182 + ], + [ + -0.025022895641966185, + 0.9713501334190369, + -0.23633184414384945, + -0.11507721092528815 + ], + [ + -0.7009764206942792, + 0.1515013724565506, + 0.6969070403795237, + 1.3259169035122624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.6858175540648479, + 0.16783741116523745, + 0.7081559948298121, + -0.5583563653031041 + ], + [ + -0.014565663169555524, + 0.9760149717330935, + -0.21721549841415538, + -0.12127223479710146 + ], + [ + -0.7276277218618576, + 0.1386554390192032, + 0.6718129336850349, + 1.3264463682901892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6557379391505364, + 0.1534339785575867, + 0.7392332669602756, + -0.5538735192240981 + ], + [ + -0.010081199712384949, + 0.9808238148689272, + -0.19463555662023732, + -0.13435100613464562 + ], + [ + -0.7549213179256514, + 0.1201775670051575, + 0.6447102195039061, + 1.3252398713108162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6563340113393484, + 0.1412988007068634, + 0.7411210023041003, + -0.5528996888289442 + ], + [ + 0.004265161171747482, + 0.9815955758094788, + -0.19092383351323183, + -0.14293114663279805 + ], + [ + -0.7544584465523925, + 0.1284707933664322, + 0.6436518854925877, + 1.3220465748125099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6623486515014002, + 0.14272023737430573, + 0.735476173162216, + -0.5518787397169794 + ], + [ + 0.00987681605943478, + 0.9799388647079468, + -0.19905335672568797, + -0.14899591903118886 + ], + [ + -0.7491306737612019, + 0.1391068696975708, + 0.6476515382886632, + 1.3215072199130202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6603956324294044, + 0.1529001891613007, + 0.7351864716656468, + -0.5498750171995808 + ], + [ + -0.011352817583398463, + 0.9809715151786806, + -0.19381939347730381, + -0.14924268290206172 + ], + [ + -0.7508320188470866, + 0.11965104937553409, + 0.649565157992466, + 1.3295663379764404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6777559582874637, + 0.1482444703578949, + 0.7201877936885427, + -0.5476012868715405 + ], + [ + -0.02336602828344069, + 0.9833126068115234, + -0.18041709755006716, + -0.15099989516232065 + ], + [ + -0.7349155817972933, + 0.105450838804245, + 0.6699098073075114, + 1.342627759001985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6910086151882279, + 0.16057254374027252, + 0.7047861845009864, + -0.5456740600317623 + ], + [ + -0.04425434906145969, + 0.9825836420059204, + -0.18047433596735543, + -0.15496297842169757 + ], + [ + -0.7214906194818392, + 0.09351947903633118, + 0.6860797889970005, + 1.3453979871128503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6971140955984049, + 0.1336606740951538, + 0.7043911113202358, + -0.5322825681017627 + ], + [ + -0.014893942251798895, + 0.9849565625190735, + -0.17215890683796062, + -0.16657579501935144 + ], + [ + -0.7168054923671143, + 0.109523244202137, + 0.6886178566515748, + 1.333083791508999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6860832447187869, + 0.12160331010818481, + 0.7172881866932806, + -0.5242844133785483 + ], + [ + 0.005184307747369546, + 0.9850897789001465, + -0.17196301403860909, + -0.17030168382188735 + ], + [ + -0.7275044767836125, + 0.12169958651065826, + 0.675223160581215, + 1.3304898843080186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6774348863906361, + 0.12608471512794495, + 0.7246962421476848, + -0.5199309484087129 + ], + [ + -0.008690279880871708, + 0.9865032434463501, + -0.16351110127358742, + -0.17109861637627297 + ], + [ + -0.7355313939004089, + 0.10447032749652863, + 0.6693874186984794, + 1.3355641326699317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6755985533613806, + 0.12672460079193115, + 0.7262970569286528, + -0.5182165966977785 + ], + [ + -0.014699446749879573, + 0.9872366786003113, + -0.15858009175334528, + -0.17302616709316385 + ], + [ + -0.7371231479732722, + 0.09646032750606537, + 0.6688385413128277, + 1.3398782115885486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6778731207208901, + 0.1308019757270813, + 0.7234492256730813, + -0.5175194804299825 + ], + [ + -0.021031755400890927, + 0.9870927333831787, + -0.15876279635721982, + -0.17443335208301808 + ], + [ + -0.7348779868332649, + 0.09240563213825226, + 0.6718746386180757, + 1.3437521472716742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6825455070789078, + 0.13616037368774417, + 0.7180472989750349, + -0.5154058946047759 + ], + [ + -0.027360594283812024, + 0.9865636229515078, + -0.1610702153451471, + -0.1743847773195041 + ], + [ + -0.7303307379240199, + 0.09029155969619752, + 0.6771000137161088, + 1.3482440700244114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6859551771729987, + 0.14112858474254608, + 0.7138264037170255, + -0.5117579552657605 + ], + [ + -0.034490577954046725, + 0.9862144589424133, + -0.1618377299378507, + -0.17324555445795334 + ], + [ + -0.7268258920678198, + 0.08639314770698547, + 0.6813665352253168, + 1.353469650655223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.688227163189195, + 0.14414788782596588, + 0.7110308321500652, + -0.507658884678504 + ], + [ + -0.04053828427624251, + 0.9861721992492676, + -0.1606893834134914, + -0.17241156701797206 + ], + [ + -0.7243618357695626, + 0.08176682889461517, + 0.6845539976821546, + 1.3596292644733796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6931601959474435, + 0.14556653797626495, + 0.7059315660210826, + -0.5023455237365824 + ], + [ + -0.046525300759192964, + 0.9863881468772888, + -0.15771448127504709, + -0.1718680661333104 + ], + [ + -0.7192804518518348, + 0.07647773623466492, + 0.6904975161711742, + 1.3669944870657282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7011605261499523, + 0.14542911946773532, + 0.6980145341980404, + -0.49666184442512085 + ], + [ + -0.05066936823650318, + 0.9866658449172976, + -0.15467096195579955, + -0.17230651095234747 + ], + [ + -0.7112008086743659, + 0.07308121025562288, + 0.6991799027265513, + 1.3734453606165014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7094753587997662, + 0.1440925896167755, + 0.6898420308377141, + -0.489622319640747 + ], + [ + -0.052827632562352206, + 0.9869939088821411, + -0.1518298556841412, + -0.17348225491211416 + ], + [ + -0.7027474444931777, + 0.07127682864665985, + 0.7078599390955723, + 1.3793382487521963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7166232220391653, + 0.13998255133628845, + 0.6832686971043549, + -0.4815737651284232 + ], + [ + -0.05122997616768275, + 0.9875703454017639, + -0.1485945758854994, + -0.17567971630365015 + ], + [ + -0.695576565018716, + 0.07148247957229614, + 0.7148870825539956, + 1.384413204356321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7193548116938746, + 0.13279315829277039, + 0.6818317953174844, + -0.4729462085572885 + ], + [ + -0.0460301810717172, + 0.9885125756263733, + -0.14395877380619307, + -0.17939264082072956 + ], + [ + -0.6931160208038726, + 0.0721726045012474, + 0.7172037840879005, + 1.387912217935089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7153896482100217, + 0.1257798820734024, + 0.6873115106992883, + -0.46420589875725693 + ], + [ + -0.03924313162781246, + 0.9893442988395691, + -0.14020640835974468, + -0.18381639153492332 + ], + [ + -0.6976228583498684, + 0.07332996279001236, + 0.7127026393164345, + 1.3913787205265162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7101802917847433, + 0.12104804813861847, + 0.6935353733439008, + -0.4558614183475805 + ], + [ + -0.033063034191502895, + 0.9897552728652954, + -0.1388930423003749, + -0.18898120398284693 + ], + [ + -0.7032430507209119, + 0.07570873200893402, + 0.7069069738018263, + 1.3944475962146663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7049159082878534, + 0.11858713626861572, + 0.6993073196309152, + -0.44796967977998353 + ], + [ + -0.028473659924394393, + 0.9898609519004822, + -0.139156626771069, + -0.19326989246470552 + ], + [ + -0.7087192093191135, + 0.07818187773227692, + 0.7011453172789053, + 1.396903499505263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6980785010732049, + 0.11547547578811646, + 0.706648339599109, + -0.4392030077004708 + ], + [ + -0.02314077782874827, + 0.9900326132774353, + -0.13892401241996652, + -0.19706338400971704 + ], + [ + -0.7156472694274711, + 0.08062747865915298, + 0.6937926722412218, + 1.3983191381873976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6919228685144648, + 0.11303699016571045, + 0.7130676027967927, + -0.4305164578514096 + ], + [ + -0.01884452492634352, + 0.9901584386825562, + -0.13867631666800861, + -0.2004583800257962 + ], + [ + -0.7217254549157036, + 0.0825159028172493, + 0.6872434203410056, + 1.4006911038943595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6875125540324548, + 0.11086848378181458, + 0.7176592093825308, + -0.42167288602179565 + ], + [ + -0.014856965424158786, + 0.9902170896530151, + -0.13874208034355442, + -0.20354974284473282 + ], + [ + -0.7260205073552957, + 0.08472467958927155, + 0.682433861263561, + 1.4017839333116935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6814401139004516, + 0.10702851414680481, + 0.7240057717316936, + -0.4115917826155478 + ], + [ + -0.009039902415672468, + 0.9904047250747681, + -0.13790139347208766, + -0.20537250757124687 + ], + [ + -0.7318180966847978, + 0.08742660284042358, + 0.675868999789076, + 1.4030925523580207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6743998440003139, + 0.10158804059028625, + 0.7313444668039764, + -0.4019878118978763 + ], + [ + -0.0024767729491113116, + 0.9907956719398499, + -0.13534341594885974, + -0.2066043821772985 + ], + [ + -0.7383621962111717, + 0.0894642025232315, + 0.6684440515449511, + 1.40537989851002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6691747020848563, + 0.09570881724357605, + 0.7369159287112385, + -0.3923266908901165 + ], + [ + 0.0016620022049198065, + 0.9914758801460266, + -0.1302796730640397, + -0.2075997527303808 + ], + [ + -0.7431032366576837, + 0.08840461820363998, + 0.6633115093355333, + 1.407243628159092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.66108434505626, + 0.085726797580719, + 0.7453982307349923, + -0.38216828731741503 + ], + [ + 0.007241253091915217, + 0.9926762580871582, + -0.12058795884200565, + -0.2091233841251225 + ], + [ + -0.7502766976774828, + 0.0851164385676384, + 0.6556219310750782, + 1.4082990089725715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6511313742916892, + 0.07395096123218536, + 0.75535371800375, + -0.3747974266985023 + ], + [ + 0.017131349209441163, + 0.9935560822486877, + -0.11203915487579277, + -0.2129593787821455 + ], + [ + -0.7587716763108158, + 0.0858924388885498, + 0.6456686894821938, + 1.4078852037790557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6430600118962465, + 0.072268545627594, + 0.7623982810912022, + -0.3728926955887612 + ], + [ + 0.026103448808091158, + 0.9928904175758362, + -0.1161346300186651, + -0.2157809076885179 + ], + [ + -0.7653707630497925, + 0.09458276629447937, + 0.6366016551959989, + 1.4080366650753924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6429524619683037, + 0.08294961601495744, + 0.7614010408987558, + -0.37534640056373114 + ], + [ + 0.027957373316116592, + 0.9909136891365053, + -0.1315616447368154, + -0.21534276525324253 + ], + [ + -0.7653956539635, + 0.10587465763092044, + 0.6347913243443771, + 1.4064928509212806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439820737731047, + 0.10026845335960391, + 0.7584414464977625, + -0.377703212428703 + ], + [ + 0.022842052331087697, + 0.9884120225906374, + -0.15006620532206053, + -0.21219321789914364 + ], + [ + -0.7646995326391516, + 0.11396431177854541, + 0.6342293223480069, + 1.4060488811219467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6373805273818699, + 0.11133722960948944, + 0.7624632162978446, + -0.37919303561928686 + ], + [ + 0.021592727618728564, + 0.9865368008613586, + -0.16210757846437357, + -0.20884411027444008 + ], + [ + -0.7702466102926826, + 0.11978787928819656, + 0.6263952379467789, + 1.4057007824951644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6288652254025362, + 0.11511974781751633, + 0.7689447441757422, + -0.37912170335021567 + ], + [ + 0.023343175237546237, + 0.9857369065284729, + -0.16666671379723602, + -0.20634007983515545 + ], + [ + -0.7771638707789617, + 0.12276051193475723, + 0.6172084149197212, + 1.4093887157612681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6270169468973761, + 0.11353930830955505, + 0.7706870746013427, + -0.3788420117268079 + ], + [ + 0.024686672852915318, + 0.9859286546707153, + -0.16533378365811346, + -0.20385959509941898 + ], + [ + -0.7786143771091062, + 0.1226927787065506, + 0.6153910446926035, + 1.4145843811854433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6273094518842531, + 0.10871295630931854, + 0.7711448519603341, + -0.3779790275736138 + ], + [ + 0.02582516141960341, + 0.9867600202560425, + -0.16011773028461593, + -0.20148899270025822 + ], + [ + -0.7783417924332107, + 0.12035829573869705, + 0.6161963687554218, + 1.4206241859446491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.630422022261465, + 0.10231171548366547, + 0.7694806187753167, + -0.37715130603966307 + ], + [ + 0.025335810640199838, + 0.9880359172821045, + -0.15212845444010048, + -0.19876693145164523 + ], + [ + -0.7758390693748636, + 0.11540054529905319, + 0.6202874976017366, + 1.4286816702490663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.636589623269107, + 0.09357401728630067, + 0.7655046893571794, + -0.3755500142523174 + ], + [ + 0.023707000136554735, + 0.9897680878639223, + -0.14070220044936074, + -0.19674372735175852 + ], + [ + -0.7708382396156532, + 0.10771739482879641, + 0.6278577959760343, + 1.4357765706083359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6430292234175006, + 0.08713700622320175, + 0.7608682685954629, + -0.37465351935820823 + ], + [ + 0.019675743058678984, + 0.9912983775138855, + -0.13015506142250263, + -0.19520678932531946 + ], + [ + -0.7655888688948141, + 0.09866416454315186, + 0.63571936470394, + 1.444749353101616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6504053440077666, + 0.08191983401775361, + 0.7551569673310563, + -0.37183959335001276 + ], + [ + 0.013997638491208025, + 0.9927059412002566, + -0.11974524414311469, + -0.1923639053722434 + ], + [ + -0.7594583238509949, + 0.08845336735248567, + 0.644514595904163, + 1.4570086089039616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.656241703769289, + 0.07515870779752731, + 0.7507982308772148, + -0.3697859520382962 + ], + [ + 0.008637218140021323, + 0.9942134022712708, + -0.10707523483351594, + -0.19310571643732152 + ], + [ + -0.7545012482459013, + 0.07675204426050186, + 0.6517951539235918, + 1.4622940404721008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6603683619762408, + 0.06682216376066208, + 0.7479628973034812, + -0.36713944184638175 + ], + [ + 0.006563708147426444, + 0.9954813718795776, + -0.09473021673098307, + -0.19367664627613498 + ], + [ + -0.7509132025766447, + 0.06746625155210495, + 0.6569457445076561, + 1.4677729921358127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6663428589520556, + 0.05733489617705345, + 0.7434379176926523, + -0.36543274707036527 + ], + [ + 0.007191167386714062, + 0.9964988231658936, + -0.08329672151740211, + -0.19544987713305637 + ], + [ + -0.7456108061295651, + 0.0608503632247448, + 0.6635976124230198, + 1.4722893972380455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.672857035791204, + 0.04943409934639931, + 0.7381190798347615, + -0.3632839631277448 + ], + [ + 0.009635290474288065, + 0.9970945715904236, + -0.07556185791774439, + -0.1964710844847136 + ], + [ + -0.7397098235845326, + 0.057954318821430206, + 0.6704257448649372, + 1.4775925644270034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6775573089137379, + 0.04127850383520126, + 0.7343107588840345, + -0.3619389571723524 + ], + [ + 0.015567484049016107, + 0.9973950982093811, + -0.07043183209881626, + -0.198229305040016 + ], + [ + -0.735305259466613, + 0.05915297567844391, + 0.6751497269132832, + 1.4822694544382353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6846859841133703, + 0.03469128534197807, + 0.7280121631382599, + -0.36109792826335635 + ], + [ + 0.020444386986193407, + 0.9975593686103821, + -0.06676345324590652, + -0.19926094846378864 + ], + [ + -0.7285514387070127, + 0.06059575825929642, + 0.6823056703204666, + 1.485123660960187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6903345105996856, + 0.027961822226643562, + 0.7229498502284044, + -0.35876605330996436 + ], + [ + 0.024406371568544576, + 0.9977840781211853, + -0.06189699492232209, + -0.19910051113617583 + ], + [ + -0.72307858730622, + 0.06037421524524689, + 0.6881223198739533, + 1.4888821026333798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.694238925988739, + 0.01998138800263405, + 0.7194671583825711, + -0.35581312951261607 + ], + [ + 0.027796011682199265, + 0.9981245398521423, + -0.05454173704432457, + -0.1991660912702127 + ], + [ + -0.7192076996370451, + 0.05786331743001938, + 0.6923815021402666, + 1.494577497271475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6974786529223466, + 0.012407150119543076, + 0.7164982023901503, + -0.3530481750391762 + ], + [ + 0.029322171944310086, + 0.9985185861587524, + -0.045834538783382124, + -0.19945821061831157 + ], + [ + -0.7160054401628162, + 0.05297789350152016, + 0.6960815997817725, + 1.5006843888692631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7022321791645042, + 0.006813941057771446, + 0.7119154186069674, + -0.3504900711885738 + ], + [ + 0.02792690293516504, + 0.9989209771156313, + -0.03710800176678964, + -0.19968809099670953 + ], + [ + -0.7114001304896973, + 0.045940026640892036, + 0.7012841576203689, + 1.507021084757129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7049762063478292, + 0.0035371622070670137, + 0.7092222035444201, + -0.3472076340367292 + ], + [ + 0.0250918316751939, + 0.9992371797561648, + -0.029925191188953933, + -0.1993178960972126 + ], + [ + -0.7087869954960864, + 0.03889222815632821, + 0.7043495987942656, + 1.5130353605569136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7061801729631325, + 0.00019095931202173233, + 0.708032147726567, + -0.34398834979447335 + ], + [ + 0.02338092223398035, + 0.999448299407959, + -0.023589325910805228, + -0.1992507970132477 + ], + [ + -0.7076460188814552, + 0.03321275860071182, + 0.7057861185610476, + 1.518422654630067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7058791158488483, + -0.0016304003074765205, + 0.708330443584986, + -0.34129999563682095 + ], + [ + 0.022396192196172154, + 0.9995487332344055, + -0.020017973326113294, + -0.19967212474397636 + ], + [ + -0.7079781725771241, + 0.0299941748380661, + 0.7055971277841727, + 1.5230904114764705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7043502216961325, + -0.0006570005789399148, + 0.7098523319852914, + -0.3394525449254204 + ], + [ + 0.02106904783283565, + 0.9995783567428591, + -0.019980586307752228, + -0.20044195625075056 + ], + [ + -0.7095399212169685, + 0.029029242694377906, + 0.7040670883786404, + 1.5265895464990193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.702543174246178, + 0.0018861819989979267, + 0.7116386774744683, + -0.3373584740845534 + ], + [ + 0.018730549405507575, + 0.9996010661125183, + -0.021140573624807896, + -0.20128867166689934 + ], + [ + -0.711394606441014, + 0.028181549161672592, + 0.7022275303987086, + 1.5301032501274985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.698686550229384, + 0.005308737978339195, + 0.7154082593013189, + -0.3349039386541783 + ], + [ + 0.01570455660681279, + 0.9996176958084106, + -0.022755220315371527, + -0.20262760805758084 + ], + [ + -0.715255511035276, + 0.027133934199810028, + 0.6983360691319562, + 1.5331665859594112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6933110676042477, + 0.010189252905547619, + 0.7205664111787509, + -0.33157120015833397 + ], + [ + 0.010481090766846985, + 0.9996517300605774, + -0.024220336693045103, + -0.2038662877260572 + ], + [ + -0.7205622216957707, + 0.0243445485830307, + 0.6929627678045319, + 1.535903915676526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6843239218882595, + 0.011551767587661743, + 0.7290866603376726, + -0.3285022414480291 + ], + [ + 0.00678122734883342, + 0.9997304677963257, + -0.022204783288057042, + -0.2071847270407281 + ], + [ + -0.7291466110942131, + 0.020139366388320923, + 0.6840611116551973, + 1.5387179613445627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.674813596070074, + 0.011629345826804638, + 0.7378966451141705, + -0.3273034362016938 + ], + [ + 0.00895435732681546, + 0.9996731877326965, + -0.02394382634303682, + -0.20981515215497953 + ], + [ + -0.7379339507021502, + 0.022765010595321655, + 0.6744888773758819, + 1.5394613412634826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6698608526219774, + 0.01619885861873627, + 0.74230992564722, + -0.3298351997979873 + ], + [ + 0.012159415823073226, + 0.9993885755538943, + -0.03278155431187602, + -0.21360218374996254 + ], + [ + -0.7423870870493826, + 0.030985135585069663, + 0.6692543433830727, + 1.5400070189645139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.670295393711798, + 0.02665378153324128, + 0.7416155949581116, + -0.3340231156947333 + ], + [ + 0.009547300847663491, + 0.9989623427391054, + -0.04453201585073689, + -0.21131174477691728 + ], + [ + -0.7420330503986222, + 0.036930032074451453, + 0.669345359931348, + 1.535569448617633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6669979566542441, + 0.03707797825336456, + 0.7441364397262794, + -0.33689185884233064 + ], + [ + 0.0030958312949029804, + 0.9986144304275513, + -0.052532732398334635, + -0.20902374756702474 + ], + [ + -0.7450531846598522, + 0.037342946976423264, + 0.665958983391654, + 1.5359753332504669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.660863691758232, + 0.04220186918973923, + 0.7493184709336119, + -0.3395874050295214 + ], + [ + -0.0005831180488512068, + 0.9984463453292847, + -0.055718548822709324, + -0.20613064791332528 + ], + [ + -0.7505057418460058, + 0.0363854244351387, + 0.6598615030498747, + 1.5347571566703677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6544281348322604, + 0.04268907383084297, + 0.7549182452811916, + -0.34172028273152316 + ], + [ + -0.0006225504586020559, + 0.9984350800514221, + -0.05591977378046873, + -0.2041495547895057 + ], + [ + -0.7561239812457204, + 0.03612550348043442, + 0.6534305307753311, + 1.5361547954470076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.6474198193497952, + 0.040155068039894104, + 0.7610749661961524, + -0.34363825371140344 + ], + [ + 0.0020645435218453524, + 0.9985149502754211, + -0.05443887341306298, + -0.20183579205576646 + ], + [ + -0.7621308038028664, + 0.036816079169511795, + 0.6463754771585632, + 1.538243742266865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6397845737428022, + 0.03601080924272537, + 0.7677102384286362, + -0.3451797925740101 + ], + [ + 0.0063827097290003925, + 0.9986183047294617, + -0.0521611115422447, + -0.2002271923821927 + ], + [ + -0.7685278481066646, + 0.0382719486951828, + 0.6386706712072471, + 1.5405433501726982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.631077878834895, + 0.03305539861321449, + 0.7750149016747906, + -0.34830438101601413 + ], + [ + 0.009999965797597501, + 0.998661994934082, + -0.05073699578576374, + -0.19894466676817668 + ], + [ + -0.7756550195462164, + 0.039769116789102554, + 0.6299029321521313, + 1.5426153254918342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6206826837088146, + 0.03392140194773674, + 0.7833277214704647, + -0.35348694570861233 + ], + [ + 0.012352770737939335, + 0.9985166192054749, + -0.05302791742986953, + -0.19724358333220518 + ], + [ + -0.7839645996748058, + 0.042589783668518066, + 0.619343027040871, + 1.5438646860079621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6076206527522697, + 0.039789356291294105, + 0.7932301247014039, + -0.36006397960960396 + ], + [ + 0.01307778906028697, + 0.9981076717376711, + -0.06008394516478862, + -0.1953053411591577 + ], + [ + -0.7941197613969797, + 0.04688194021582605, + 0.6059504131250825, + 1.5450981512347897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.592424632652934, + 0.04955450445413591, + 0.8041003983127892, + -0.36792753422303637 + ], + [ + 0.011537142275140003, + 0.997482240200043, + -0.06997214188885575, + -0.19298245263490948 + ], + [ + -0.8055433053314768, + 0.05073024332523347, + 0.5903613102906479, + 1.5461583101713816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5754120087612299, + 0.059891149401664734, + 0.8156678617246595, + -0.379779632811949 + ], + [ + 0.007647711619235012, + 0.9968775510787964, + -0.07859170816050942, + -0.19062152996707096 + ], + [ + -0.8178279301880105, + 0.05146060883998871, + 0.5731572670257068, + 1.5470499647809652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5569856797531212, + 0.06956323981285095, + 0.827603776189097, + -0.3906976022226373 + ], + [ + 0.00337562349960414, + 0.9962882399559021, + -0.08601364672675456, + -0.18652343694985507 + ], + [ + -0.8305152735957383, + 0.0507020503282547, + 0.5546834368418446, + 1.5505306120971345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5386855392309441, + 0.07782904803752899, + 0.8389043855716654, + -0.3992013182579837 + ], + [ + -0.0005070011805474212, + 0.9957537651062012, + -0.09205513698620464, + -0.18252614592244762 + ], + [ + -0.8425067543859566, + 0.049163445830345154, + 0.5364376082944626, + 1.5509087175078131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5186443565137033, + 0.08739078044891359, + 0.850512189213384, + -0.40862376797448274 + ], + [ + -0.007250475650270359, + 0.9951763749122622, + -0.09783378506398703, + -0.17912385182336227 + ], + [ + -0.8549593569715603, + 0.044574320316314704, + 0.5167761610267636, + 1.5533240739130039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.4990863354507364, + 0.09310662746429443, + 0.8615358480935393, + -0.4179354164449087 + ], + [ + -0.011083909678604854, + 0.9948155879974365, + -0.10108934732290548, + -0.175460744906874 + ], + [ + -0.8664814044918454, + 0.04090312123298645, + 0.49753079998760935, + 1.5561507417614595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4817405788319569, + 0.0942610651254654, + 0.871229553672893, + -0.4265146120430666 + ], + [ + -0.012077722286563581, + 0.9948177933692932, + -0.10095417012316212, + -0.17162455269793173 + ], + [ + -0.8762306773634181, + 0.038111262023448944, + 0.4803825597235328, + 1.558865666163878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.46646413683000115, + 0.09133201837539673, + 0.8798123266723871, + -0.4343211136923816 + ], + [ + -0.009852708742107214, + 0.9951298236846924, + -0.09807919137314138, + -0.16822782142928344 + ], + [ + -0.8844852112568736, + 0.03708188608288765, + 0.46509223613019446, + 1.5618003985488544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.45291957406166355, + 0.08540842682123186, + 0.8874510156298684, + -0.4417361522931211 + ], + [ + -0.006070295859137743, + 0.9956731796264651, + -0.09272571779172357, + -0.16487415241729855 + ], + [ + -0.8915307854499305, + 0.0366102084517479, + 0.45147834663914604, + 1.564468964982994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.44024593607951906, + 0.07984350621700287, + 0.8943201277857924, + -0.4483011528726206 + ], + [ + -0.0037943008773188396, + 0.9961948990821838, + -0.08707090604302997, + -0.16058568490169992 + ], + [ + -0.8978692251652087, + 0.03493928909301758, + 0.438873706690516, + 1.5675923578372832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.4282417171077792, + 0.07579241693019867, + 0.9004801672822934, + -0.4542928289930179 + ], + [ + -0.004568788165780008, + 0.9966453909873962, + -0.08171375687979826, + -0.15520691283298477 + ], + [ + -0.9036527042499918, + 0.03087913990020752, + 0.427151420527606, + 1.5702504736694611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.4164762249806743, + 0.07393410056829453, + 0.9061354389394093, + -0.4596512260969794 + ], + [ + -0.00897500372042371, + 0.9969736337661743, + -0.07722076978872923, + -0.14861813929122258 + ], + [ + -0.909102377772868, + 0.024028053507208824, + 0.4158793785511266, + 1.5733061419179326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.40297857909530804, + 0.0707332044839859, + 0.912471992081859, + -0.4646907330165332 + ], + [ + -0.014070925727130557, + 0.9973699450492859, + -0.07110014701625528, + -0.14184828424944665 + ], + [ + -0.915101314629125, + 0.01581251062452793, + 0.40291399392887167, + 1.5760559450881497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.3886469864109833, + 0.0671861693263054, + 0.9189339946240985, + -0.47096626477156833 + ], + [ + -0.017800594182574674, + 0.9976992607116701, + -0.06541650176725645, + -0.1335933634228006 + ], + [ + -0.9212148113035982, + 0.00906636379659176, + 0.3889487878247127, + 1.5796089972997776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.38070200198285337, + 0.0605977401137352, + 0.9227101194712354, + -0.47652027820607035 + ], + [ + -0.01641260377821315, + 0.998136043548584, + -0.058779546112916754, + -0.1297248155545627 + ], + [ + -0.9245521813568843, + 0.007233412936329842, + 0.3809869044753399, + 1.5818194013597602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.37597405101234294, + 0.05291553586721422, + 0.9251181324685924, + -0.4822852912413259 + ], + [ + -0.013712402591326979, + 0.9985765814781191, + -0.0515444542151993, + -0.1273553398945395 + ], + [ + -0.9265287387097944, + 0.00669379346072674, + 0.37616453523805476, + 1.583305161420523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.3688604195313268, + 0.04466269910335541, + 0.9284112119037314, + -0.4868336901328246 + ], + [ + -0.00957891004834244, + 0.9989745020866394, + -0.0442515364704363, + -0.12627469795883103 + ], + [ + -0.9294354783892073, + 0.007429473102092743, + 0.36890994867481947, + 1.5840422309799624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.3602440354027519, + 0.039000529795885086, + 0.9320425267421144, + -0.492450142573027 + ], + [ + -0.006111284452316747, + 0.9992029070854187, + -0.039448723069782, + -0.1264810373902138 + ], + [ + -0.9328381604453659, + 0.0085151931270957, + 0.36019516882806407, + 1.5846013035406303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.35447887121023397, + 0.037511080503463745, + 0.9343112941651324, + -0.5000746417455608 + ], + [ + -0.003964838156921394, + 0.99924635887146, + -0.03861385200350747, + -0.12732979374389589 + ], + [ + -0.935055641491641, + 0.009983401745557785, + 0.35436049457119184, + 1.5848723211582705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.3518114458373731, + 0.04023795202374458, + 0.9352056600813186, + -0.5085585505461339 + ], + [ + -0.0020271785325930896, + 0.9991061091423035, + -0.042224722405074536, + -0.12874478751702575 + ], + [ + -0.9360686903637273, + 0.0129593126475811, + 0.35157854734949434, + 1.584128956792685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.3487093922410729, + 0.04551676288247109, + 0.9361249992112494, + -0.5169680704935581 + ], + [ + -0.0009526990841372203, + 0.9988366961479189, + -0.04821107972340153, + -0.13054322149995742 + ], + [ + -0.937230393611061, + 0.015919812023639682, + 0.3483470766498472, + 1.5832386942176402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.3444581635768114, + 0.05082269012928009, + 0.9374250191749682, + -0.5249335160737222 + ], + [ + 0.0002928681558279448, + 0.9985277056694031, + -0.05424300515446509, + -0.1325203532671918 + ], + [ + -0.9388016622019019, + 0.018958987668156624, + 0.3439361530358785, + 1.5830372387148384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.33945420076828153, + 0.05573366209864618, + 0.9389699820036911, + -0.5329959772255949 + ], + [ + 0.00191754970995503, + 0.9981999993324282, + -0.05994256026302237, + -0.13498126547528455 + ], + [ + -0.9406206182936251, + 0.022148275747895244, + 0.3387362936691923, + 1.5826447108827275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.33708440895120667, + 0.060352012515068054, + 0.93953804594613, + -0.5409968667813964 + ], + [ + 0.004132535178693118, + 0.9978387951850891, + -0.06557967313631331, + -0.13744160674547842 + ], + [ + -0.9414654176650568, + 0.025988563895225525, + 0.3361064813135395, + 1.582918923618358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.33553518172045316, + 0.06465776264667511, + 0.9398061237530506, + -0.5480885719582403 + ], + [ + 0.005553239313274489, + 0.9974886178970337, + -0.07060891886748596, + -0.13908490038705565 + ], + [ + -0.9420113399169391, + 0.028910748660564423, + 0.33433345546321525, + 1.5839182980681945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.33409495278292567, + 0.06922449916601181, + 0.9399939564207861, + -0.5541023798822093 + ], + [ + 0.004684463845012439, + 0.9971650242805481, + -0.07509975095360066, + -0.13968694374347632 + ], + [ + -0.9425278262886146, + 0.029493816196918488, + 0.3328235097669364, + 1.5849663446193627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.33336793134246223, + 0.07206359505653381, + 0.9400386723986404, + -0.5593626254476083 + ], + [ + 0.0028611866870171714, + 0.9969925880432129, + -0.07744436832255656, + -0.1399230479697303 + ], + [ + -0.9427925003844887, + 0.02850710041821003, + 0.332159215848166, + 1.5862045985773916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.33221978927483414, + 0.07331778109073639, + 0.9403481124713589, + -0.5630534863640996 + ], + [ + 0.0011822931270475201, + 0.996941089630127, + -0.0781479648624261, + -0.13998126412667156 + ], + [ + -0.9432012883841825, + 0.027074074372649193, + 0.33111687757325725, + 1.587175610516803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.33021093124665707, + 0.07381334900856018, + 0.9410166579956061, + -0.5664971870939844 + ], + [ + 0.0007594091977174386, + 0.9969165921211243, + -0.07846462641321701, + -0.14029842171008253 + ], + [ + -0.9439068803291122, + 0.026624489575624466, + 0.3291367087539767, + 1.5881158910218192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.3290288450306528, + 0.07486776262521744, + 0.9413474163244729, + -0.5694389020223812 + ], + [ + 0.002047175391082725, + 0.9967933297157288, + -0.07999307040626104, + -0.1405153712786903 + ], + [ + -0.9443177014670744, + 0.028247127309441566, + 0.32782043252864795, + 1.5889811167772523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.3269086689984178, + 0.07563894987106323, + 0.9420241142252299, + -0.5720397946120812 + ], + [ + 0.0056272172500168765, + 0.9966184496879578, + -0.0819753473285963, + -0.1409504351253315 + ], + [ + -0.9450391756482177, + 0.03209943324327469, + 0.32537759833909413, + 1.589153269303243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.3256403729740157, + 0.07548543065786362, + 0.9424756696770327, + -0.5747771742303881 + ], + [ + 0.011164316788075798, + 0.9964314699172974, + -0.0836643456432878, + -0.14146820096456209 + ], + [ + -0.9454278164090799, + 0.03776659071445465, + 0.3236355735867665, + 1.5882215481793238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.32446442279543547, + 0.07426562905311584, + 0.9429780072150727, + -0.5770263980769316 + ], + [ + 0.018001979934703777, + 0.9962476491928101, + -0.08465517144082295, + -0.14203369184744963 + ], + [ + -0.9457266013701211, + 0.04444306343793869, + 0.32191000906293, + 1.5870860997710399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.32211402551776497, + 0.07352326065301895, + 0.9438415648132696, + -0.5792000434540323 + ], + [ + 0.026232263736992743, + 0.995903730392456, + -0.08653133363826143, + -0.14330926408719888 + ], + [ + -0.9463374177142987, + 0.052632056176662445, + 0.3188658640035529, + 1.5862748346946498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.3194622848258899, + 0.07322097569704056, + 0.9447659298389958, + -0.5815885431512181 + ], + [ + 0.03196625153191759, + 0.9956100583076477, + -0.08797052588646279, + -0.14421256615848316 + ], + [ + -0.9470596853846766, + 0.058303892612457275, + 0.31571924579478566, + 1.5858405996036176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.3162013818113734, + 0.07066094130277634, + 0.9460569710697251, + -0.5834051365024434 + ], + [ + 0.03348711307569416, + 0.9957695603370667, + -0.08556640064063673, + -0.14405569779743888 + ], + [ + -0.9481008861569875, + 0.058736927807331085, + 0.3124974595076062, + 1.5874075764281916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.31295287347649087, + 0.06957677006721498, + 0.9472167522010091, + -0.5850533524880642 + ], + [ + 0.028465583165799776, + 0.9961779713630678, + -0.08257797166248591, + -0.1433816069268694 + ], + [ + -0.9493419874090202, + 0.052806094288826, + 0.3097762712456694, + 1.5903441587455402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.3123582507971466, + 0.07382387667894363, + 0.9470915479043788, + -0.5875100808703676 + ], + [ + 0.01771992384224005, + 0.996349573135376, + -0.08350761834984585, + -0.1417580816465565 + ], + [ + -0.9497991362947541, + 0.04286668449640274, + 0.3099098586703793, + 1.5932739268240974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.3126986983772292, + 0.08189307153224946, + 0.9463155469949999, + -0.5920389401186195 + ], + [ + 0.005411840178565113, + 0.9961066246032717, + -0.08799021418914117, + -0.13938221695733766 + ], + [ + -0.9498370202300322, + 0.03263574093580247, + 0.3110380708874524, + 1.5966089316610077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.31708554816101103, + 0.08889098465442657, + 0.9442220449253813, + -0.5983761911721299 + ], + [ + -0.00405409446194119, + 0.9957157969474792, + -0.09237728663188799, + -0.13778414638292097 + ], + [ + -0.9483883151251272, + 0.025463547557592392, + 0.3160874428630906, + 1.600754458475323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.331744801396936, + 0.09572515636682513, + 0.938499946714637, + -0.6069045895436046 + ], + [ + -0.010986951870200358, + 0.9951630234718325, + -0.09762097046551622, + -0.13626799911248352 + ], + [ + -0.9433052352594721, + 0.02207400649785996, + 0.3311919254223514, + 1.6040013620170759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.3463770851482237, + 0.10160455107688904, + 0.9325767875960976, + -0.6121286654594567 + ], + [ + -0.014660109069392468, + 0.9945821166038513, + -0.10291500574969696, + -0.13537110315955206 + ], + [ + -0.9379807878493511, + 0.021975718438625336, + 0.3459900205424515, + 1.6049692416866692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.3560612222617138, + 0.10144573450088501, + 0.9289398533383231, + -0.6190284891595078 + ], + [ + -0.009517062499238555, + 0.9944319725036621, + -0.1049499874858271, + -0.13752114495744586 + ], + [ + -0.9344142349327592, + 0.028527840971946716, + 0.3550441188597167, + 1.6070949490126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.3780047173050838, + 0.09669722616672516, + 0.9207399732160757, + -0.6270161503065667 + ], + [ + 0.0007402839166662159, + 0.994498610496521, + -0.10474736661929573, + -0.14203177969426475 + ], + [ + -0.9258033550513212, + 0.040276605635881424, + 0.3758535424148026, + 1.6064229306326192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.39107159066526664, + 0.08511510491371155, + 0.9164161054378269, + -0.6280627862257906 + ], + [ + 0.01285368820288174, + 0.9951122999191284, + -0.09790945922478413, + -0.14621477656260906 + ], + [ + -0.9202705779717908, + 0.0500689335167408, + 0.38806614687991753, + 1.6039510069195806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.3939020411717163, + 0.07242016494274141, + 0.9162950144597869, + -0.6283921279373427 + ], + [ + 0.027879902413306908, + 0.995491147041321, + -0.09066468621844385, + -0.15225083203944842 + ], + [ + -0.9187295306870055, + 0.0612592250108719, + 0.39010690238838475, + 1.6038975533348598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.3927006449585375, + 0.06573612987995148, + 0.9173140265240038, + -0.6270205739772171 + ], + [ + 0.03950101069015908, + 0.9953160285949707, + -0.08823620396877087, + -0.15743554680823138 + ], + [ + -0.9188176867555806, + 0.07088525593280792, + 0.38826464526155374, + 1.60406927030225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.3857272488582888, + 0.0635758638381958, + 0.9204198270897046, + -0.6235807882939888 + ], + [ + 0.04406149308419486, + 0.9952152967453003, + -0.08720737156839008, + -0.16135812802264335 + ], + [ + -0.9215601226717102, + 0.0741933286190033, + 0.3810804526905342, + 1.6071488082829373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.3789693410584014, + 0.06489643454551697, + 0.9231309452527472, + -0.6215129992755176 + ], + [ + 0.04261088170744631, + 0.9952563047409058, + -0.08745976604733675, + -0.161908908024601 + ], + [ + -0.9244277851036052, + 0.07248000055551529, + 0.3744063719648631, + 1.611873463258483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.3761664362714828, + 0.06690725684165955, + 0.9241332333765051, + -0.620715381745976 + ], + [ + 0.03847980184985011, + 0.9954007863998413, + -0.08773014831928655, + -0.1607630081376646 + ], + [ + -0.925752731267971, + 0.0685615986585617, + 0.3718617701403587, + 1.616461293540326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.3755153171857104, + 0.06888251006603241, + 0.9242529357317137, + -0.6198962758001914 + ], + [ + 0.03293335352257442, + 0.9956128001213074, + -0.08758132614401339, + -0.15865426920540276 + ], + [ + -0.9262308795755658, + 0.0633268877863884, + 0.3715993529572421, + 1.622446386905407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.3783300618049584, + 0.07167219370603561, + 0.9228919283531463, + -0.6200834761200333 + ], + [ + 0.027251989661201424, + 0.9957034587860107, + -0.08849845430660798, + -0.15565287331707747 + ], + [ + -0.9252695483965104, + 0.05863227695226669, + 0.3747513764130955, + 1.6296866613892271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.38534775595009807, + 0.07368713617324829, + 0.9198246383983557, + -0.6211784381790799 + ], + [ + 0.02029639130488931, + 0.9958885908126831, + -0.08828351561920146, + -0.1522656754610343 + ], + [ + -0.9225482520080764, + 0.05268897861242294, + 0.3822678276735246, + 1.6375144625659457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.39470128044701397, + 0.07392972707748413, + 0.9158303615426008, + -0.6230908314591095 + ], + [ + 0.012264283081012838, + 0.9962449073791504, + -0.08570674487389647, + -0.14809248511525525 + ], + [ + -0.9187276276006558, + 0.04506056383252144, + 0.3923125122050379, + 1.6462920753411556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.40726487296777364, + 0.0721774995326996, + 0.910453600970311, + -0.6258463052849992 + ], + [ + 0.003459816041825874, + 0.9967432618141177, + -0.08056588617066895, + -0.14374926848047545 + ], + [ + -0.9133034985981215, + 0.03596165776252747, + 0.40568882670804224, + 1.6559356597423485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.4226303463917647, + 0.06780781596899033, + 0.9037620158238917, + -0.6291899414105923 + ], + [ + -0.003975947398411254, + 0.9973263144493103, + -0.07296851292551544, + -0.14025196417867156 + ], + [ + -0.9062934885654123, + 0.027245398610830307, + 0.42176994216425956, + 1.665751432061357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/orbit_right/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..26340d4edfff0cdf9429a8a4a0b8a5f9020bbce5 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/orbit_right/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996409964607852, + -0.01409677229821682, + -0.02278397429406961, + 0.017950954964581118 + ], + [ + 0.013984383275356106, + 0.9998893141746521, + -0.005084684502129529, + -0.015241789656842393 + ], + [ + 0.022853129682319444, + 0.004764239303767681, + 0.9997274986502597, + 0.02949865727686409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9992221672619824, + -0.006676403339952232, + -0.038864775686714724, + 0.025876683487837716 + ], + [ + 0.007056652761546954, + 0.9999284744262698, + 0.009654973667063436, + -0.029322357504993835 + ], + [ + 0.03879753552867081, + -0.009921719320118429, + 0.9991978112210994, + 0.07387342892185553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9988286847811081, + 0.003423885675147176, + -0.04826534847180082, + 0.02347766640650372 + ], + [ + -0.002613693477733062, + 0.9998548030853271, + 0.01683933594262765, + -0.03812741632091227 + ], + [ + 0.04831599830817336, + -0.016693459823727608, + 0.9986926171101554, + 0.11349751342082186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997899643160151, + 0.020067639648914337, + -0.004164889916559062, + 0.010003016010993562 + ], + [ + -0.020159693560662766, + 0.9995232820510864, + -0.02338264425671805, + -0.049092483038465785 + ], + [ + 0.0036936700644992068, + 0.02346169576048851, + 0.9997179193484572, + 0.16558097025231663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9977932505077532, + 0.05287696793675424, + 0.04015854988899437, + -0.006013716191041542 + ], + [ + -0.051240647533997395, + 0.9978551268577578, + -0.04073801699080982, + -0.05740762077505064 + ], + [ + -0.04222652002032184, + 0.03859036788344384, + 0.9983625214238483, + 0.19759834801476084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9927012967191253, + 0.08022276312112808, + 0.09004693793445265, + -0.02644946383892835 + ], + [ + -0.0753320413967917, + 0.9955586791038513, + -0.0564622269093469, + -0.06247578780674191 + ], + [ + -0.09417656612369682, + 0.04926670715212822, + 0.9943357147886402, + 0.2342997510564213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9912854452432659, + 0.09010225534439088, + 0.09609764391457498, + -0.03475886352173629 + ], + [ + -0.08592336982878584, + 0.9952028989791872, + -0.0467799309515534, + -0.05476252475586674 + ], + [ + -0.09985163392162276, + 0.03811523318290711, + 0.9942720120278203, + 0.25605695789017563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9891377375053673, + 0.1091033071279526, + 0.098503745673259, + -0.04332896055913481 + ], + [ + -0.1090523010905192, + 0.9940183758735659, + -0.005917956687749928, + -0.03180944892688191 + ], + [ + -0.09856019748665117, + -0.004888383671641351, + 0.9951190946793879, + 0.2977110780624065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9894433813955763, + 0.11517572402954102, + 0.08795659741336785, + -0.04856182747760253 + ], + [ + -0.1155285486575685, + 0.9933035373687744, + -0.00108568811114012, + -0.019828533312956323 + ], + [ + -0.08749263986749435, + -0.009087270125746727, + 0.9961237125791501, + 0.3333443201267777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9920133047803577, + 0.11717354506254199, + 0.04669006862260811, + -0.055339392907047154 + ], + [ + -0.11796241227066284, + 0.9929121136665346, + 0.014505142224953214, + -0.0026020469642284915 + ], + [ + -0.04465951545297565, + -0.019896965473890308, + 0.9988041290823315, + 0.3824179339538545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993805229667424, + 0.10898551344871521, + 0.02175694297849829, + -0.05359819872238897 + ], + [ + -0.10960576992186008, + 0.9935311675071716, + 0.029704309207892732, + 0.011791578788064838 + ], + [ + -0.018378861044650592, + -0.03190498426556587, + 0.99932193370159, + 0.4229465405064354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9916305418985301, + 0.12342751026153564, + -0.03787566980809716, + -0.04696289171365822 + ], + [ + -0.12153721198590571, + 0.9913910031318665, + 0.048709572049695046, + 0.032071373663392536 + ], + [ + 0.043561696716106005, + -0.043698593974113464, + 0.9980946076272068, + 0.4876534750561914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9898213021256823, + 0.13652752339839935, + -0.04017502664742267, + -0.04061809495798765 + ], + [ + -0.13437559886327521, + 0.9895585179328918, + 0.05212569382246679, + 0.041592678259843634 + ], + [ + 0.04687213267881336, + -0.046196579933166504, + 0.997832071284075, + 0.5401276247875716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9887540005729323, + 0.14335879683494568, + -0.04258849589079865, + -0.034655419729400845 + ], + [ + -0.1421998329416991, + 0.9894096851348877, + 0.02911414435667351, + 0.052642733410140155 + ], + [ + 0.04631124173743208, + -0.022730650380253792, + 0.998668426965352, + 0.5945328372532854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9860729587525868, + 0.15059123933315277, + -0.07058624723083472, + -0.03174789415337911 + ], + [ + -0.14779258469351822, + 0.9880677461624146, + 0.04335229853181842, + 0.06092811594602136 + ], + [ + 0.07627247337899222, + -0.032316409051418304, + 0.9965631819182961, + 0.6239284171970648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9887726657059447, + 0.12358082085847855, + -0.08400232405880599, + -0.0276530772609599 + ], + [ + -0.11955269111416486, + 0.9914954304695129, + 0.05141977651579203, + 0.06497278076675155 + ], + [ + 0.08964241651863597, + -0.04079976677894592, + 0.9951380166264128, + 0.6572211326153274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9901469506429775, + 0.10944973677396774, + -0.08734852476796197, + -0.022278104129990216 + ], + [ + -0.1034962596293681, + 0.9921627044677734, + 0.07001193268411013, + 0.07003362245687791 + ], + [ + 0.09432673284879507, + -0.06028185784816742, + 0.9937145410150802, + 0.6855800057798224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9922800560273554, + 0.10997270047664642, + -0.057326375179365376, + -0.021553576632268857 + ], + [ + -0.10613828671939055, + 0.9921504259109497, + 0.06612232142584701, + 0.07757029037415089 + ], + [ + 0.06414803949896615, + -0.059527333825826645, + 0.9961634255565295, + 0.7346199137350714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.989913048064117, + 0.13941560685634616, + -0.025208101191284846, + -0.028252206682594726 + ], + [ + -0.13811360127914485, + 0.9892725348472597, + 0.0475870765020297, + 0.078883165675308 + ], + [ + 0.031572062692361624, + -0.043625485152006156, + 0.9985489339050513, + 0.7725636365224118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9828053186141228, + 0.18429037928581238, + 0.011437158945995061, + -0.05760647705158543 + ], + [ + -0.18462051534875074, + 0.9817957282066345, + 0.04463661894172859, + 0.07612257129931976 + ], + [ + -0.003002859284732843, + -0.04598063603043556, + 0.9989377912268066, + 0.8233705546967146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9833661944826928, + 0.1761280745267868, + 0.04438306270979618, + -0.07484215317632135 + ], + [ + -0.1777227341563699, + 0.9834593534469604, + 0.03496177910972166, + 0.06703027826133166 + ], + [ + -0.0374911842736733, + -0.04226810857653618, + 0.9984026321505587, + 0.8604920000915598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9851392890707118, + 0.15590098500251773, + 0.07207950457917484, + -0.08122331929903931 + ], + [ + -0.15924645633346343, + 0.9862918853759768, + 0.04323117267927154, + 0.05739003238233276 + ], + [ + -0.06435164993706188, + -0.05406713485717775, + 0.9964615220042419, + 0.9087910619304393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9845963586739085, + 0.16043990850448608, + 0.0694915527926902, + -0.08658024471315827 + ], + [ + -0.161821166298227, + 0.986710786819458, + 0.01468890511476387, + 0.04885711993281457 + ], + [ + -0.0662113778901246, + -0.025707848370075226, + 0.9974744019247805, + 0.9502665483695962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9871421584185258, + 0.15839089453220367, + 0.021510953614237677, + -0.10033505170987381 + ], + [ + -0.15738261973714246, + 0.986624538898468, + -0.04245869365114123, + 0.03648895339273643 + ], + [ + -0.027948307672638634, + 0.038527313619852066, + 0.9988666061618202, + 0.9895413118813641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9915321729416076, + 0.12986084818840027, + -0.00025416680183176565, + -0.11215398854237091 + ], + [ + -0.12971673961278932, + 0.9903359413146973, + -0.0490744533533267, + 0.03297184530681796 + ], + [ + -0.006121138307857476, + 0.04869186878204346, + 0.9987950923395554, + 1.0210953871074835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9910916856167983, + 0.1303732544183731, + -0.02720434421199406, + -0.12940986366186352 + ], + [ + -0.13109326491734777, + 0.9910128712654114, + -0.026608300416084182, + 0.018781100612312803 + ], + [ + 0.023490843925636603, + 0.02993757277727127, + 0.9992756739458448, + 1.0668974123000077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9923017521170556, + 0.12228640168905258, + -0.019578493027775073, + -0.14201935110195085 + ], + [ + -0.12307088320049375, + 0.9913427829742432, + -0.04574978292587646, + 0.0035348767651938 + ], + [ + 0.013814421737604785, + 0.047807130962610245, + 0.9987610735346178, + 1.1033308696191761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9895067916394499, + 0.12498211860656738, + 0.07249680668433345, + -0.1657499734669579 + ], + [ + -0.1174877908246172, + 0.9880491495132446, + -0.09977702849302875, + -0.020132629520267252 + ], + [ + -0.08410076167102684, + 0.09021255373954773, + 0.992365222055046, + 1.1594387784696816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9756609527312939, + 0.13895663619041446, + 0.16963711907194576, + -0.19325283307340627 + ], + [ + -0.11576313981115795, + 0.9833987355232241, + -0.13973479499811697, + -0.03975329860166294 + ], + [ + -0.186237991693609, + 0.11669605970382693, + 0.9755498248792301, + 1.1969112279946459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9442105861878822, + 0.16089852154254916, + 0.2873640194828754, + -0.2308980732437768 + ], + [ + -0.11523576678562876, + 0.9787876605987551, + -0.16939724723657665, + -0.08441806606682846 + ], + [ + -0.3085240999543495, + 0.12683205306530002, + 0.942722926243698, + 1.2264148876580385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9077090835958733, + 0.161844402551651, + 0.3871313158446365, + -0.25970036121545675 + ], + [ + -0.08638597342583912, + 0.9749354124069214, + -0.20503256975868536, + -0.11943070018051569 + ], + [ + -0.4106114262961547, + 0.15266719460487366, + 0.898938805312694, + 1.2377324457375363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.87922809959199, + 0.1683233678340912, + 0.4456738902283584, + -0.2922363407997987 + ], + [ + -0.07437062711295073, + 0.9725275635719299, + -0.22058813984052225, + -0.12462427560320007 + ], + [ + -0.4705602591367238, + 0.16080224514007568, + 0.8675918645978288, + 1.2516960073072487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8767736741578237, + 0.17023156583309174, + 0.44976565837375004, + -0.31809271299884345 + ], + [ + -0.10265095583260672, + 0.9799454808235168, + -0.17079113994733314, + -0.09309377561128827 + ], + [ + -0.4698198809659783, + 0.10357628017663956, + 0.8766648392146194, + 1.2710744419947404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8569054927158615, + 0.17138928174972537, + 0.48614678175380416, + -0.35249289372217063 + ], + [ + -0.1174316379119427, + 0.9832146167755129, + -0.1396381554879707, + -0.0728414359962336 + ], + [ + -0.5019190941125189, + 0.06256769597530366, + 0.8626485301328184, + 1.2947803514227574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8531690499377771, + 0.16614304482936862, + 0.4944684878786861, + -0.3786985603923544 + ], + [ + -0.11930369799366823, + 0.984945595264435, + -0.1250952157505155, + -0.0658013732857476 + ], + [ + -0.507808251105868, + 0.04773546010255815, + 0.8601465742408059, + 1.2998302447798957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8764512225180496, + 0.1421755701303482, + 0.46002106665865866, + -0.4131117827416084 + ], + [ + -0.13020493056725232, + 0.9897986650466919, + -0.0578384563661262, + -0.04697200216288526 + ], + [ + -0.4635514613528615, + -0.009204419329762459, + 0.8860221885764514, + 1.3194072987053769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8897245139812101, + 0.12768206000328067, + 0.43827795042121004, + -0.43120173015445135 + ], + [ + -0.13374867004218136, + 0.9908668994903567, + -0.017149971390489308, + -0.03059165216021357 + ], + [ + -0.43646483446029877, + -0.043360348790884025, + 0.8986758865965967, + 1.330805620089022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8975683060670148, + 0.10844705998897552, + 0.42732937111663055, + -0.4463599249449717 + ], + [ + -0.13669489380401545, + 0.9899630546569824, + 0.0358843133269261, + -0.012423451723913211 + ], + [ + -0.4191487492053076, + -0.09062235057353973, + 0.9033836063202723, + 1.3293929932805204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9007381353050253, + 0.052844807505607605, + 0.4311360303131062, + -0.4477298197155125 + ], + [ + -0.09431557479059814, + 0.992685079574585, + 0.07537152292917747, + -0.004055178115600792 + ], + [ + -0.42399934000537975, + -0.10855284333229065, + 0.8991333648448497, + 1.3254495684388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8712368506061667, + 0.06852293759584427, + 0.486056491592221, + -0.4400245260224992 + ], + [ + -0.10236738356940929, + 0.9938000440597534, + 0.04338619108108504, + -0.014126743137595172 + ], + [ + -0.4800700356548958, + -0.08755598217248917, + 0.8728497487132092, + 1.3157381389545375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8530000935181241, + 0.14467664062976837, + 0.5014574073132376, + -0.4373278265135363 + ], + [ + -0.1901769633034153, + 0.9809144139289856, + 0.04049311347438184, + -0.015743367009499083 + ], + [ + -0.48602839146354493, + -0.12990626692771912, + 0.8642342116098312, + 1.307333325216353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8125858560671012, + 0.17446689307689667, + 0.556116469810693, + -0.43590782934418476 + ], + [ + -0.23596990543810734, + 0.9709289073944092, + 0.04019098493236759, + -0.03199837207906192 + ], + [ + -0.5329375750332466, + -0.16388536989688873, + 0.8301319777082051, + 1.28061201505949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8041017267426882, + 0.15146441757678986, + 0.57487305109444, + -0.43241991053923495 + ], + [ + -0.17762452829053965, + 0.9840388894081116, + -0.010817481824156946, + -0.04496342843559602 + ], + [ + -0.5673358431171325, + -0.09341317415237427, + 0.8181711262103359, + 1.270629938809805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7960075404618026, + 0.1724855899810791, + 0.5801902390239494, + -0.44269719116537903 + ], + [ + -0.13179515996716518, + 0.9849303960800171, + -0.11199149602234945, + -0.0667169375494246 + ], + [ + -0.5907639311895923, + 0.012679804116487503, + 0.8067448192899032, + 1.2561156154281905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8007449778596601, + 0.17190036177635193, + 0.5738098694272122, + -0.4412275746226987 + ], + [ + -0.10709563267231949, + 0.9835876226425171, + -0.14520975245904735, + -0.08286023311689016 + ], + [ + -0.5893539112975362, + 0.05482344701886177, + 0.8060125967889714, + 1.2544486642594002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.812693272637913, + 0.16924382746219635, + 0.557571703175268, + -0.4487938438509381 + ], + [ + -0.07372645295682767, + 0.9790657758712769, + -0.1897224013894762, + -0.10178607264243139 + ], + [ + -0.5780086838794489, + 0.11307834088802338, + 0.8081579289673838, + 1.2473164758942605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8113430219434631, + 0.183659702539444, + 0.5549698515883605, + -0.4541106618980949 + ], + [ + -0.0728878430013617, + 0.9737385511398318, + -0.21568643964824163, + -0.11192884257168416 + ], + [ + -0.5800084229815425, + 0.13454513251781466, + 0.8034225633299453, + 1.2394716662810412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8023162230558162, + 0.18310168385505676, + 0.568121851082636, + -0.4566148306878554 + ], + [ + -0.05858968491968126, + 0.9713501334190369, + -0.2303174649994089, + -0.12102823490998338 + ], + [ + -0.5940167908446503, + 0.1515013724565506, + 0.790057857055123, + 1.2337473327357256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7819099041160689, + 0.16783741116523745, + 0.6003728277679556, + -0.45170472050675675 + ], + [ + -0.04614090544393281, + 0.9760149717330935, + -0.21275748668306113, + -0.12568344571809575 + ], + [ + -0.6216815059547158, + 0.1386554390192032, + 0.7709000094968521, + 1.2283995220017903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7585908894979644, + 0.1534339785575867, + 0.63324397367274, + -0.4489930415964102 + ], + [ + -0.038977525478079415, + 0.9808238148689272, + -0.19095911341466862, + -0.1379889879289488 + ], + [ + -0.6504003983975838, + 0.1201775670051575, + 0.7500245230361748, + 1.221027321977868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7613582349520917, + 0.1412988007068634, + 0.6327466416881797, + -0.44565505375053 + ], + [ + -0.024804853074581048, + 0.9815955758094788, + -0.18935369303807545, + -0.14448491951157671 + ], + [ + -0.6478567963481126, + 0.1284707933664322, + 0.750850763266558, + 1.215965169004464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7683152845335398, + 0.14272023737430573, + 0.6239571788089365, + -0.441518009911887 + ], + [ + -0.02108713714516387, + 0.9799388647079468, + -0.19817952206587072, + -0.14986067782269047 + ], + [ + -0.6397241665976833, + 0.1391068696975708, + 0.75591155043992, + 1.2143716236945676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7682044560201041, + 0.1529001891613007, + 0.6216779336624966, + -0.43754100635269694 + ], + [ + -0.041816758594170104, + 0.9809715151786806, + -0.18959483762926865, + -0.153423525249298 + ], + [ + -0.6388374398965638, + 0.11965104937553409, + 0.7599804868482962, + 1.2202935293617365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7847825298316622, + 0.1482444703578949, + 0.601780672706548, + -0.4304147020771958 + ], + [ + -0.05208462298326353, + 0.9833126068115234, + -0.17430861256640273, + -0.15704541411056044 + ], + [ + -0.6175788266719183, + 0.105450838804245, + 0.7794077592260534, + 1.2342585078886121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7971300999425005, + 0.16057254374027252, + 0.5820653536274686, + -0.42421329057434465 + ], + [ + -0.07322142787154423, + 0.9825836420059204, + -0.17078657984210482, + -0.16455126351489008 + ], + [ + -0.599351551625262, + 0.09351947903633118, + 0.795004344915704, + 1.2375918365145968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8048221584788545, + 0.1336606740951538, + 0.5782700002683664, + -0.4074512608699898 + ], + [ + -0.04339609316601156, + 0.9849565625190735, + -0.16726415580562493, + -0.17142048886041064 + ], + [ + -0.5919274379042352, + 0.109523244202137, + 0.7985152313157201, + 1.2243103052444897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7978667777849687, + 0.12160331010818481, + 0.5904415012180504, + -0.3987296575301523 + ], + [ + -0.024076136939767675, + 0.9850897789001465, + -0.17034815782426252, + -0.1719000927748918 + ], + [ + -0.60235273277607, + 0.12169958651065826, + 0.7888981338821152, + 1.2179726871467695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7923904555245282, + 0.12608471512794495, + 0.5968417166013955, + -0.39337318603754307 + ], + [ + -0.03679254922028875, + 0.9865032434463501, + -0.15955472266900117, + -0.17501486745264436 + ], + [ + -0.6089036525777207, + 0.10447032749652863, + 0.7863347185533665, + 1.2198029695687769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7926459795857679, + 0.12672460079193115, + 0.5963666416339293, + -0.38959838348098147 + ], + [ + -0.04231960601858678, + 0.9872366786003113, + -0.1535342638686347, + -0.1780210358100756 + ], + [ + -0.6082116295125747, + 0.09646032750606537, + 0.7878922155657817, + 1.2220268922914002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.796156268073638, + 0.1308019757270813, + 0.5907841794851286, + -0.38618842173179174 + ], + [ + -0.04904195836619909, + 0.9870927333831787, + -0.1524560479679798, + -0.18067668419424016 + ], + [ + -0.6031003460894437, + 0.09240563213825226, + 0.7922948681501574, + 1.2245427798643642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8015346566947156, + 0.13616037368774417, + 0.5822392007725269, + -0.38095731697613905 + ], + [ + -0.05614040499800555, + 0.9865636229515078, + -0.15342904326611484, + -0.18194945667985885 + ], + [ + -0.5953069804545238, + 0.09029155969619752, + 0.7984090520235324, + 1.2281494079990967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8058457859295124, + 0.14112858474254608, + 0.5750610480928684, + -0.37437541773294725 + ], + [ + -0.06374843126460883, + 0.9862144589424133, + -0.15269966702760787, + -0.18229255516714976 + ], + [ + -0.5886838466083683, + 0.08639314770698547, + 0.8037335139506813, + 1.2323220776756476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8092706600451798, + 0.14414788782596588, + 0.569475610724024, + -0.3675077445628071 + ], + [ + -0.06993042771495783, + 0.9861721992492676, + -0.15024701565579449, + -0.1827503572936332 + ], + [ + -0.5832587682002742, + 0.08176682889461517, + 0.8081605373807662, + 1.2372487737362883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8148432804546405, + 0.14556653797626495, + 0.5611068182162791, + -0.35895049084817016 + ], + [ + -0.07569105732269028, + 0.9863881468772888, + -0.14597713881277355, + -0.18348953714507937 + ], + [ + -0.5747184757305097, + 0.07647773623466492, + 0.8147698214273402, + 1.2439490023026905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8228379561729111, + 0.14542911946773532, + 0.5493524108109217, + -0.3494602315112694 + ], + [ + -0.07960524744193827, + 0.9866658449172976, + -0.141963009018288, + -0.18488961636356144 + ], + [ + -0.5626728698938571, + 0.07308121025562288, + 0.823442996279155, + 1.2504030726426096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8310278009154533, + 0.1440925896167755, + 0.5372430607834638, + -0.3385151489472419 + ], + [ + -0.08158856449904173, + 0.9869939088821411, + -0.1385148727833793, + -0.1866670712529535 + ], + [ + -0.550214597912659, + 0.07127682864665985, + 0.8319756969779165, + 1.2564358398734623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.838327323295027, + 0.13998255133628845, + 0.5268892234858035, + -0.3267153615983964 + ], + [ + -0.07979275131666892, + 0.9875703454017639, + -0.13541778050924114, + -0.1887283437762465 + ], + [ + -0.53929632509861, + 0.07148247957229614, + 0.8390767380525656, + 1.2614315153888565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8422849330674447, + 0.13279315829277039, + 0.5224194040620658, + -0.3150764331778464 + ], + [ + -0.07416833136108596, + 0.9885125756263733, + -0.13168889379287033, + -0.19154378657785165 + ], + [ + -0.5339055090232266, + 0.0721726045012474, + 0.8424583037988571, + 1.2638697721985723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8410865262889899, + 0.1257798820734024, + 0.5260731097489365, + -0.3045196181155725 + ], + [ + -0.06714990715795907, + 0.9893442988395691, + -0.1291849460803184, + -0.19473175852108024 + ], + [ + -0.5367162931866706, + 0.07332996279001236, + 0.8405702381174412, + 1.2647420065255932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8388552606115371, + 0.12104804813861847, + 0.5307251762099451, + -0.29461010578493463 + ], + [ + -0.06121801483489186, + 0.9897552728652954, + -0.12898370474240994, + -0.19879566103760668 + ], + [ + -0.5409012786213786, + 0.07570873200893402, + 0.8376718120974758, + 1.2649348127194984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.836510325262613, + 0.11858713626861572, + 0.5349650836977135, + -0.2851924303774033 + ], + [ + -0.0571730216188374, + 0.9898609519004822, + -0.1300252347921918, + -0.202314328674899 + ], + [ + -0.5449603864378687, + 0.07818187773227692, + 0.8348088708282483, + 1.2645127877166025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8329970482675373, + 0.11547547578811646, + 0.5410927712475563, + -0.27521522670341475 + ], + [ + -0.05230245819426424, + 0.9900326132774353, + -0.13076631711652562, + -0.2051438271152046 + ], + [ + -0.550799843126019, + 0.08062747865915298, + 0.8307339039108513, + 1.262674720230883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8299938214253159, + 0.11303699016571045, + 0.5461986072185198, + -0.26521874066766843 + ], + [ + -0.048445621369754, + 0.9901584386825562, + -0.13129835754648198, + -0.20776686651867055 + ], + [ + -0.5556647231924409, + 0.0825159028172493, + 0.8273015571572142, + 1.2619517880106736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8283300010151465, + 0.11086848378181458, + 0.5491608709495202, + -0.254752008669716 + ], + [ + -0.04496246910890559, + 0.9902170896530151, + -0.13209265933920275, + -0.2101369127732422 + ], + [ + -0.5584333600134133, + 0.08472467958927155, + 0.8252114483716665, + 1.2603430127190374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.82546142803741, + 0.10702851414680481, + 0.5542187448615442, + -0.24338492542535856 + ], + [ + -0.03949920005772513, + 0.9904047250747681, + -0.1324323500962972, + -0.210790651790134 + ], + [ + -0.5630748880326006, + 0.08742660284042358, + 0.8217683992332148, + 1.2585510058168738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.821911324505907, + 0.10158804059028625, + 0.5604834104247743, + -0.23270737869427116 + ], + [ + -0.03292441691401248, + 0.9907956719398499, + -0.1313010183350449, + -0.210609383865507 + ], + [ + -0.5686631432698868, + 0.0894642025232315, + 0.8176909026802404, + 1.2575137191134431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8197697658058615, + 0.09570881724357605, + 0.5646391759073278, + -0.22163390823748813 + ], + [ + -0.028131386418666627, + 0.9914758801460266, + -0.12721706081798106, + -0.2106342062939489 + ], + [ + -0.5720018735555008, + 0.08840461820363998, + 0.815474362194855, + 1.2564798115199238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.815546093097353, + 0.085726797580719, + 0.5723072633603078, + -0.2106588518023412 + ], + [ + -0.020842554897724117, + 0.9926762580871582, + -0.1189936110442816, + -0.21070316436986763 + ], + [ + -0.5783167345827571, + 0.0851164385676384, + 0.8113599657895258, + 1.2539839524030256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8099098533835324, + 0.07395096123218536, + 0.5818739857403299, + -0.20289270252845515 + ], + [ + -0.00958149091491346, + 0.9935560822486877, + -0.11293560281357307, + -0.2120710696208025 + ], + [ + -0.5864761190907776, + 0.0858924388885498, + 0.8053994506363901, + 1.2496046249504607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8054760680324445, + 0.072268545627594, + 0.588205424777614, + -0.20027107470360456 + ], + [ + -0.0021740014685262877, + 0.9928904175758362, + -0.11901225166706035, + -0.2129292424494684 + ], + [ + -0.5926243110353057, + 0.09458276629447937, + 0.799906555979907, + 1.246204789369426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8068886359903557, + 0.08294961601495744, + 0.5848505300864789, + -0.20037787416980238 + ], + [ + -0.004432596576840089, + 0.9909136891365053, + -0.1344263113240102, + -0.2125037675688668 + ], + [ + -0.590686964772852, + 0.10587465763092044, + 0.7999246478366181, + 1.2428392079097863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8089148151017066, + 0.10026845335960391, + 0.5793126625715156, + -0.20016871125841995 + ], + [ + -0.014291479255293706, + 0.9884120225906374, + -0.1511204121062224, + -0.2111483937706353 + ], + [ + -0.5877521845954717, + 0.11396431177854541, + 0.8009741431830366, + 1.2407881232425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8052339750808629, + 0.11133722960948944, + 0.5824107985505735, + -0.2007321269222767 + ], + [ + -0.01891422343343659, + 0.9865368008613586, + -0.1624418820178764, + -0.2085127616778192 + ], + [ + -0.5926555035192342, + 0.11978787928819656, + 0.7964987689495397, + 1.237100820911017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8003370496093312, + 0.11511974781751633, + 0.5883945090997292, + -0.2001562183698235 + ], + [ + -0.01883851978600964, + 0.9857369065284729, + -0.1672357841205425, + -0.20577600443333935 + ], + [ + -0.5992543476104655, + 0.12276051193475723, + 0.7910904729307571, + 1.2370328790146006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8007434560334012, + 0.11353930830955505, + 0.5881485664980973, + -0.1978942872196206 + ], + [ + -0.01770317175749427, + 0.9859286546707153, + -0.16622662104783154, + -0.20297453859433873 + ], + [ + -0.5987458084378999, + 0.1226927787065506, + 0.7914859082806851, + 1.2400241462259005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8028989765293398, + 0.10871295630931854, + 0.5861183878845523, + -0.19455331721382696 + ], + [ + -0.01577204528776817, + 0.9867600202560425, + -0.16141830472807653, + -0.20019967015734977 + ], + [ + -0.5959064611413015, + 0.12035829573869705, + 0.7939832493734117, + 1.244375425893498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8072284262491888, + 0.10231171548366547, + 0.5813042376228968, + -0.19059087840464659 + ], + [ + -0.014671572150622411, + 0.9880359172821045, + -0.15352431378045261, + -0.19738305897062702 + ], + [ + -0.5900568447999344, + 0.11540054529905319, + 0.7990718122635945, + 1.2514326552904182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8138843286853691, + 0.09357401728630067, + 0.5734423052078572, + -0.18512451056916152 + ], + [ + -0.013729687160132654, + 0.9897680878639223, + -0.14202333173549897, + -0.19543385560509285 + ], + [ + -0.5808646266220807, + 0.10771739482879641, + 0.8068415514590418, + 1.258318231017716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8205889708946705, + 0.08713700622320175, + 0.5648370076140523, + -0.18028011683571699 + ], + [ + -0.01526823605577692, + 0.9912983775138855, + -0.13074538556504264, + -0.19462145762055857 + ], + [ + -0.5713148283189379, + 0.09866416454315186, + 0.8147789846198321, + 1.2672040605641341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8278661735180481, + 0.08191983401775361, + 0.5549114844433156, + -0.1732743360027187 + ], + [ + -0.018363443380474333, + 0.9927059412002566, + -0.11915385568850387, + -0.19295033158764946 + ], + [ + -0.5606249884226591, + 0.08845336735248567, + 0.823332030444682, + 1.2796916008213046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8339719694078563, + 0.07515870779752731, + 0.5466643499409454, + -0.16735124024766906 + ], + [ + -0.020475607750032324, + 0.9942134022712708, + -0.10545357717554069, + -0.19471387574487797 + ], + [ + -0.5514267230415275, + 0.07675204426050186, + 0.8306850338116031, + 1.2848932037697633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8388045098369623, + 0.06682216376066208, + 0.5403164475739886, + -0.16120732530989793 + ], + [ + -0.019431101192727965, + 0.9954813718795776, + -0.09294798832132722, + -0.19544416057281572 + ], + [ + -0.5440859533810867, + 0.06746625155210495, + 0.8363126355400985, + 1.2898869577008432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8449191558831627, + 0.05733489617705345, + 0.5318123382935656, + -0.1555398509192196 + ], + [ + -0.01596525323695626, + 0.9964988231658936, + -0.0820680656102679, + -0.19666847342682145 + ], + [ + -0.534655709270634, + 0.0608503632247448, + 0.842876347974617, + 1.2944785053312684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8512885193669586, + 0.04943409934639931, + 0.5223640717199567, + -0.1492805019581244 + ], + [ + -0.011715791177846295, + 0.9970945715904236, + -0.07526734638329158, + -0.19676320510929599 + ], + [ + -0.5245671301211384, + 0.057954318821430206, + 0.8493942715144945, + 1.3000769439179627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8562913346058836, + 0.04127850383520126, + 0.5148410898074745, + -0.14423562406555185 + ], + [ + -0.004808172287745359, + 0.9973950982093811, + -0.07197132075808789, + -0.19670220649462822 + ], + [ + -0.516470838229319, + 0.05915297567844391, + 0.8542592414536986, + 1.304601449238906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8628801474517263, + 0.03469128534197807, + 0.5042166772849047, + -0.13908775571196566 + ], + [ + 0.0006928620520149791, + 0.9975593686103821, + -0.06982013742994536, + -0.1962286487704059 + ], + [ + -0.5054081980665317, + 0.06059575825929642, + 0.8607501262972087, + 1.3081027335220223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8683485378580929, + 0.027961822226643562, + 0.4951656685089265, + -0.13278271402673725 + ], + [ + 0.005672868212072102, + 0.9977840781211853, + -0.06629274107927872, + -0.1947395173758021 + ], + [ + -0.49592207604639554, + 0.06037421524524689, + 0.8662657011675479, + 1.3121471078148648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8725573454245891, + 0.01998138800263405, + 0.488102814266302, + -0.1262612126721063 + ], + [ + 0.010845367670604485, + 0.9981245398521423, + -0.060247799506194515, + -0.19350472810409025 + ], + [ + -0.4883912839030162, + 0.05786331743001938, + 0.8707042055318129, + 1.3176517115110722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8762458533126231, + 0.012407150119543076, + 0.4817046292730859, + -0.12007674935934401 + ], + [ + 0.01466634087116642, + 0.9985185861587524, + -0.05239745374030878, + -0.19294622805493716 + ], + [ + -0.48164111916367663, + 0.05297789350152016, + 0.8747658065038099, + 1.3233868852201847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8808747271348497, + 0.006813941057771446, + 0.473300445594092, + -0.11370930117395872 + ], + [ + 0.01574841346186264, + 0.9989209771156313, + -0.04369099651081921, + -0.19315569889736975 + ], + [ + -0.47308748453767085, + 0.045940026640892036, + 0.8798169396890969, + 1.3298606615141004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8841050442974446, + 0.0035371622070670137, + 0.467274925675232, + -0.10710214618695929 + ], + [ + 0.015048712614802196, + 0.9992371797561648, + -0.036036833006644786, + -0.19325277830327275 + ], + [ + -0.46704592487503627, + 0.03889222815632821, + 0.8833773069100395, + 1.3353704759823297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8862899281723529, + 0.00019095931202173233, + 0.4631307829552904, + -0.10093283099939454 + ], + [ + 0.01521269665514815, + 0.999448299407959, + -0.029524526785641592, + -0.19336033033849623 + ], + [ + -0.46288089712867836, + 0.03321275860071182, + 0.8857980629159175, + 1.3397674782273288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8874752484403131, + -0.0016304003074765205, + 0.4608525001631861, + -0.0956685070745718 + ], + [ + 0.015269217507120656, + 0.9995487332344055, + -0.025868120876729832, + -0.1938656256624903 + ], + [ + -0.46060235785364606, + 0.0299941748380661, + 0.8870996942410588, + 1.3429420517469455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8878606263414061, + -0.0006570005789399148, + 0.4601120257295969, + -0.09155640294151035 + ], + [ + 0.01393978813632816, + 0.9995783567428591, + -0.02547176696851118, + -0.1949913242676813 + ], + [ + -0.45990130486034586, + 0.029029242694377906, + 0.8874954391580328, + 1.3445156907789602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8880667090396318, + 0.0018861819989979267, + 0.4597108213355694, + -0.0872714086396349 + ], + [ + 0.011281014544995872, + 0.9996010661125183, + -0.025893938384372414, + -0.196570038872861 + ], + [ + -0.45957623530180175, + 0.028181549161672592, + 0.8876910918044956, + 1.3459948369897141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8869494844762436, + 0.005308737978339195, + 0.46183599354674226, + -0.08316463410748826 + ], + [ + 0.007824864562231991, + 0.9996176958084106, + -0.026518006041186624, + -0.19889202183739182 + ], + [ + -0.4618001646325796, + 0.027133934199810028, + 0.8865688464311886, + 1.3462944597464306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8848482497493143, + 0.010189252905547619, + 0.46576792965718594, + -0.07859441151622398 + ], + [ + 0.00232634877808196, + 0.9996517300605774, + -0.02628813562332005, + -0.2018132726146062 + ], + [ + -0.4658735638708734, + 0.0243445485830307, + 0.884516328500901, + 1.3457198755340902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8804213791168325, + 0.011551767587661743, + 0.4740514566425085, + -0.07527008079938424 + ], + [ + -0.0006206695792072496, + 0.9997304677963257, + -0.02320888223287779, + -0.20618772685558542 + ], + [ + -0.47419175766744653, + 0.020139366388320923, + 0.8801912075846803, + 1.3439744622478116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.875649271360163, + 0.011629345826804638, + 0.48280762408871386, + -0.07399730052638542 + ], + [ + 0.000811328127286838, + 0.9996731877326965, + -0.025550520185539684, + -0.2082196879251917 + ], + [ + -0.4829469956455686, + 0.022765010595321655, + 0.8753536203726927, + 1.340000495644186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8738294049647171, + 0.01619885861873627, + 0.485962713187784, + -0.07525883444790327 + ], + [ + 0.0009114732244088217, + 0.9993885755538943, + -0.03495212315184969, + -0.2114466092043252 + ], + [ + -0.4862317627789722, + 0.030985135585069663, + 0.873280387973776, + 1.337390386740068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.875463905331494, + 0.02665378153324128, + 0.4825479830836068, + -0.07672389559161438 + ], + [ + -0.005493601969714826, + 0.9989623427391054, + -0.04521141146441264, + -0.2106369867078734 + ], + [ + -0.4832523757789394, + 0.036930032074451453, + 0.8747018921035444, + 1.3316146771636754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8746187649097212, + 0.03707797825336456, + 0.4833914885237778, + -0.07790516743145107 + ], + [ + -0.014352633626707564, + 0.9986144304275513, + -0.0506287867978193, + -0.21091485444917032 + ], + [ + -0.4845989244294978, + 0.037342946976423264, + 0.8739390699434412, + 1.3293977015571752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.87199299067519, + 0.04220186918973923, + 0.48769582136813927, + -0.07970708287751804 + ], + [ + -0.019031433253244478, + 0.9984463453292847, + -0.052370805396660065, + -0.20945609638458315 + ], + [ + -0.48914829542322746, + 0.0363854244351387, + 0.8714413444607814, + 1.3245863727643827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.869256644463272, + 0.04268907383084297, + 0.49251459549430315, + -0.0810420480383564 + ], + [ + -0.01929251382220801, + 0.9984350800514221, + -0.05249007124354297, + -0.20755670558018482 + ], + [ + -0.4939845812559073, + 0.03612550348043442, + 0.8687198438194188, + 1.322281100785305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8662056649282798, + 0.040155068039894104, + 0.4980715537988018, + -0.08234183806590817 + ], + [ + -0.016420331150266358, + 0.9985149502754211, + -0.05194445113149893, + -0.20431402454460665 + ], + [ + -0.4994177929709455, + 0.036816079169511795, + 0.8655787010094421, + 1.3204632345233513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.862768988915552, + 0.03601080924272537, + 0.5043143689734098, + -0.0834708733559486 + ], + [ + -0.011740218565277965, + 0.9986183047294617, + -0.05122194655464269, + -0.20116034237570293 + ], + [ + -0.50546211549479, + 0.0382719486951828, + 0.8619996110064712, + 1.318644747184523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8586005735408493, + 0.03305539861321449, + 0.5115783831321066, + -0.086532277433262 + ], + [ + -0.008007137528568516, + 0.998661994934082, + -0.05108940991943748, + -0.19859447921781576 + ], + [ + -0.5125826348990432, + 0.039769116789102554, + 0.8577164191509034, + 1.3162411840247015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8532476318427391, + 0.03392140194773674, + 0.5204015678635526, + -0.09219903297216925 + ], + [ + -0.006744398154254515, + 0.9985166192054749, + -0.0540283635268554, + -0.19624937081701518 + ], + [ + -0.5214623718059733, + 0.042589783668518066, + 0.852210815161317, + 1.3124478510265676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8460097428325163, + 0.039789356291294105, + 0.5316807344801565, + -0.10012122539267204 + ], + [ + -0.008686007628680985, + 0.9981076717376711, + -0.06087415136776186, + -0.1945199890058745 + ], + [ + -0.5330967737784775, + 0.04688194021582605, + 0.8447543597961674, + 1.3077611206913615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8371892353165075, + 0.04955450445413591, + 0.5446637313158567, + -0.11006148913034888 + ], + [ + -0.013784974141273497, + 0.997482240200043, + -0.06956422054702695, + -0.19338790443300688 + ], + [ + -0.5467396307139142, + 0.05073024332523347, + 0.8357644821714214, + 1.3022408018307265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8270021608430732, + 0.059891149401664734, + 0.5589995227529265, + -0.1246421724329872 + ], + [ + -0.020683193292451277, + 0.9968775510787964, + -0.07620596826905858, + -0.192993040296191 + ], + [ + -0.5618181461450171, + 0.05146060883998871, + 0.825658613957463, + 1.2960546427380297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.815719434147476, + 0.06956323981285095, + 0.5742498259177976, + -0.13883188381210643 + ], + [ + -0.02755114803135429, + 0.9962882399559021, + -0.08155167992997088, + -0.19095919361199687 + ], + [ + -0.5777913345309992, + 0.0507020503282547, + 0.8146081932581896, + 1.2921326852545423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8044246634994113, + 0.07782904803752899, + 0.588934324913878, + -0.15067685064672523 + ], + [ + -0.03359119500713964, + 0.9957537651062012, + -0.08570902469249253, + -0.18883555823784975 + ], + [ + -0.5931042159058948, + 0.049163445830345154, + 0.8036232499457041, + 1.2852682277227072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7917139715786334, + 0.08739078044891359, + 0.6046089147136711, + -0.16411999121272364 + ], + [ + -0.042227224877826694, + 0.9951763749122622, + -0.08854874576310513, + -0.18835604761687388 + ], + [ + -0.6094308312558714, + 0.044574320316314704, + 0.7915852225714936, + 1.280079020252201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7793407572489903, + 0.09310662746429443, + 0.6196443914653543, + -0.17739823406192046 + ], + [ + -0.04724980625563725, + 0.9948155879974365, + -0.09005201277450287, + -0.18643628488789965 + ], + [ + -0.6248163810085139, + 0.04090312123298645, + 0.7796995647618992, + 1.2755617512225208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.7686320522276544, + 0.0942610651254654, + 0.6327082177234002, + -0.1893064225748279 + ], + [ + -0.04839329090337723, + 0.9948177933692932, + -0.08941870741868739, + -0.18309650849557266 + ], + [ + -0.6378580651106951, + 0.038111262023448944, + 0.76921043441475, + 1.2716278936990677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7595182720005341, + 0.09133201837539673, + 0.644042324393793, + -0.19982692980219333 + ], + [ + -0.04552796533540156, + 0.9951298236846924, + -0.08742887407707227, + -0.17882050683614967 + ], + [ + -0.6488907408601899, + 0.03708188608288765, + 0.7599774229979565, + 1.268510919108833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7517329238951439, + 0.08540842682123186, + 0.6539136463194062, + -0.20944037237169974 + ], + [ + -0.040280449095619564, + 0.9956731796264651, + -0.08374003016755503, + -0.1738120680962733 + ], + [ + -0.658236425685559, + 0.0366102084517479, + 0.75192063862464, + 1.2656239589601264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7445306754760458, + 0.07984350621700287, + 0.6627963853797868, + -0.21798616270978638 + ], + [ + -0.03629347340401612, + 0.9961948990821838, + -0.07923713262463344, + -0.16837855931296405 + ], + [ + -0.6666009756689635, + 0.03493928909301758, + 0.7445954708163562, + 1.2634667231810737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7377389105296108, + 0.07579241693019867, + 0.670818007980368, + -0.22580757518873365 + ], + [ + -0.03521545659560135, + 0.9966453909873962, + -0.07387748984283282, + -0.16300302285938814 + ], + [ + -0.6741670383050371, + 0.03087913990020752, + 0.7379331612145436, + 1.2610613363974383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.7310296960701018, + 0.07393410056829453, + 0.6783284330910241, + -0.2329894975501628 + ], + [ + -0.0377921257496789, + 0.9969736337661743, + -0.06793639090992393, + -0.1578558418689657 + ], + [ + -0.6812983663820762, + 0.024028053507208824, + 0.7316114588642443, + 1.259161373564836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.7230354230631457, + 0.0707332044839859, + 0.6871802154743744, + -0.24050954077189607 + ], + [ + -0.040343907435398535, + 0.9973699450492859, + -0.06021288059373621, + -0.15268188147895265 + ], + [ + -0.6896319782501154, + 0.01581251062452793, + 0.723987456462127, + 1.2565652263735292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.7143805815857333, + 0.0671861693263054, + 0.6965246235240871, + -0.2496313347656623 + ], + [ + -0.04175962589927963, + 0.9976992607116701, + -0.05340705479120144, + -0.1455447937636539 + ], + [ + -0.6985102716246129, + 0.00906636379659176, + 0.7155426532012938, + 1.2545928796067036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.7106201498602316, + 0.0605977401137352, + 0.7009614693412156, + -0.2558208399808124 + ], + [ + -0.03805109176381801, + 0.998136043548584, + -0.04771292298321939, + -0.1407390765493547 + ], + [ + -0.7025462654699518, + 0.007233412936329842, + 0.7116013647455287, + 1.2527692555843766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.7093131649616123, + 0.05291553586721422, + 0.7029046023956226, + -0.26110092062469226 + ], + [ + -0.032867195760644556, + 0.9985765814781191, + -0.04200723970937481, + -0.13684838375741282 + ], + [ + -0.7041268289417023, + 0.00669379346072674, + 0.710042724059987, + 1.2509732956113147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.7061836020906833, + 0.04466269910335541, + 0.7066187852184579, + -0.26604609443481425 + ], + [ + -0.026310399537387664, + 0.9989745020866394, + -0.036847209852193974, + -0.13364547926203704 + ], + [ + -0.707539815649208, + 0.007429473102092743, + 0.7066344656121135, + 1.2478477755729418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7018391912933111, + 0.039000529795885086, + 0.7112670288041162, + -0.2726524252644689 + ], + [ + -0.021326143423742217, + 0.9992029070854187, + -0.033745298282330465, + -0.13215920258893957 + ], + [ + -0.7120162261144403, + 0.0085151931270957, + 0.7021114491161088, + 1.2441993177231152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.6995938474589709, + 0.037511080503463745, + 0.7135554029902375, + -0.28027383554742413 + ], + [ + -0.019125945479437214, + 0.99924635887146, + -0.03377791760421226, + -0.13214480581007115 + ], + [ + -0.714284697731295, + 0.009983401745557785, + 0.6997840976937076, + 1.2409431691790704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.6996469412828363, + 0.04023795202374458, + 0.7133548048649346, + -0.28764462807968516 + ], + [ + -0.018913229827788418, + 0.9991061091423035, + -0.037806432950886336, + -0.1331444174078587 + ], + [ + -0.7142383603357739, + 0.0129593126475811, + 0.6997825609862748, + 1.2373954975232384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.6993182209976638, + 0.04551676288247109, + 0.7133598532059837, + -0.29512056535545217 + ], + [ + -0.020479546646569938, + 0.9988366961479189, + -0.0436555152620154, + -0.13508002013465248 + ], + [ + -0.7145170482661444, + 0.015919812023639682, + 0.6994368336425206, + 1.2335951881975045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.6981032723920755, + 0.05082269012928009, + 0.7141910907490898, + -0.30259578793930475 + ], + [ + -0.021943591662212252, + 0.9985277056694031, + -0.049607138245479486, + -0.13713760891352436 + ], + [ + -0.7156607824816598, + 0.018958987668156624, + 0.6981907208892937, + 1.2302048697592356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.696314740144688, + 0.05573366209864618, + 0.7155693985774408, + -0.3104687041072039 + ], + [ + -0.022961011505367394, + 0.9981999993324282, + -0.05540378577702613, + -0.1395022971314149 + ], + [ + -0.7173692038082596, + 0.022148275747895244, + 0.6963410440547982, + 1.2264378973774175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.6965321263512058, + 0.060352012515068054, + 0.7149829616843498, + -0.31729575426850254 + ], + [ + -0.02345030582618053, + 0.9978387951850891, + -0.06138285210323347, + -0.1416224674781751 + ], + [ + -0.7171423578107861, + 0.025988563895225525, + 0.6964420565085044, + 1.2239536865849485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.6973725426802176, + 0.06465776264667511, + 0.7137863441756502, + -0.32290415492340363 + ], + [ + -0.024443405251017413, + 0.9974886178970337, + -0.06647539266706326, + -0.14320314919466348 + ], + [ + -0.7162919203913961, + 0.028910748660564423, + 0.6972016270463562, + 1.2223912767109137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.698277214367612, + 0.06922449916601181, + 0.7124724608556011, + -0.3273972838193681 + ], + [ + -0.027318234158433378, + 0.9971650242805481, + -0.07011156022563667, + -0.14465723569480918 + ], + [ + -0.7153060499732337, + 0.029493816196918488, + 0.6981886900069441, + 1.2209121787544175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.6997659644118344, + 0.07206359505653381, + 0.7107281324833893, + -0.33085002368693894 + ], + [ + -0.03017188833086633, + 0.9969925880432129, + -0.07138258701313296, + -0.1459637359330159 + ], + [ + -0.7137347390147833, + 0.02850710041821003, + 0.6998358134431274, + 1.2198074152905394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7009822058530387, + 0.07331778109073639, + 0.7094001043781081, + -0.33288387976112227 + ], + [ + -0.032204014311078735, + 0.996941089630127, + -0.07121378863274362, + -0.1468920689787199 + ], + [ + -0.7124513320924315, + 0.027074074372649193, + 0.7011990847278432, + 1.2183407513863511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.701572944892365, + 0.07381334900856018, + 0.7087644268267549, + -0.3350021989748969 + ], + [ + -0.03293472199217497, + 0.9969165921211243, + -0.07122203583016591, + -0.14751739830521327 + ], + [ + -0.711836172359104, + 0.026624489575624466, + 0.7018407479643635, + 1.216627028698606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7027664854175716, + 0.07486776262521744, + 0.7074702863419778, + -0.33629840142276024 + ], + [ + -0.03264481010628344, + 0.9967933297157288, + -0.07305750210093133, + -0.1474290950223007 + ], + [ + -0.7106713154405214, + 0.028247127309441566, + 0.7029569252076314, + 1.2150261699942542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.7032634784339395, + 0.07563894987106323, + 0.706894044075307, + -0.3376240702802529 + ], + [ + -0.03049782265920322, + 0.9966184496879578, + -0.07629879393981716, + -0.1466097426460178 + ], + [ + -0.710274827214753, + 0.03209943324327469, + 0.7031922175592051, + 1.212486484101481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7044314447951906, + 0.07548543065786362, + 0.7057466826189038, + -0.3387408015686816 + ], + [ + -0.026481806057716762, + 0.9964314699172974, + -0.08014411175617032, + -0.144978135459538 + ], + [ + -0.70927788088468, + 0.03776659071445465, + 0.7039166344238598, + 1.2090531019852269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.7057041158397248, + 0.07426562905311584, + 0.7046037075109365, + -0.339322570535069 + ], + [ + -0.02101405674849102, + 0.9962476491928101, + -0.08395819645642587, + -0.14272870645975366 + ], + [ + -0.7081949951404058, + 0.04444306343793869, + 0.7046167095180587, + 1.2054558332657508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.7060823794948279, + 0.07352326065301895, + 0.7043025048026896, + -0.3403074608129161 + ], + [ + -0.014711462495272807, + 0.995903730392456, + -0.08921533631183284, + -0.14063250510485664 + ], + [ + -0.7079769154046052, + 0.052632056176662445, + 0.704271705130257, + 1.2019091419025703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.706222293973279, + 0.07322097569704056, + 0.7041937837739267, + -0.34163809005447976 + ], + [ + -0.010482243112609946, + 0.9956100583076477, + -0.09300955456871506, + -0.1391865594688024 + ], + [ + -0.7079126144215985, + 0.058303892612457275, + 0.703889494302144, + 1.1986734710249767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.7059870943801199, + 0.07066094130277634, + 0.7046909456902085, + -0.3426350074159992 + ], + [ + -0.008324858677731143, + 0.9957695603370667, + -0.0915078815662022, + -0.1381288854916733 + ], + [ + -0.7081757903142589, + 0.058736927807331085, + 0.7035886600444521, + 1.1972819210474492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.7057132163740473, + 0.06957677006721498, + 0.7050729982791976, + -0.34347929158082763 + ], + [ + -0.01173825962714088, + 0.9961779713630678, + -0.0865541685292235, + -0.13941476488156687 + ], + [ + -0.708400337873787, + 0.052806094288826, + 0.7038327277023165, + 1.1972148011999968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.7072327373764633, + 0.07382387667894363, + 0.7031158739041238, + -0.34407988682167073 + ], + [ + -0.021999727251054965, + 0.996349573135376, + -0.08248351365162307, + -0.14277989665510646 + ], + [ + -0.7066384709887509, + 0.04286668449640274, + 0.7062751525616879, + 1.1977948250591024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7092830648775578, + 0.08189307153224946, + 0.7001507868517733, + -0.3463955866589977 + ], + [ + -0.0352456585135885, + 0.9961066246032717, + -0.08080414199230618, + -0.1465530681856225 + ], + [ + -0.7040421690768616, + 0.03263574093580247, + 0.7094079719755073, + 1.1990828261221347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7143156754624297, + 0.08889098465442657, + 0.6941553361923328, + -0.3488095353905873 + ], + [ + -0.04591131582243058, + 0.9957157969474792, + -0.08026300422255181, + -0.1498742041255478 + ], + [ + -0.6983161009677717, + 0.025463547557592392, + 0.715336487906757, + 1.2023037830521932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.7267648864984767, + 0.09572515636682513, + 0.6801834774457002, + -0.349073876270069 + ], + [ + -0.054720225395071036, + 0.9951630234718325, + -0.08158592966155324, + -0.15227288652657914 + ], + [ + -0.68470326141389, + 0.02207400649785996, + 0.7284876815307686, + 1.2074527080815218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7390197407601206, + 0.10160455107688904, + 0.6659777568700633, + -0.3459989800159145 + ], + [ + -0.06067195524738797, + 0.9945821166038513, + -0.08441167604570825, + -0.15384185791199909 + ], + [ + -0.6709461267338523, + 0.021975718438625336, + 0.7411803746122105, + 1.2104746168094132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.7478830723029383, + 0.10144573450088501, + 0.6560333492143892, + -0.34656948243726987 + ], + [ + -0.05732179626482469, + 0.9944319725036621, + -0.0884267268695591, + -0.15401731161999127 + ], + [ + -0.6613510703288353, + 0.028527840971946716, + 0.7495338888647732, + 1.2132520421069246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.7653854019944142, + 0.09669722616672516, + 0.6362663365263678, + -0.3429744108092657 + ], + [ + -0.04842966768207762, + 0.994498610496521, + -0.09288232405661452, + -0.1538788083607191 + ], + [ + -0.6417474265053176, + 0.040276605635881424, + 0.765857674861224, + 1.217010915233636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.7767732388034196, + 0.08511510491371155, + 0.6240022458374184, + -0.3360571219328832 + ], + [ + -0.03480097783818908, + 0.9951122999191284, + -0.09241413012960972, + -0.1517024344497467 + ], + [ + -0.6288181875579795, + 0.0500689335167408, + 0.7759387592014316, + 1.2166198456102524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.7810718703777983, + 0.07242016494274141, + 0.6202274622004683, + -0.33270143988662293 + ], + [ + -0.01841223609810815, + 0.995491147041321, + -0.0930503296476263, + -0.1498682252943473 + ], + [ + -0.6241696836515463, + 0.0612592250108719, + 0.7788835290707813, + 1.215615800185947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.7823534122478908, + 0.06573612987995148, + 0.6193560834872085, + -0.32940500806649203 + ], + [ + -0.0073164106211906, + 0.9953160285949707, + -0.09639723892303517, + -0.1492838895254093 + ], + [ + -0.6227918216412924, + 0.07088525593280792, + 0.7791698936378875, + 1.2136132028208468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.7795702400743703, + 0.0635758638381958, + 0.6230797777187241, + -0.326545360275348 + ], + [ + -0.003108916447434213, + 0.9952152967453003, + -0.09765692738970787, + -0.15091927764726992 + ], + [ + -0.6263070831793708, + 0.0741933286190033, + 0.7760378912661859, + 1.2125959989165362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.7768150896537986, + 0.06489643454551697, + 0.6263759414533977, + -0.32502481600107924 + ], + [ + -0.004793863346586847, + 0.9952563047409058, + -0.09716952604163052, + -0.15220787834058094 + ], + [ + -0.6297105980032763, + 0.07248000055551529, + 0.7734412867191698, + 1.2131973316891251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.7767190509020181, + 0.06690725684165955, + 0.6262834316617116, + -0.32309581667530163 + ], + [ + -0.00882966010940972, + 0.9954007863998413, + -0.09539030965921036, + -0.15310876807024176 + ], + [ + -0.6297853336277501, + 0.0685615986585617, + 0.7737375065805021, + 1.2148962053543637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.7780790081116145, + 0.06888251006603241, + 0.6243783306504337, + -0.3202154176678216 + ], + [ + -0.013886866018209008, + 0.9956128001213074, + -0.09253242359075665, + -0.15370637062914674 + ], + [ + -0.6280129138400454, + 0.0633268877863884, + 0.7756220093884023, + 1.2186847667729124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.7817316179585664, + 0.07167219370603561, + 0.6194827072393663, + -0.31683154816194015 + ], + [ + -0.01956653510263678, + 0.9957034587860107, + -0.09050855240931817, + -0.1536438172877514 + ], + [ + -0.6233079903509225, + 0.05863227695226669, + 0.779775275626309, + 1.2248727343284813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.7881806154121432, + 0.07368713617324829, + 0.611016837664051, + -0.3124910642205063 + ], + [ + -0.02578615229691528, + 0.9958885908126831, + -0.08683891397183215, + -0.15370971375243206 + ], + [ + -0.6149036454371556, + 0.05268897861242294, + 0.7868401846534591, + 1.2330998779751319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.7961570698800094, + 0.07392972707748413, + 0.6005566351226511, + -0.3078993142396315 + ], + [ + -0.03175076618138047, + 0.9962449073791504, + -0.08054779701063029, + -0.15325008775707233 + ], + [ + -0.6042563482909079, + 0.04506056383252144, + 0.7955148185291675, + 1.2431949060343337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8061750651679622, + 0.0721774995326996, + 0.5872582060513883, + -0.3026931727085329 + ], + [ + -0.0370725544045254, + 0.9967432618141177, + -0.07161325332249588, + -0.15270073064601733 + ], + [ + -0.5905144780277999, + 0.03596165776252747, + 0.8062253753801552, + 1.2554514868560678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8178896242974311, + 0.06780781596899033, + 0.5713656914830417, + -0.2967936170697423 + ], + [ + -0.039927527913892515, + 0.9973263144493103, + -0.06120461217066391, + -0.1520158649335231 + ], + [ + -0.5739882132999389, + 0.027245398610830307, + 0.8184102287496484, + 1.269111145475968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pan_left/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..16d850df0cd8b611131216b4b616a32432f6c3fd --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pan_left/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996409964607852, + -0.01409677229821682, + -0.02278397429406961, + 0.016476616263389587 + ], + [ + 0.013984383275356106, + 0.9998893141746521, + -0.005084684502129529, + -0.015261497348546982 + ], + [ + 0.022853129682319444, + 0.004764239303767681, + 0.9997274986502597, + 0.029272407293319702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9992221672619824, + -0.006676403339952232, + -0.038864775686714724, + 0.022934691980481148 + ], + [ + 0.007056652761546954, + 0.9999284744262698, + 0.009654973667063436, + -0.02934691309928894 + ], + [ + 0.03879753552867081, + -0.009921719320118429, + 0.9991978112210994, + 0.07337836176156998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9988286847811081, + 0.003423885675147176, + -0.04826534847180082, + 0.019070623442530632 + ], + [ + -0.002613693477733062, + 0.9998548030853271, + 0.01683933594262765, + -0.03812531381845474 + ], + [ + 0.04831599830817336, + -0.016693459823727608, + 0.9986926171101554, + 0.11271954327821732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997899643160151, + 0.020067639648914337, + -0.004164889916559062, + 0.004086937289685011 + ], + [ + -0.020159693560662766, + 0.9995232820510864, + -0.02338264425671805, + -0.04895574599504471 + ], + [ + 0.0036936700644992068, + 0.02346169576048851, + 0.9997179193484572, + 0.16481588780879974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9977932505077532, + 0.05287696793675424, + 0.04015854988899437, + -0.01343616098165512 + ], + [ + -0.051240647533997395, + 0.9978551268577578, + -0.04073801699080982, + -0.056990936398506165 + ], + [ + -0.04222652002032184, + 0.03859036788344384, + 0.9983625214238483, + 0.19699420034885406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9927012967191253, + 0.08022276312112808, + 0.09004693793445265, + -0.035366568714380264 + ], + [ + -0.0753320413967917, + 0.9955586791038513, + -0.0564622269093469, + -0.06174508109688759 + ], + [ + -0.09417656612369682, + 0.04926670715212822, + 0.9943357147886402, + 0.23405401408672333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9912854452432659, + 0.09010225534439088, + 0.09609764391457498, + -0.045155543833971024 + ], + [ + -0.08592336982878584, + 0.9952028989791872, + -0.0467799309515534, + -0.05381311848759651 + ], + [ + -0.09985163392162276, + 0.03811523318290711, + 0.9942720120278203, + 0.25584477186203003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9891377375053673, + 0.1091033071279526, + 0.098503745673259, + -0.05518924817442894 + ], + [ + -0.1090523010905192, + 0.9940183758735659, + -0.005917956687749928, + -0.030508851632475853 + ], + [ + -0.09856019748665117, + -0.004888383671641351, + 0.9951190946793879, + 0.2974699139595032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9894433813955763, + 0.11517572402954102, + 0.08795659741336785, + -0.06189251318573952 + ], + [ + -0.1155285486575685, + 0.9933035373687744, + -0.00108568811114012, + -0.01828647404909134 + ], + [ + -0.08749263986749435, + -0.009087270125746727, + 0.9961237125791501, + 0.33294394612312317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9920133047803577, + 0.11717354506254199, + 0.04669006862260811, + -0.07011875510215759 + ], + [ + -0.11796241227066284, + 0.9929121136665346, + 0.014505142224953214, + -0.0008792128646746278 + ], + [ + -0.04465951545297565, + -0.019896965473890308, + 0.9988041290823315, + 0.3813560903072357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993805229667424, + 0.10898551344871521, + 0.02175694297849829, + -0.06983964890241623 + ], + [ + -0.10960576992186008, + 0.9935311675071716, + 0.029704309207892732, + 0.013522675260901451 + ], + [ + -0.018378861044650592, + -0.03190498426556587, + 0.99932193370159, + 0.4213736057281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9916305418985301, + 0.12342751026153564, + -0.03787566980809716, + -0.06452428549528122 + ], + [ + -0.12153721198590571, + 0.9913910031318665, + 0.048709572049695046, + 0.034134842455387115 + ], + [ + 0.043561696716106005, + -0.043698593974113464, + 0.9980946076272068, + 0.4848649501800537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9898213021256823, + 0.13652752339839935, + -0.04017502664742267, + -0.05960742384195328 + ], + [ + -0.13437559886327521, + 0.9895585179328918, + 0.05212569382246679, + 0.04406995698809624 + ], + [ + 0.04687213267881336, + -0.046196579933166504, + 0.997832071284075, + 0.5370721220970154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9887540005729323, + 0.14335879683494568, + -0.04258849589079865, + -0.05508244410157204 + ], + [ + -0.1421998329416991, + 0.9894096851348877, + 0.02911414435667351, + 0.05552780628204346 + ], + [ + 0.04631124173743208, + -0.022730650380253792, + 0.998668426965352, + 0.591282844543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9860729587525868, + 0.15059123933315277, + -0.07058624723083472, + -0.05351156368851662 + ], + [ + -0.14779258469351822, + 0.9880677461624146, + 0.04335229853181842, + 0.06411067396402359 + ], + [ + 0.07627247337899222, + -0.032316409051418304, + 0.9965631819182961, + 0.6198179721832275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9887726657059447, + 0.12358082085847855, + -0.08400232405880599, + -0.05090383067727089 + ], + [ + -0.11955269111416486, + 0.9914954304695129, + 0.05141977651579203, + 0.06767889112234116 + ], + [ + 0.08964241651863597, + -0.04079976677894592, + 0.9951380166264128, + 0.6525580883026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9901469506429775, + 0.10944973677396774, + -0.08734852476796197, + -0.04701489955186844 + ], + [ + -0.1034962596293681, + 0.9921627044677734, + 0.07001193268411013, + 0.0724567323923111 + ], + [ + 0.09432673284879507, + -0.06028185784816742, + 0.9937145410150802, + 0.680548369884491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9922800560273554, + 0.10997270047664642, + -0.057326375179365376, + -0.04789375513792038 + ], + [ + -0.10613828671939055, + 0.9921504259109497, + 0.06612232142584701, + 0.08022056519985199 + ], + [ + 0.06414803949896615, + -0.059527333825826645, + 0.9961634255565295, + 0.7301307320594788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.989913048064117, + 0.13941560685634616, + -0.025208101191284846, + -0.05608886852860451 + ], + [ + -0.13811360127914485, + 0.9892725348472597, + 0.0475870765020297, + 0.0826391875743866 + ], + [ + 0.031572062692361624, + -0.043625485152006156, + 0.9985489339050513, + 0.7687783241271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9828053186141228, + 0.18429037928581238, + 0.011437158945995061, + -0.0868130698800087 + ], + [ + -0.18462051534875074, + 0.9817957282066345, + 0.04463661894172859, + 0.08146833628416061 + ], + [ + -0.003002859284732843, + -0.04598063603043556, + 0.9989377912268066, + 0.8204553127288818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9833661944826928, + 0.1761280745267868, + 0.04438306270979618, + -0.10563313961029053 + ], + [ + -0.1777227341563699, + 0.9834593534469604, + 0.03496177910972166, + 0.07246136665344238 + ], + [ + -0.0374911842736733, + -0.04226810857653618, + 0.9984026321505587, + 0.8585543036460876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9851392890707118, + 0.15590098500251773, + 0.07207950457917484, + -0.11362996697425842 + ], + [ + -0.15924645633346343, + 0.9862918853759768, + 0.04323117267927154, + 0.06245231628417969 + ], + [ + -0.06435164993706188, + -0.05406713485717775, + 0.9964615220042419, + 0.9076935648918152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9845963586739085, + 0.16043990850448608, + 0.0694915527926902, + -0.12043405324220657 + ], + [ + -0.161821166298227, + 0.986710786819458, + 0.01468890511476387, + 0.05433478206396103 + ], + [ + -0.0662113778901246, + -0.025707848370075226, + 0.9974744019247805, + 0.9492305517196655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9871421584185258, + 0.15839089453220367, + 0.021510953614237677, + -0.13558989763259888 + ], + [ + -0.15738261973714246, + 0.986624538898468, + -0.04245869365114123, + 0.04224226251244545 + ], + [ + -0.027948307672638634, + 0.038527313619852066, + 0.9988666061618202, + 0.9871453642845154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9915321729416076, + 0.12986084818840027, + -0.00025416680183176565, + -0.14896899461746216 + ], + [ + -0.12971673961278932, + 0.9903359413146973, + -0.0490744533533267, + 0.03795913606882095 + ], + [ + -0.006121138307857476, + 0.04869186878204346, + 0.9987950923395554, + 1.0178450345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9910916856167983, + 0.1303732544183731, + -0.02720434421199406, + -0.16758976876735687 + ], + [ + -0.13109326491734777, + 0.9910128712654114, + -0.026608300416084182, + 0.023938853293657303 + ], + [ + 0.023490843925636603, + 0.02993757277727127, + 0.9992756739458448, + 1.062429428100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9923017521170556, + 0.12228640168905258, + -0.019578493027775073, + -0.18175108730793 + ], + [ + -0.12307088320049375, + 0.9913427829742432, + -0.04574978292587646, + 0.008638017810881138 + ], + [ + 0.013814421737604785, + 0.047807130962610245, + 0.9987610735346178, + 1.0991408824920654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9895067916394499, + 0.12498211860656738, + 0.07249680668433345, + -0.20718562602996826 + ], + [ + -0.1174877908246172, + 0.9880491495132446, + -0.09977702849302875, + -0.014874313026666641 + ], + [ + -0.08410076167102684, + 0.09021255373954773, + 0.992365222055046, + 1.1592530012130737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9756609527312939, + 0.13895663619041446, + 0.16963711907194576, + -0.23593991994857788 + ], + [ + -0.11576313981115795, + 0.9833987355232241, + -0.13973479499811697, + -0.03423618525266647 + ], + [ + -0.186237991693609, + 0.11669605970382693, + 0.9755498248792301, + 1.2012484073638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9442105861878822, + 0.16089852154254916, + 0.2873640194828754, + -0.2741018533706665 + ], + [ + -0.11523576678562876, + 0.9787876605987551, + -0.16939724723657665, + -0.07862882316112518 + ], + [ + -0.3085240999543495, + 0.12683205306530002, + 0.942722926243698, + 1.236546277999878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9077090835958733, + 0.161844402551651, + 0.3871313158446365, + -0.3030375838279724 + ], + [ + -0.08638597342583912, + 0.9749354124069214, + -0.20503256975868536, + -0.1146497130393982 + ], + [ + -0.4106114262961547, + 0.15266719460487366, + 0.898938805312694, + 1.253143310546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.87922809959199, + 0.1683233678340912, + 0.4456738902283584, + -0.3358263075351715 + ], + [ + -0.07437062711295073, + 0.9725275635719299, + -0.22058813984052225, + -0.12021313607692719 + ], + [ + -0.4705602591367238, + 0.16080224514007568, + 0.8675918645978288, + 1.270646333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8767736741578237, + 0.17023156583309174, + 0.44976565837375004, + -0.36291345953941345 + ], + [ + -0.10265095583260672, + 0.9799454808235168, + -0.17079113994733314, + -0.08737263828516006 + ], + [ + -0.4698198809659783, + 0.10357628017663956, + 0.8766648392146194, + 1.2906107902526855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8569054927158615, + 0.17138928174972537, + 0.48614678175380416, + -0.3977862596511841 + ], + [ + -0.1174316379119427, + 0.9832146167755129, + -0.1396381554879707, + -0.06633828580379486 + ], + [ + -0.5019190941125189, + 0.06256769597530366, + 0.8626485301328184, + 1.316657543182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8531690499377771, + 0.16614304482936862, + 0.4944684878786861, + -0.4251311421394348 + ], + [ + -0.11930369799366823, + 0.984945595264435, + -0.1250952157505155, + -0.059079233556985855 + ], + [ + -0.507808251105868, + 0.04773546010255815, + 0.8601465742408059, + 1.3227379322052002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8764512225180496, + 0.1421755701303482, + 0.46002106665865866, + -0.4619409441947937 + ], + [ + -0.13020493056725232, + 0.9897986650466919, + -0.0578384563661262, + -0.039761386811733246 + ], + [ + -0.4635514613528615, + -0.009204419329762459, + 0.8860221885764514, + 1.3405649662017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8897245139812101, + 0.12768206000328067, + 0.43827795042121004, + -0.4819948375225067 + ], + [ + -0.13374867004218136, + 0.9908668994903567, + -0.017149971390489308, + -0.023159150034189224 + ], + [ + -0.43646483446029877, + -0.043360348790884025, + 0.8986758865965967, + 1.3510833978652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8975683060670148, + 0.10844705998897552, + 0.42732937111663055, + -0.4988918900489807 + ], + [ + -0.13669489380401545, + 0.9899630546569824, + 0.0358843133269261, + -0.004846540279686451 + ], + [ + -0.4191487492053076, + -0.09062235057353973, + 0.9033836063202723, + 1.3492989540100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9007381353050253, + 0.052844807505607605, + 0.4311360303131062, + -0.5018128156661987 + ], + [ + -0.09431557479059814, + 0.992685079574585, + 0.07537152292917747, + 0.001099546905606985 + ], + [ + -0.42399934000537975, + -0.10855284333229065, + 0.8991333648448497, + 1.3462598323822021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8712368506061667, + 0.06852293759584427, + 0.486056491592221, + -0.4939384460449219 + ], + [ + -0.10236738356940929, + 0.9938000440597534, + 0.04338619108108504, + -0.008217792958021164 + ], + [ + -0.4800700356548958, + -0.08755598217248917, + 0.8728497487132092, + 1.3406133651733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8530000935181241, + 0.14467664062976837, + 0.5014574073132376, + -0.49150362610816956 + ], + [ + -0.1901769633034153, + 0.9809144139289856, + 0.04049311347438184, + -0.004312257282435894 + ], + [ + -0.48602839146354493, + -0.12990626692771912, + 0.8642342116098312, + 1.3333133459091187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8125858560671012, + 0.17446689307689667, + 0.556116469810693, + -0.489070326089859 + ], + [ + -0.23596990543810734, + 0.9709289073944092, + 0.04019098493236759, + -0.017419753596186638 + ], + [ + -0.5329375750332466, + -0.16388536989688873, + 0.8301319777082051, + 1.310387134552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8041017267426882, + 0.15146441757678986, + 0.57487305109444, + -0.48633721470832825 + ], + [ + -0.17762452829053965, + 0.9840388894081116, + -0.010817481824156946, + -0.033548906445503235 + ], + [ + -0.5673358431171325, + -0.09341317415237427, + 0.8181711262103359, + 1.3034495115280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7960075404618026, + 0.1724855899810791, + 0.5801902390239494, + -0.4973098039627075 + ], + [ + -0.13179515996716518, + 0.9849303960800171, + -0.11199149602234945, + -0.05760672315955162 + ], + [ + -0.5907639311895923, + 0.012679804116487503, + 0.8067448192899032, + 1.2913655042648315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8007449778596601, + 0.17190036177635193, + 0.5738098694272122, + -0.4973185360431671 + ], + [ + -0.10709563267231949, + 0.9835876226425171, + -0.14520975245904735, + -0.07506633549928665 + ], + [ + -0.5893539112975362, + 0.05482344701886177, + 0.8060125967889714, + 1.2904930114746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.812693272637913, + 0.16924382746219635, + 0.557571703175268, + -0.5068268179893494 + ], + [ + -0.07372645295682767, + 0.9790657758712769, + -0.1897224013894762, + -0.09592901915311813 + ], + [ + -0.5780086838794489, + 0.11307834088802338, + 0.8081579289673838, + 1.2834620475769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8113430219434631, + 0.183659702539444, + 0.5549698515883605, + -0.5132465362548828 + ], + [ + -0.0728878430013617, + 0.9737385511398318, + -0.21568643964824163, + -0.10591231286525726 + ], + [ + -0.5800084229815425, + 0.13454513251781466, + 0.8034225633299453, + 1.276651382446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8023162230558162, + 0.18310168385505676, + 0.568121851082636, + -0.5163651704788208 + ], + [ + -0.05858968491968126, + 0.9713501334190369, + -0.2303174649994089, + -0.11586642265319824 + ], + [ + -0.5940167908446503, + 0.1515013724565506, + 0.790057857055123, + 1.2728655338287354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7819099041160689, + 0.16783741116523745, + 0.6003728277679556, + -0.5112895369529724 + ], + [ + -0.04614090544393281, + 0.9760149717330935, + -0.21275748668306113, + -0.12142118066549301 + ], + [ + -0.6216815059547158, + 0.1386554390192032, + 0.7709000094968521, + 1.270522117614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7585908894979644, + 0.1534339785575867, + 0.63324397367274, + -0.5081328749656677 + ], + [ + -0.038977525478079415, + 0.9808238148689272, + -0.19095911341466862, + -0.1342877596616745 + ], + [ + -0.6504003983975838, + 0.1201775670051575, + 0.7500245230361748, + 1.2663253545761108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7613582349520917, + 0.1412988007068634, + 0.6327466416881797, + -0.506118655204773 + ], + [ + -0.024804853074581048, + 0.9815955758094788, + -0.18935369303807545, + -0.14181441068649292 + ], + [ + -0.6478567963481126, + 0.1284707933664322, + 0.750850763266558, + 1.2620618343353271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7683152845335398, + 0.14272023737430573, + 0.6239571788089365, + -0.5036013126373291 + ], + [ + -0.02108713714516387, + 0.9799388647079468, + -0.19817952206587072, + -0.14741122722625732 + ], + [ + -0.6397241665976833, + 0.1391068696975708, + 0.75591155043992, + 1.2608124017715454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7682044560201041, + 0.1529001891613007, + 0.6216779336624966, + -0.5007312297821045 + ], + [ + -0.041816758594170104, + 0.9809715151786806, + -0.18959483762926865, + -0.14934852719306946 + ], + [ + -0.6388374398965638, + 0.11965104937553409, + 0.7599804868482962, + 1.2676340341567993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7847825298316622, + 0.1482444703578949, + 0.601780672706548, + -0.49598053097724915 + ], + [ + -0.05208462298326353, + 0.9833126068115234, + -0.17430861256640273, + -0.1521517038345337 + ], + [ + -0.6175788266719183, + 0.105450838804245, + 0.7794077592260534, + 1.2807989120483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7971300999425005, + 0.16057254374027252, + 0.5820653536274686, + -0.49185752868652344 + ], + [ + -0.07322142787154423, + 0.9825836420059204, + -0.17078657984210482, + -0.15786990523338318 + ], + [ + -0.599351551625262, + 0.09351947903633118, + 0.795004344915704, + 1.28353750705719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8048221584788545, + 0.1336606740951538, + 0.5782700002683664, + -0.4768844246864319 + ], + [ + -0.04339609316601156, + 0.9849565625190735, + -0.16726415580562493, + -0.1671411395072937 + ], + [ + -0.5919274379042352, + 0.109523244202137, + 0.7985152313157201, + 1.27056086063385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7978667777849687, + 0.12160331010818481, + 0.5904415012180504, + -0.4687903821468353 + ], + [ + -0.024076136939767675, + 0.9850897789001465, + -0.17034815782426252, + -0.16919440031051636 + ], + [ + -0.60235273277607, + 0.12169958651065826, + 0.7888981338821152, + 1.266076922416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7923904555245282, + 0.12608471512794495, + 0.5968417166013955, + -0.46414241194725037 + ], + [ + -0.03679254922028875, + 0.9865032434463501, + -0.15955472266900117, + -0.1712256371974945 + ], + [ + -0.6089036525777207, + 0.10447032749652863, + 0.7863347185533665, + 1.2694326639175415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7926459795857679, + 0.12672460079193115, + 0.5963666416339293, + -0.4615344703197479 + ], + [ + -0.04231960601858678, + 0.9872366786003113, + -0.1535342638686347, + -0.17372383177280426 + ], + [ + -0.6082116295125747, + 0.09646032750606537, + 0.7878922155657817, + 1.272552490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.796156268073638, + 0.1308019757270813, + 0.5907841794851286, + -0.4595617949962616 + ], + [ + -0.04904195836619909, + 0.9870927333831787, + -0.1524560479679798, + -0.17572975158691406 + ], + [ + -0.6031003460894437, + 0.09240563213825226, + 0.7922948681501574, + 1.2755602598190308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8015346566947156, + 0.13616037368774417, + 0.5822392007725269, + -0.4559358060359955 + ], + [ + -0.05614040499800555, + 0.9865636229515078, + -0.15342904326611484, + -0.17629161477088928 + ], + [ + -0.5953069804545238, + 0.09029155969619752, + 0.7984090520235324, + 1.2793976068496704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8058457859295124, + 0.14112858474254608, + 0.5750610480928684, + -0.4508799910545349 + ], + [ + -0.06374843126460883, + 0.9862144589424133, + -0.15269966702760787, + -0.17586231231689453 + ], + [ + -0.5886838466083683, + 0.08639314770698547, + 0.8037335139506813, + 1.28389310836792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8092706600451798, + 0.14414788782596588, + 0.569475610724024, + -0.4454721212387085 + ], + [ + -0.06993042771495783, + 0.9861721992492676, + -0.15024701565579449, + -0.17566537857055664 + ], + [ + -0.5832587682002742, + 0.08176682889461517, + 0.8081605373807662, + 1.2892428636550903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8148432804546405, + 0.14556653797626495, + 0.5611068182162791, + -0.43857887387275696 + ], + [ + -0.07569105732269028, + 0.9863881468772888, + -0.14597713881277355, + -0.1757778823375702 + ], + [ + -0.5747184757305097, + 0.07647773623466492, + 0.8147698214273402, + 1.29604971408844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8228379561729111, + 0.14542911946773532, + 0.5493524108109217, + -0.43099191784858704 + ], + [ + -0.07960524744193827, + 0.9866658449172976, + -0.141963009018288, + -0.1767120361328125 + ], + [ + -0.5626728698938571, + 0.07308121025562288, + 0.823442996279155, + 1.3022432327270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8310278009154533, + 0.1440925896167755, + 0.5372430607834638, + -0.42199185490608215 + ], + [ + -0.08158856449904173, + 0.9869939088821411, + -0.1385148727833793, + -0.17819994688034058 + ], + [ + -0.550214597912659, + 0.07127682864665985, + 0.8319756969779165, + 1.3079445362091064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.838327323295027, + 0.13998255133628845, + 0.5268892234858035, + -0.41207796335220337 + ], + [ + -0.07979275131666892, + 0.9875703454017639, + -0.13541778050924114, + -0.18034213781356812 + ], + [ + -0.53929632509861, + 0.07148247957229614, + 0.8390767380525656, + 1.3127350807189941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8422849330674447, + 0.13279315829277039, + 0.5224194040620658, + -0.402025043964386 + ], + [ + -0.07416833136108596, + 0.9885125756263733, + -0.13168889379287033, + -0.18363390862941742 + ], + [ + -0.5339055090232266, + 0.0721726045012474, + 0.8424583037988571, + 1.3155121803283691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8410865262889899, + 0.1257798820734024, + 0.5260731097489365, + -0.3925572633743286 + ], + [ + -0.06714990715795907, + 0.9893442988395691, + -0.1291849460803184, + -0.18745476007461548 + ], + [ + -0.5367162931866706, + 0.07332996279001236, + 0.8405702381174412, + 1.317570447921753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8388552606115371, + 0.12104804813861847, + 0.5307251762099451, + -0.3836248517036438 + ], + [ + -0.06121801483489186, + 0.9897552728652954, + -0.12898370474240994, + -0.19205284118652344 + ], + [ + -0.5409012786213786, + 0.07570873200893402, + 0.8376718120974758, + 1.319107174873352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.836510325262613, + 0.11858713626861572, + 0.5349650836977135, + -0.37516093254089355 + ], + [ + -0.0571730216188374, + 0.9898609519004822, + -0.1300252347921918, + -0.195920929312706 + ], + [ + -0.5449603864378687, + 0.07818187773227692, + 0.8348088708282483, + 1.3200311660766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8329970482675373, + 0.11547547578811646, + 0.5410927712475563, + -0.36600619554519653 + ], + [ + -0.05230245819426424, + 0.9900326132774353, + -0.13076631711652562, + -0.19920217990875244 + ], + [ + -0.550799843126019, + 0.08062747865915298, + 0.8307339039108513, + 1.3197484016418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8299938214253159, + 0.11303699016571045, + 0.5461986072185198, + -0.35687071084976196 + ], + [ + -0.048445621369754, + 0.9901584386825562, + -0.13129835754648198, + -0.20218244194984436 + ], + [ + -0.5556647231924409, + 0.0825159028172493, + 0.8273015571572142, + 1.320493221282959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8283300010151465, + 0.11086848378181458, + 0.5491608709495202, + -0.3473951518535614 + ], + [ + -0.04496246910890559, + 0.9902170896530151, + -0.13209265933920275, + -0.20488014817237854 + ], + [ + -0.5584333600134133, + 0.08472467958927155, + 0.8252114483716665, + 1.3201351165771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.82546142803741, + 0.10702851414680481, + 0.5542187448615442, + -0.33688050508499146 + ], + [ + -0.03949920005772513, + 0.9904047250747681, + -0.1324323500962972, + -0.20609521865844727 + ], + [ + -0.5630748880326006, + 0.08742660284042358, + 0.8217683992332148, + 1.3198174238204956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.821911324505907, + 0.10158804059028625, + 0.5604834104247743, + -0.32696789503097534 + ], + [ + -0.03292441691401248, + 0.9907956719398499, + -0.1313010183350449, + -0.2066211700439453 + ], + [ + -0.5686631432698868, + 0.0894642025232315, + 0.8176909026802404, + 1.3203794956207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8197697658058615, + 0.09570881724357605, + 0.5646391759073278, + -0.3168022632598877 + ], + [ + -0.028131386418666627, + 0.9914758801460266, + -0.12721706081798106, + -0.20717382431030273 + ], + [ + -0.5720018735555008, + 0.08840461820363998, + 0.815474362194855, + 1.320702314376831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.815546093097353, + 0.085726797580719, + 0.5723072633603078, + -0.3064883053302765 + ], + [ + -0.020842554897724117, + 0.9926762580871582, + -0.1189936110442816, + -0.20808151364326477 + ], + [ + -0.5783167345827571, + 0.0851164385676384, + 0.8113599657895258, + 1.3199254274368286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8099098533835324, + 0.07395096123218536, + 0.5818739857403299, + -0.29920196533203125 + ], + [ + -0.00958149091491346, + 0.9935560822486877, + -0.11293560281357307, + -0.2107727825641632 + ], + [ + -0.5864761190907776, + 0.0858924388885498, + 0.8053994506363901, + 1.3175063133239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8054760680324445, + 0.072268545627594, + 0.588205424777614, + -0.29717668890953064 + ], + [ + -0.0021740014685262877, + 0.9928904175758362, + -0.11901225166706035, + -0.21251046657562256 + ], + [ + -0.5926243110353057, + 0.09458276629447937, + 0.799906555979907, + 1.3158520460128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8068886359903557, + 0.08294961601495744, + 0.5848505300864789, + -0.29855674505233765 + ], + [ + -0.004432596576840089, + 0.9909136891365053, + -0.1344263113240102, + -0.21181026101112366 + ], + [ + -0.590686964772852, + 0.10587465763092044, + 0.7999246478366181, + 1.3132686614990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8089148151017066, + 0.10026845335960391, + 0.5793126625715156, + -0.2996962368488312 + ], + [ + -0.014291479255293706, + 0.9884120225906374, + -0.1511204121062224, + -0.20924820005893707 + ], + [ + -0.5877521845954717, + 0.11396431177854541, + 0.8009741431830366, + 1.3118743896484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8052339750808629, + 0.11133722960948944, + 0.5824107985505735, + -0.30091407895088196 + ], + [ + -0.01891422343343659, + 0.9865368008613586, + -0.1624418820178764, + -0.2060355842113495 + ], + [ + -0.5926555035192342, + 0.11978787928819656, + 0.7964987689495397, + 1.3098139762878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8003370496093312, + 0.11511974781751633, + 0.5883945090997292, + -0.3008272349834442 + ], + [ + -0.01883851978600964, + 0.9857369065284729, + -0.1672357841205425, + -0.20330575108528137 + ], + [ + -0.5992543476104655, + 0.12276051193475723, + 0.7910904729307571, + 1.3116024732589722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8007434560334012, + 0.11353930830955505, + 0.5881485664980973, + -0.29970425367355347 + ], + [ + -0.01770317175749427, + 0.9859286546707153, + -0.16622662104783154, + -0.20065101981163025 + ], + [ + -0.5987458084378999, + 0.1226927787065506, + 0.7914859082806851, + 1.3155673742294312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8028989765293398, + 0.10871295630931854, + 0.5861183878845523, + -0.29772457480430603 + ], + [ + -0.01577204528776817, + 0.9867600202560425, + -0.16141830472807653, + -0.1981298327445984 + ], + [ + -0.5959064611413015, + 0.12035829573869705, + 0.7939832493734117, + 1.3205946683883667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8072284262491888, + 0.10231171548366547, + 0.5813042376228968, + -0.2954096496105194 + ], + [ + -0.014671572150622411, + 0.9880359172821045, + -0.15352431378045261, + -0.19546407461166382 + ], + [ + -0.5900568447999344, + 0.11540054529905319, + 0.7990718122635945, + 1.3279328346252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8138843286853691, + 0.09357401728630067, + 0.5734423052078572, + -0.2919084429740906 + ], + [ + -0.013729687160132654, + 0.9897680878639223, + -0.14202333173549897, + -0.19364547729492188 + ], + [ + -0.5808646266220807, + 0.10771739482879641, + 0.8068415514590418, + 1.3346487283706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8205889708946705, + 0.08713700622320175, + 0.5648370076140523, + -0.28905606269836426 + ], + [ + -0.01526823605577692, + 0.9912983775138855, + -0.13074538556504264, + -0.19263334572315216 + ], + [ + -0.5713148283189379, + 0.09866416454315186, + 0.8147789846198321, + 1.3432965278625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8278661735180481, + 0.08191983401775361, + 0.5549114844433156, + -0.28414052724838257 + ], + [ + -0.018363443380474333, + 0.9927059412002566, + -0.11915385568850387, + -0.19054478406906128 + ], + [ + -0.5606249884226591, + 0.08845336735248567, + 0.823332030444682, + 1.3553714752197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8339719694078563, + 0.07515870779752731, + 0.5466643499409454, + -0.2801705300807953 + ], + [ + -0.020475607750032324, + 0.9942134022712708, + -0.10545357717554069, + -0.1920093595981598 + ], + [ + -0.5514267230415275, + 0.07675204426050186, + 0.8306850338116031, + 1.360337257385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8388045098369623, + 0.06682216376066208, + 0.5403164475739886, + -0.2758221924304962 + ], + [ + -0.019431101192727965, + 0.9954813718795776, + -0.09294798832132722, + -0.19286338984966278 + ], + [ + -0.5440859533810867, + 0.06746625155210495, + 0.8363126355400985, + 1.3653277158737183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8449191558831627, + 0.05733489617705345, + 0.5318123382935656, + -0.2721450626850128 + ], + [ + -0.01596525323695626, + 0.9964988231658936, + -0.0820680656102679, + -0.1945473551750183 + ], + [ + -0.534655709270634, + 0.0608503632247448, + 0.842876347974617, + 1.3696112632751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8512885193669586, + 0.04943409934639931, + 0.5223640717199567, + -0.26793235540390015 + ], + [ + -0.011715791177846295, + 0.9970945715904236, + -0.07526734638329158, + -0.19522309303283691 + ], + [ + -0.5245671301211384, + 0.057954318821430206, + 0.8493942715144945, + 1.37478768825531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8562913346058836, + 0.04127850383520126, + 0.5148410898074745, + -0.26475799083709717 + ], + [ + -0.004808172287745359, + 0.9973950982093811, + -0.07197132075808789, + -0.19613529741764069 + ], + [ + -0.516470838229319, + 0.05915297567844391, + 0.8542592414536986, + 1.3791463375091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8628801474517263, + 0.03469128534197807, + 0.5042166772849047, + -0.2617291212081909 + ], + [ + 0.0006928620520149791, + 0.9975593686103821, + -0.06982013742994536, + -0.1964550018310547 + ], + [ + -0.5054081980665317, + 0.06059575825929642, + 0.8607501262972087, + 1.3820416927337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8683485378580929, + 0.027961822226643562, + 0.4951656685089265, + -0.2573997378349304 + ], + [ + 0.005672868212072102, + 0.9977840781211853, + -0.06629274107927872, + -0.1956966072320938 + ], + [ + -0.49592207604639554, + 0.06037421524524689, + 0.8662657011675479, + 1.3856799602508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8725573454245891, + 0.01998138800263405, + 0.488102814266302, + -0.25268325209617615 + ], + [ + 0.010845367670604485, + 0.9981245398521423, + -0.060247799506194515, + -0.19522835314273834 + ], + [ + -0.4883912839030162, + 0.05786331743001938, + 0.8707042055318129, + 1.3910398483276367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8762458533126231, + 0.012407150119543076, + 0.4817046292730859, + -0.2482387125492096 + ], + [ + 0.01466634087116642, + 0.9985185861587524, + -0.05239745374030878, + -0.19524496793746948 + ], + [ + -0.48164111916367663, + 0.05297789350152016, + 0.8747658065038099, + 1.3967280387878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8808747271348497, + 0.006813941057771446, + 0.473300445594092, + -0.24376866221427917 + ], + [ + 0.01574841346186264, + 0.9989209771156313, + -0.04369099651081921, + -0.1956263929605484 + ], + [ + -0.47308748453767085, + 0.045940026640892036, + 0.8798169396890969, + 1.402874231338501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8841050442974446, + 0.0035371622070670137, + 0.467274925675232, + -0.2388565093278885 + ], + [ + 0.015048712614802196, + 0.9992371797561648, + -0.036036833006644786, + -0.1956292688846588 + ], + [ + -0.46704592487503627, + 0.03889222815632821, + 0.8833773069100395, + 1.4084111452102661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8862899281723529, + 0.00019095931202173233, + 0.4631307829552904, + -0.23422718048095703 + ], + [ + 0.01521269665514815, + 0.999448299407959, + -0.029524526785641592, + -0.1957719326019287 + ], + [ + -0.46288089712867836, + 0.03321275860071182, + 0.8857980629159175, + 1.41310453414917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8874752484403131, + -0.0016304003074765205, + 0.4608525001631861, + -0.2303488552570343 + ], + [ + 0.015269217507120656, + 0.9995487332344055, + -0.025868120876729832, + -0.19630323350429535 + ], + [ + -0.46060235785364606, + 0.0299941748380661, + 0.8870996942410588, + 1.416853904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8878606263414061, + -0.0006570005789399148, + 0.4601120257295969, + -0.22749507427215576 + ], + [ + 0.01393978813632816, + 0.9995783567428591, + -0.02547176696851118, + -0.19725081324577332 + ], + [ + -0.45990130486034586, + 0.029029242694377906, + 0.8874954391580328, + 1.419241189956665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8880667090396318, + 0.0018861819989979267, + 0.4597108213355694, + -0.22443802654743195 + ], + [ + 0.011281014544995872, + 0.9996010661125183, + -0.025893938384372414, + -0.19844256341457367 + ], + [ + -0.45957623530180175, + 0.028181549161672592, + 0.8876910918044956, + 1.4215939044952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8869494844762436, + 0.005308737978339195, + 0.46183599354674226, + -0.22133734822273254 + ], + [ + 0.007824864562231991, + 0.9996176958084106, + -0.026518006041186624, + -0.20024487376213074 + ], + [ + -0.4618001646325796, + 0.027133934199810028, + 0.8865688464311886, + 1.423167109489441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8848482497493143, + 0.010189252905547619, + 0.46576792965718594, + -0.21760083734989166 + ], + [ + 0.00232634877808196, + 0.9996517300605774, + -0.02628813562332005, + -0.2023068219423294 + ], + [ + -0.4658735638708734, + 0.0243445485830307, + 0.884516328500901, + 1.4241665601730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8804213791168325, + 0.011551767587661743, + 0.4740514566425085, + -0.2147032618522644 + ], + [ + -0.0006206695792072496, + 0.9997304677963257, + -0.02320888223287779, + -0.206202432513237 + ], + [ + -0.47419175766744653, + 0.020139366388320923, + 0.8801912075846803, + 1.4246821403503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.875649271360163, + 0.011629345826804638, + 0.48280762408871386, + -0.21377822756767273 + ], + [ + 0.000811328127286838, + 0.9996731877326965, + -0.025550520185539684, + -0.20848514139652252 + ], + [ + -0.4829469956455686, + 0.022765010595321655, + 0.8753536203726927, + 1.4230633974075317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8738294049647171, + 0.01619885861873627, + 0.485962713187784, + -0.21588075160980225 + ], + [ + 0.0009114732244088217, + 0.9993885755538943, + -0.03495212315184969, + -0.2117891013622284 + ], + [ + -0.4862317627789722, + 0.030985135585069663, + 0.873280387973776, + 1.4219534397125244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.875463905331494, + 0.02665378153324128, + 0.4825479830836068, + -0.2187867909669876 + ], + [ + -0.005493601969714826, + 0.9989623427391054, + -0.04521141146441264, + -0.20999103784561157 + ], + [ + -0.4832523757789394, + 0.036930032074451453, + 0.8747018921035444, + 1.4166737794876099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8746187649097212, + 0.03707797825336456, + 0.4833914885237778, + -0.22097325325012207 + ], + [ + -0.014352633626707564, + 0.9986144304275513, + -0.0506287867978193, + -0.20882847905158997 + ], + [ + -0.4845989244294978, + 0.037342946976423264, + 0.8739390699434412, + 1.4156574010849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.87199299067519, + 0.04220186918973923, + 0.48769582136813927, + -0.22345253825187683 + ], + [ + -0.019031433253244478, + 0.9984463453292847, + -0.052370805396660065, + -0.2065870761871338 + ], + [ + -0.48914829542322746, + 0.0363854244351387, + 0.8714413444607814, + 1.4125821590423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.869256644463272, + 0.04268907383084297, + 0.49251459549430315, + -0.22542953491210938 + ], + [ + -0.01929251382220801, + 0.9984350800514221, + -0.05249007124354297, + -0.2046322375535965 + ], + [ + -0.4939845812559073, + 0.03612550348043442, + 0.8687198438194188, + 1.4120757579803467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8662056649282798, + 0.040155068039894104, + 0.4980715537988018, + -0.22729842364788055 + ], + [ + -0.016420331150266358, + 0.9985149502754211, + -0.05194445113149893, + -0.201866015791893 + ], + [ + -0.4994177929709455, + 0.036816079169511795, + 0.8655787010094421, + 1.4121723175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.862768988915552, + 0.03601080924272537, + 0.5043143689734098, + -0.22890955209732056 + ], + [ + -0.011740218565277965, + 0.9986183047294617, + -0.05122194655464269, + -0.1995084434747696 + ], + [ + -0.50546211549479, + 0.0382719486951828, + 0.8619996110064712, + 1.4123883247375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8586005735408493, + 0.03305539861321449, + 0.5115783831321066, + -0.23230066895484924 + ], + [ + -0.008007137528568516, + 0.998661994934082, + -0.05108940991943748, + -0.19759172201156616 + ], + [ + -0.5125826348990432, + 0.039769116789102554, + 0.8577164191509034, + 1.4122205972671509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8532476318427391, + 0.03392140194773674, + 0.5204015678635526, + -0.238056480884552 + ], + [ + -0.006744398154254515, + 0.9985166192054749, + -0.0540283635268554, + -0.19549721479415894 + ], + [ + -0.5214623718059733, + 0.042589783668518066, + 0.852210815161317, + 1.4109843969345093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8460097428325163, + 0.039789356291294105, + 0.5316807344801565, + -0.24568846821784973 + ], + [ + -0.008686007628680985, + 0.9981076717376711, + -0.06087415136776186, + -0.19348883628845215 + ], + [ + -0.5330967737784775, + 0.04688194021582605, + 0.8447543597961674, + 1.4093530178070068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8371892353165075, + 0.04955450445413591, + 0.5446637313158567, + -0.25500890612602234 + ], + [ + -0.013784974141273497, + 0.997482240200043, + -0.06956422054702695, + -0.19152840971946716 + ], + [ + -0.5467396307139142, + 0.05073024332523347, + 0.8357644821714214, + 1.407266616821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8270021608430732, + 0.059891149401664734, + 0.5589995227529265, + -0.2686733603477478 + ], + [ + -0.020683193292451277, + 0.9968775510787964, + -0.07620596826905858, + -0.1899534910917282 + ], + [ + -0.5618181461450171, + 0.05146060883998871, + 0.825658613957463, + 1.4048006534576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.815719434147476, + 0.06956323981285095, + 0.5742498259177976, + -0.2816961705684662 + ], + [ + -0.02755114803135429, + 0.9962882399559021, + -0.08155167992997088, + -0.18671748042106628 + ], + [ + -0.5777913345309992, + 0.0507020503282547, + 0.8146081932581896, + 1.4047935009002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8044246634994113, + 0.07782904803752899, + 0.588934324913878, + -0.2923305332660675 + ], + [ + -0.03359119500713964, + 0.9957537651062012, + -0.08570902469249253, + -0.18351563811302185 + ], + [ + -0.5931042159058948, + 0.049163445830345154, + 0.8036232499457041, + 1.4017661809921265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7917139715786334, + 0.08739078044891359, + 0.6046089147136711, + -0.304244726896286 + ], + [ + -0.042227224877826694, + 0.9951763749122622, + -0.08854874576310513, + -0.18145066499710083 + ], + [ + -0.6094308312558714, + 0.044574320316314704, + 0.7915852225714936, + 1.400631308555603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7793407572489903, + 0.09310662746429443, + 0.6196443914653543, + -0.3160116374492645 + ], + [ + -0.04724980625563725, + 0.9948155879974365, + -0.09005201277450287, + -0.17858117818832397 + ], + [ + -0.6248163810085139, + 0.04090312123298645, + 0.7796995647618992, + 1.400037407875061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.7686320522276544, + 0.0942610651254654, + 0.6327082177234002, + -0.32669153809547424 + ], + [ + -0.04839329090337723, + 0.9948177933692932, + -0.08941870741868739, + -0.1749831736087799 + ], + [ + -0.6378580651106951, + 0.038111262023448944, + 0.76921043441475, + 1.399641990661621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7595182720005341, + 0.09133201837539673, + 0.644042324393793, + -0.33626028895378113 + ], + [ + -0.04552796533540156, + 0.9951298236846924, + -0.08742887407707227, + -0.17118850350379944 + ], + [ + -0.6488907408601899, + 0.03708188608288765, + 0.7599774229979565, + 1.3997312784194946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7517329238951439, + 0.08540842682123186, + 0.6539136463194062, + -0.34515345096588135 + ], + [ + -0.040280449095619564, + 0.9956731796264651, + -0.08374003016755503, + -0.16710315644741058 + ], + [ + -0.658236425685559, + 0.0366102084517479, + 0.75192063862464, + 1.3997712135314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7445306754760458, + 0.07984350621700287, + 0.6627963853797868, + -0.353069007396698 + ], + [ + -0.03629347340401612, + 0.9961948990821838, + -0.07923713262463344, + -0.1623539924621582 + ], + [ + -0.6666009756689635, + 0.03493928909301758, + 0.7445954708163562, + 1.4003854990005493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7377389105296108, + 0.07579241693019867, + 0.670818007980368, + -0.3603188395500183 + ], + [ + -0.03521545659560135, + 0.9966453909873962, + -0.07387748984283282, + -0.1570979505777359 + ], + [ + -0.6741670383050371, + 0.03087913990020752, + 0.7379331612145436, + 1.4006271362304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.7310296960701018, + 0.07393410056829453, + 0.6783284330910241, + -0.36692214012145996 + ], + [ + -0.0377921257496789, + 0.9969736337661743, + -0.06793639090992393, + -0.15134960412979126 + ], + [ + -0.6812983663820762, + 0.024028053507208824, + 0.7316114588642443, + 1.4013136625289917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.7230354230631457, + 0.0707332044839859, + 0.6871802154743744, + -0.3735644221305847 + ], + [ + -0.040343907435398535, + 0.9973699450492859, + -0.06021288059373621, + -0.1455441564321518 + ], + [ + -0.6896319782501154, + 0.01581251062452793, + 0.723987456462127, + 1.4015419483184814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.7143805815857333, + 0.0671861693263054, + 0.6965246235240871, + -0.3816370368003845 + ], + [ + -0.04175962589927963, + 0.9976992607116701, + -0.05340705479120144, + -0.13799956440925598 + ], + [ + -0.6985102716246129, + 0.00906636379659176, + 0.7155426532012938, + 1.4025119543075562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.7106201498602316, + 0.0605977401137352, + 0.7009614693412156, + -0.38778507709503174 + ], + [ + -0.03805109176381801, + 0.998136043548584, + -0.04771292298321939, + -0.13381430506706238 + ], + [ + -0.7025462654699518, + 0.007233412936329842, + 0.7116013647455287, + 1.4027496576309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.7093131649616123, + 0.05291553586721422, + 0.7029046023956226, + -0.39353394508361816 + ], + [ + -0.032867195760644556, + 0.9985765814781191, + -0.04200723970937481, + -0.1308468133211136 + ], + [ + -0.7041268289417023, + 0.00669379346072674, + 0.710042724059987, + 1.4025671482086182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.7061836020906833, + 0.04466269910335541, + 0.7066187852184579, + -0.3985440135002136 + ], + [ + -0.026310399537387664, + 0.9989745020866394, + -0.036847209852193974, + -0.12886370718479156 + ], + [ + -0.707539815649208, + 0.007429473102092743, + 0.7066344656121135, + 1.401404619216919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7018391912933111, + 0.039000529795885086, + 0.7112670288041162, + -0.40493762493133545 + ], + [ + -0.021326143423742217, + 0.9992029070854187, + -0.033745298282330465, + -0.1283230185508728 + ], + [ + -0.7120162261144403, + 0.0085151931270957, + 0.7021114491161088, + 1.3999288082122803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.6995938474589709, + 0.037511080503463745, + 0.7135554029902375, + -0.4127935767173767 + ], + [ + -0.019125945479437214, + 0.99924635887146, + -0.03377791760421226, + -0.12874361872673035 + ], + [ + -0.714284697731295, + 0.009983401745557785, + 0.6997840976937076, + 1.3984380960464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.6996469412828363, + 0.04023795202374458, + 0.7133548048649346, + -0.4209015965461731 + ], + [ + -0.018913229827788418, + 0.9991061091423035, + -0.037806432950886336, + -0.1298377513885498 + ], + [ + -0.7142383603357739, + 0.0129593126475811, + 0.6997825609862748, + 1.39622163772583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.6993182209976638, + 0.04551676288247109, + 0.7133598532059837, + -0.4290285110473633 + ], + [ + -0.020479546646569938, + 0.9988366961479189, + -0.0436555152620154, + -0.13153153657913208 + ], + [ + -0.7145170482661444, + 0.015919812023639682, + 0.6994368336425206, + 1.3938169479370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.6981032723920755, + 0.05082269012928009, + 0.7141910907490898, + -0.43695032596588135 + ], + [ + -0.021943591662212252, + 0.9985277056694031, + -0.049607138245479486, + -0.13337111473083496 + ], + [ + -0.7156607824816598, + 0.018958987668156624, + 0.6981907208892937, + 1.3919914960861206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.696314740144688, + 0.05573366209864618, + 0.7155693985774408, + -0.4451313018798828 + ], + [ + -0.022961011505367394, + 0.9981999993324282, + -0.05540378577702613, + -0.13561052083969116 + ], + [ + -0.7173692038082596, + 0.022148275747895244, + 0.6963410440547982, + 1.389902949333191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.6965321263512058, + 0.060352012515068054, + 0.7149829616843498, + -0.4527174234390259 + ], + [ + -0.02345030582618053, + 0.9978387951850891, + -0.06138285210323347, + -0.13772326707839966 + ], + [ + -0.7171423578107861, + 0.025988563895225525, + 0.6964420565085044, + 1.3887261152267456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.6973725426802176, + 0.06465776264667511, + 0.7137863441756502, + -0.45922672748565674 + ], + [ + -0.024443405251017413, + 0.9974886178970337, + -0.06647539266706326, + -0.13917675614356995 + ], + [ + -0.7162919203913961, + 0.028910748660564423, + 0.6972016270463562, + 1.3883514404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.698277214367612, + 0.06922449916601181, + 0.7124724608556011, + -0.46463656425476074 + ], + [ + -0.027318234158433378, + 0.9971650242805481, + -0.07011156022563667, + -0.1400730311870575 + ], + [ + -0.7153060499732337, + 0.029493816196918488, + 0.6981886900069441, + 1.388035774230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.6997659644118344, + 0.07206359505653381, + 0.7107281324833893, + -0.46914100646972656 + ], + [ + -0.03017188833086633, + 0.9969925880432129, + -0.07138258701313296, + -0.14077651500701904 + ], + [ + -0.7137347390147833, + 0.02850710041821003, + 0.6998358134431274, + 1.3879804611206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7009822058530387, + 0.07331778109073639, + 0.7094001043781081, + -0.47216111421585083 + ], + [ + -0.032204014311078735, + 0.996941089630127, + -0.07121378863274362, + -0.14124637842178345 + ], + [ + -0.7124513320924315, + 0.027074074372649193, + 0.7011990847278432, + 1.387619972229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.701572944892365, + 0.07381334900856018, + 0.7087644268267549, + -0.4751153588294983 + ], + [ + -0.03293472199217497, + 0.9969165921211243, + -0.07122203583016591, + -0.14169718325138092 + ], + [ + -0.711836172359104, + 0.026624489575624466, + 0.7018407479643635, + 1.387144923210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7027664854175716, + 0.07486776262521744, + 0.7074702863419778, + -0.47739291191101074 + ], + [ + -0.03264481010628344, + 0.9967933297157288, + -0.07305750210093133, + -0.1416957825422287 + ], + [ + -0.7106713154405214, + 0.028247127309441566, + 0.7029569252076314, + 1.386672019958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.7032634784339395, + 0.07563894987106323, + 0.706894044075307, + -0.4795306921005249 + ], + [ + -0.03049782265920322, + 0.9966184496879578, + -0.07629879393981716, + -0.14140933752059937 + ], + [ + -0.710274827214753, + 0.03209943324327469, + 0.7031922175592051, + 1.3854131698608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7044314447951906, + 0.07548543065786362, + 0.7057466826189038, + -0.4816204309463501 + ], + [ + -0.026481806057716762, + 0.9964314699172974, + -0.08014411175617032, + -0.14075231552124023 + ], + [ + -0.70927788088468, + 0.03776659071445465, + 0.7039166344238598, + 1.3831379413604736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.7057041158397248, + 0.07426562905311584, + 0.7046037075109365, + -0.48319947719573975 + ], + [ + -0.02101405674849102, + 0.9962476491928101, + -0.08395819645642587, + -0.1398201435804367 + ], + [ + -0.7081949951404058, + 0.04444306343793869, + 0.7046167095180587, + 1.3806791305541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.7060823794948279, + 0.07352326065301895, + 0.7043025048026896, + -0.48496073484420776 + ], + [ + -0.014711462495272807, + 0.995903730392456, + -0.08921533631183284, + -0.1392829865217209 + ], + [ + -0.7079769154046052, + 0.052632056176662445, + 0.704271705130257, + 1.378443956375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.706222293973279, + 0.07322097569704056, + 0.7041937837739267, + -0.4870064854621887 + ], + [ + -0.010482243112609946, + 0.9956100583076477, + -0.09300955456871506, + -0.13891255855560303 + ], + [ + -0.7079126144215985, + 0.058303892612457275, + 0.703889494302144, + 1.3765555620193481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.7059870943801199, + 0.07066094130277634, + 0.7046909456902085, + -0.48861485719680786 + ], + [ + -0.008324858677731143, + 0.9957695603370667, + -0.0915078815662022, + -0.13834676146507263 + ], + [ + -0.7081757903142589, + 0.058736927807331085, + 0.7035886600444521, + 1.376590371131897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.7057132163740473, + 0.06957677006721498, + 0.7050729982791976, + -0.49005943536758423 + ], + [ + -0.01173825962714088, + 0.9961779713630678, + -0.0865541685292235, + -0.13875794410705566 + ], + [ + -0.708400337873787, + 0.052806094288826, + 0.7038327277023165, + 1.377956509590149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.7072327373764633, + 0.07382387667894363, + 0.7031158739041238, + -0.4917299747467041 + ], + [ + -0.021999727251054965, + 0.996349573135376, + -0.08248351365162307, + -0.13966023921966553 + ], + [ + -0.7066384709887509, + 0.04286668449640274, + 0.7062751525616879, + 1.379563808441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7092830648775578, + 0.08189307153224946, + 0.7001507868517733, + -0.4952676296234131 + ], + [ + -0.0352456585135885, + 0.9961066246032717, + -0.08080414199230618, + -0.14029698073863983 + ], + [ + -0.7040421690768616, + 0.03263574093580247, + 0.7094079719755073, + 1.3817003965377808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7143156754624297, + 0.08889098465442657, + 0.6941553361923328, + -0.4996887445449829 + ], + [ + -0.04591131582243058, + 0.9957157969474792, + -0.08026300422255181, + -0.141079381108284 + ], + [ + -0.6983161009677717, + 0.025463547557592392, + 0.715336487906757, + 1.3851007223129272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.7267648864984767, + 0.09572515636682513, + 0.6801834774457002, + -0.5039430260658264 + ], + [ + -0.054720225395071036, + 0.9951630234718325, + -0.08158592966155324, + -0.14139705896377563 + ], + [ + -0.68470326141389, + 0.02207400649785996, + 0.7284876815307686, + 1.3887362480163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7390197407601206, + 0.10160455107688904, + 0.6659777568700633, + -0.504864513874054 + ], + [ + -0.06067195524738797, + 0.9945821166038513, + -0.08441167604570825, + -0.14158302545547485 + ], + [ + -0.6709461267338523, + 0.021975718438625336, + 0.7411803746122105, + 1.3901749849319458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.7478830723029383, + 0.10144573450088501, + 0.6560333492143892, + -0.5085488557815552 + ], + [ + -0.05732179626482469, + 0.9944319725036621, + -0.0884267268695591, + -0.14262758195400238 + ], + [ + -0.6613510703288353, + 0.028527840971946716, + 0.7495338888647732, + 1.3922282457351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.7653854019944142, + 0.09669722616672516, + 0.6362663365263678, + -0.510456383228302 + ], + [ + -0.04842966768207762, + 0.994498610496521, + -0.09288232405661452, + -0.1447235345840454 + ], + [ + -0.6417474265053176, + 0.040276605635881424, + 0.765857674861224, + 1.3930469751358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.7767732388034196, + 0.08511510491371155, + 0.6240022458374184, + -0.5074138045310974 + ], + [ + -0.03480097783818908, + 0.9951122999191284, + -0.09241413012960972, + -0.145826056599617 + ], + [ + -0.6288181875579795, + 0.0500689335167408, + 0.7759387592014316, + 1.3911269903182983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.7810718703777983, + 0.07242016494274141, + 0.6202274622004683, + -0.506000280380249 + ], + [ + -0.01841223609810815, + 0.995491147041321, + -0.0930503296476263, + -0.14801616966724396 + ], + [ + -0.6241696836515463, + 0.0612592250108719, + 0.7788835290707813, + 1.3903915882110596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.7823534122478908, + 0.06573612987995148, + 0.6193560834872085, + -0.5038326978683472 + ], + [ + -0.0073164106211906, + 0.9953160285949707, + -0.09639723892303517, + -0.15028144419193268 + ], + [ + -0.6227918216412924, + 0.07088525593280792, + 0.7791698936378875, + 1.3893773555755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.7795702400743703, + 0.0635758638381958, + 0.6230797777187241, + -0.5009617209434509 + ], + [ + -0.003108916447434213, + 0.9952152967453003, + -0.09765692738970787, + -0.15303683280944824 + ], + [ + -0.6263070831793708, + 0.0741933286190033, + 0.7760378912661859, + 1.3904569149017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.7768150896537986, + 0.06489643454551697, + 0.6263759414533977, + -0.49943405389785767 + ], + [ + -0.004793863346586847, + 0.9952563047409058, + -0.09716952604163052, + -0.15394072234630585 + ], + [ + -0.6297105980032763, + 0.07248000055551529, + 0.7734412867191698, + 1.3931527137756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.7767190509020181, + 0.06690725684165955, + 0.6262834316617116, + -0.49825209379196167 + ], + [ + -0.00882966010940972, + 0.9954007863998413, + -0.09539030965921036, + -0.1538240909576416 + ], + [ + -0.6297853336277501, + 0.0685615986585617, + 0.7737375065805021, + 1.3962113857269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.7780790081116145, + 0.06888251006603241, + 0.6243783306504337, + -0.496537983417511 + ], + [ + -0.013886866018209008, + 0.9956128001213074, + -0.09253242359075665, + -0.15310031175613403 + ], + [ + -0.6280129138400454, + 0.0633268877863884, + 0.7756220093884023, + 1.4009476900100708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.7817316179585664, + 0.07167219370603561, + 0.6194827072393663, + -0.49499815702438354 + ], + [ + -0.01956653510263678, + 0.9957034587860107, + -0.09050855240931817, + -0.15156805515289307 + ], + [ + -0.6233079903509225, + 0.05863227695226669, + 0.779775275626309, + 1.4074130058288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.7881806154121432, + 0.07368713617324829, + 0.611016837664051, + -0.4933413863182068 + ], + [ + -0.02578615229691528, + 0.9958885908126831, + -0.08683891397183215, + -0.14995543658733368 + ], + [ + -0.6149036454371556, + 0.05268897861242294, + 0.7868401846534591, + 1.4150639772415161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.7961570698800094, + 0.07392972707748413, + 0.6005566351226511, + -0.4919145107269287 + ], + [ + -0.03175076618138047, + 0.9962449073791504, + -0.08054779701063029, + -0.14777469635009766 + ], + [ + -0.6042563482909079, + 0.04506056383252144, + 0.7955148185291675, + 1.4240484237670898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8061750651679622, + 0.0721774995326996, + 0.5872582060513883, + -0.4905250668525696 + ], + [ + -0.0370725544045254, + 0.9967432618141177, + -0.07161325332249588, + -0.1455572545528412 + ], + [ + -0.5905144780277999, + 0.03596165776252747, + 0.8062253753801552, + 1.4344483613967896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8178896242974311, + 0.06780781596899033, + 0.5713656914830417, + -0.489010214805603 + ], + [ + -0.039927527913892515, + 0.9973263144493103, + -0.06120461217066391, + -0.1437673568725586 + ], + [ + -0.5739882132999389, + 0.027245398610830307, + 0.8184102287496484, + 1.445556879043579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pan_right/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..33c3dad16e184354adf5ff3343608b72fbe8abe6 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pan_right/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997046914499296, + -0.01409677229821682, + -0.019792957907943283, + 0.016476616263389587 + ], + [ + 0.01399953399890512, + 0.9998893141746521, + -0.005042820628552576, + -0.015261497348546982 + ], + [ + 0.01986185417309353, + 0.004764239303767681, + 0.9997914001643486, + 0.029272407293319702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9994368420833651, + -0.006676403339952232, + -0.032884784070183644, + 0.022934691980481148 + ], + [ + 0.0069987515367832525, + 0.9999284744262698, + 0.009697027463873178, + -0.02934691309928894 + ], + [ + 0.03281769086134491, + -0.009921719320118429, + 0.9994120841167888, + 0.07337836176156998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992216710744604, + 0.003423885675147176, + -0.039298059237393594, + 0.019070623442530632 + ], + [ + -0.002764735684486618, + 0.9998548030853271, + 0.01681519744692705, + -0.03812531381845474 + ], + [ + 0.03934992835755509, + -0.016693459823727608, + 0.9990860635105977, + 0.11271954327821732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997682081315973, + 0.020067639648914337, + 0.007800581027780653, + 0.004086937289685011 + ], + [ + -0.019878413666018564, + 0.9995232820510864, + -0.02362223458986689, + -0.04895574599504471 + ], + [ + -0.008270904921706602, + 0.02346169576048851, + 0.9996905289121879, + 0.16481588780879974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9970808511563677, + 0.05287696793675424, + 0.05508045157138812, + -0.01343616098165512 + ], + [ + -0.050625497221137676, + 0.9978551268577578, + -0.04149998818264222, + -0.056990936398506165 + ], + [ + -0.057156706255937294, + 0.03859036788344384, + 0.9976191227651878, + 0.19699420034885406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9909249086789593, + 0.08022276312112808, + 0.10785240330562941, + -0.035366568714380264 + ], + [ + -0.07430634990387672, + 0.9955586791038513, + -0.05780541404170682, + -0.06174508109688759 + ], + [ + -0.11201070550796058, + 0.04926670715212822, + 0.9924849324612924, + 0.23405401408672333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9890555227553185, + 0.09010225534439088, + 0.11683648413178102, + -0.045155543833971024 + ], + [ + -0.08492484045778356, + 0.9952028989791872, + -0.04856911462839754, + -0.05381311848759651 + ], + [ + -0.12065219676239682, + 0.03811523318290711, + 0.9919628169014582, + 0.25584477186203003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9864968429710647, + 0.1091033071279526, + 0.12214921398446055, + -0.05518924817442894 + ], + [ + -0.10887942459205116, + 0.9940183758735659, + -0.008526282014992377, + -0.030508851632475853 + ], + [ + -0.12234880538709274, + -0.004888383671641351, + 0.9924751356807301, + 0.2974699139595032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9867164700606683, + 0.11517572402954102, + 0.11456515930711006, + -0.06189251318573952 + ], + [ + -0.11545743370839241, + 0.9933035373687744, + -0.004195864043437469, + -0.01828647404909134 + ], + [ + -0.11428123576050205, + -0.009087270125746727, + 0.9934068713002265, + 0.33294394612312317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9901725564824764, + 0.11717354506254199, + 0.07634571211396156, + -0.07011875510215759 + ], + [ + -0.11834354419468332, + 0.9929121136665346, + 0.010969749638026487, + -0.0008792128646746278 + ], + [ + -0.07451921842904248, + -0.019896965473890308, + 0.9970210863753756, + 0.3813560903072357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9925511024156095, + 0.10898551344871521, + 0.05444729722997459, + -0.06983964890241623 + ], + [ + -0.1105238625416288, + 0.9935311675071716, + 0.026081537427095288, + 0.013522675260901451 + ], + [ + -0.051252577253105926, + -0.03190498426556587, + 0.9981759779895016, + 0.4213736057281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9923510521780681, + 0.12342751026153564, + -0.002255488963782303, + -0.06452428549528122 + ], + [ + -0.12320737279486378, + 0.9913910031318665, + 0.04431545549307684, + 0.034134842455387115 + ], + [ + 0.007705815948645661, + -0.043698593974113464, + 0.9990150587432902, + 0.4848649501800537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9906349004759236, + 0.13652752339839935, + -0.0016543478954536735, + -0.05960742384195328 + ], + [ + -0.1363009288701214, + 0.9895585179328918, + 0.0468609252520638, + 0.04406995698809624 + ], + [ + 0.008034880978819336, + -0.046196579933166504, + 0.9989000350348296, + 0.5370721220970154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9896701164307669, + 0.14335879683494568, + -0.0011464183927153814, + -0.05508244410157204 + ], + [ + -0.1432942733559973, + 0.9894096851348877, + 0.02313389534092972, + 0.05552780628204346 + ], + [ + 0.004450725672209942, + -0.022730650380253792, + 0.9997317386027634, + 0.591282844543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9882468889048049, + 0.15059123933315277, + -0.026275175569109847, + -0.05351156368851662 + ], + [ + -0.14958876091397963, + 0.9880677461624146, + 0.03667795641257701, + 0.06411067396402359 + ], + [ + 0.03148503398323653, + -0.032316409051418304, + 0.9989816606852913, + 0.6198179721832275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9916597022350552, + 0.12358082085847855, + -0.03658975071795847, + -0.05090383067727089 + ], + [ + -0.12187634845913092, + 0.9914954304695129, + 0.0456398406640668, + 0.06767889112234116 + ], + [ + 0.04191877667135734, + -0.04079976677894592, + 0.9982876595134431, + 0.6525580883026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9933073746393798, + 0.10944973677396774, + -0.0368945542560029, + -0.04701489955186844 + ], + [ + -0.10692195244109674, + 0.9921627044677734, + 0.0646594352095484, + 0.0724567323923111 + ], + [ + 0.043682354243457525, + -0.06028185784816742, + 0.9972251368083781, + 0.680548369884491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9939272417038892, + 0.10997270047664642, + -0.0038289789442561566, + -0.04789375513792038 + ], + [ + -0.10954375345721964, + 0.9921504259109497, + 0.06031304483256056, + 0.08022056519985199 + ], + [ + 0.010431711515359134, + -0.059527333825826645, + 0.9981721899466747, + 0.7301307320594788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9897461927531019, + 0.13941560685634616, + 0.031076760191503787, + -0.05608886852860451 + ], + [ + -0.14059425885772603, + 0.9892725348472597, + 0.03966296868051306, + 0.0826391875743866 + ], + [ + -0.02521374637556919, + -0.043625485152006156, + 0.9987297109525046, + 0.7687783241271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9803622350159238, + 0.18429037928581238, + 0.0701925284880533, + -0.0868130698800087 + ], + [ + -0.1869595238148396, + 0.9817957282066345, + 0.03351565146488761, + 0.08146833628416061 + ], + [ + -0.06273811400432776, + -0.04598063603043556, + 0.9969702387514658, + 0.8204553127288818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9786389103606712, + 0.1761280745267868, + 0.10604155711301678, + -0.10563313961029053 + ], + [ + -0.1795673072113778, + 0.9834593534469604, + 0.02373348721505889, + 0.07246136665344238 + ], + [ + -0.10010742395772314, + -0.04226810857653618, + 0.994078421681084, + 0.8585543036460876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9782647394965915, + 0.15590098500251773, + 0.13672224877024503, + -0.11362996697425842 + ], + [ + -0.16174517862953228, + 0.9862918853759768, + 0.0326629045874884, + 0.06245231628417969 + ], + [ + -0.1297558644769156, + -0.05406713485717775, + 0.9900707627833885, + 0.9076935648918152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9774875955707963, + 0.16043990850448608, + 0.137029434533908, + -0.12043405324220657 + ], + [ + -0.16244818743352327, + 0.986710786819458, + 0.0035270660827197192, + 0.05433478206396103 + ], + [ + -0.13464253745325155, + -0.025707848370075226, + 0.990560707965674, + 0.9492305517196655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9830548914900705, + 0.15839089453220367, + 0.09227915458013985, + -0.13558989763259888 + ], + [ + -0.15393078572391844, + 0.986624538898468, + -0.053640869384309564, + 0.04224226251244545 + ], + [ + -0.09954110292732914, + 0.038527313619852066, + 0.9942872691707403, + 0.9871453642845154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9887786417935651, + 0.12986084818840027, + 0.07384383597797288, + -0.14896899461746216 + ], + [ + -0.1256866868080392, + 0.9903359413146973, + -0.05863097531951766, + 0.03795913606882095 + ], + [ + -0.08074407308786288, + 0.04869186878204346, + 0.9955448254483306, + 1.0178450345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9902085103408241, + 0.1303732544183731, + 0.04989901493373516, + -0.16758976876735687 + ], + [ + -0.1286289840766884, + 0.9910128712654114, + -0.03671553095246677, + 0.023938853293657303 + ], + [ + -0.05423729004414155, + 0.02993757277727127, + 0.9980791595143788, + 1.062429428100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9906455255789339, + 0.12228640168905258, + 0.06056011306342636, + -0.18175108730793 + ], + [ + -0.11897769649628032, + 0.9913427829742432, + -0.055531906737959186, + 0.008638017810881138 + ], + [ + -0.0668266275762032, + 0.047807130962610245, + 0.9966186442680862, + 1.0991408824920654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9799700756157742, + 0.12498211860656738, + 0.15504234446639803, + -0.20718562602996826 + ], + [ + -0.10872661804732685, + 0.9880491495132446, + -0.10925822136451965, + -0.014874313026666641 + ], + [ + -0.16684479004218325, + 0.09021255373954773, + 0.9818474871861655, + 1.1592530012130737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.957289974152096, + 0.13895663619041446, + 0.253548717684482, + -0.23593991994857788 + ], + [ + -0.10321837045266936, + 0.9833987355232241, + -0.1492410314665474, + -0.03423618525266647 + ], + [ + -0.2700775081929811, + 0.11669605970382693, + 0.9557406499360774, + 1.2012484073638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9146503598511491, + 0.16089852154254916, + 0.37084556082927855, + -0.2741018533706665 + ], + [ + -0.09958720929488583, + 0.9787876605987551, + -0.17904495821680738, + -0.07862882316112518 + ], + [ + -0.3917871042284574, + 0.12683205306530002, + 0.9112719137987312, + 1.236546277999878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8679517619544316, + 0.161844402551651, + 0.46953825730206233, + -0.3030375838279724 + ], + [ + -0.06702477398625722, + 0.9749354124069214, + -0.21215223481894102, + -0.1146497130393982 + ], + [ + -0.49210514859669424, + 0.15266719460487366, + 0.8570444806581521, + 1.253143310546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8325959534244037, + 0.1683233678340912, + 0.5276847978525905, + -0.3358263075351715 + ], + [ + -0.05294232550405647, + 0.9725275635719299, + -0.22668751131391843, + -0.12021313607692719 + ], + [ + -0.5513447930793812, + 0.16080224514007568, + 0.8186339353700237, + 1.270646333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8281675807206385, + 0.17023156583309174, + 0.5340034469850425, + -0.36291345953941345 + ], + [ + -0.08531519410100177, + 0.9799454808235168, + -0.18007817711584517, + -0.08737263828516006 + ], + [ + -0.5539492686918549, + 0.10357628017663956, + 0.8260824223900661, + 1.2906107902526855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8031060845921363, + 0.17138928174972537, + 0.5706543031882637, + -0.3977862596511841 + ], + [ + -0.1026439494304073, + 0.9832146167755129, + -0.1508417173599276, + -0.06633828580379486 + ], + [ + -0.5869282949353045, + 0.06256769597530366, + 0.8072177154766735, + 1.316657543182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7968092694414277, + 0.16614304482936862, + 0.5809401874625147, + -0.4251311421394348 + ], + [ + -0.10557412918857005, + 0.984945595264435, + -0.13688056328313214, + -0.059079233556985855 + ], + [ + -0.594936223963784, + 0.04773546010255815, + 0.8023541851857624, + 1.3227379322052002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8219180034128093, + 0.1421755701303482, + 0.5515767606499163, + -0.4619409441947937 + ], + [ + -0.12323251149897753, + 0.9897986650466919, + -0.07150076285252946, + -0.039761386811733246 + ], + [ + -0.5561156088779768, + -0.009204419329762459, + 0.8310539726963919, + 1.3405649662017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8358581842504335, + 0.12768206000328067, + 0.5338898467156739, + -0.4819948375225067 + ], + [ + -0.1310352499954258, + 0.9908668994903567, + -0.03182124314641346, + -0.023159150034189224 + ], + [ + -0.5330767571772842, + -0.043360348790884025, + 0.8449550708931132, + 1.3510833978652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8432923266794492, + 0.10844705998897552, + 0.5264003298237059, + -0.4988918900489807 + ], + [ + -0.13988344591384577, + 0.9899630546569824, + 0.02014446559986782, + -0.004846540279686451 + ], + [ + -0.5189322765651478, + -0.09062235057353973, + 0.8499981802730564, + 1.3492989540100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.844418658740086, + 0.052844807505607605, + 0.5330709087902958, + -0.5018128156661987 + ], + [ + -0.10244918800467244, + 0.992685079574585, + 0.06387846267661515, + 0.001099546905606985 + ], + [ + -0.5257959176995989, + -0.10855284333229065, + 0.8436556768212111, + 1.3462598323822021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8069724913436702, + 0.06852293759584427, + 0.5866003418748417, + -0.4939384460449219 + ], + [ + -0.10681520277442492, + 0.9938000440597534, + 0.030853772081051545, + -0.008217792958021164 + ], + [ + -0.5808492782165403, + -0.08755598217248917, + 0.809288600536131, + 1.3406133651733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7852295433841332, + 0.14467664062976837, + 0.6020658228864918, + -0.49150362610816956 + ], + [ + -0.19370274269137658, + 0.9809144139289856, + 0.016917951530728777, + -0.004312257282435894 + ], + [ + -0.5881274068732784, + -0.12990626692771912, + 0.7982672003220604, + 1.3333133459091187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7364784984846414, + 0.17446689307689667, + 0.6535753382318056, + -0.489070326089859 + ], + [ + -0.23914647835464128, + 0.9709289073944092, + 0.010299195739289472, + -0.017419753596186638 + ], + [ + -0.6327783281246717, + -0.16388536989688873, + 0.756791349548737, + 1.310387134552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7236992124177215, + 0.15146441757678986, + 0.6732889883038138, + -0.48633721470832825 + ], + [ + -0.17476861415994294, + 0.9840388894081116, + -0.03351749495510797, + -0.033548906445503235 + ], + [ + -0.6676191923363306, + -0.09341317415237427, + 0.7386193638633519, + 1.3034495115280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7129593779895254, + 0.1724855899810791, + 0.6796599467877336, + -0.4973098039627075 + ], + [ + -0.11595385772179877, + 0.9849303960800171, + -0.12832288280555196, + -0.05760672315955162 + ], + [ + -0.6915516027562871, + 0.012679804116487503, + 0.7222157617851401, + 1.2913655042648315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7164736723152832, + 0.17190036177635193, + 0.6761033668741742, + -0.4973185360431671 + ], + [ + -0.08663441238186999, + 0.9835876226425171, + -0.15827136613408718, + -0.07506633549928665 + ], + [ + -0.6922138211544467, + 0.05482344701886177, + 0.7196070905341087, + 1.2904930114746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7285107170266314, + 0.16924382746219635, + 0.6637986854084859, + -0.5068268179893494 + ], + [ + -0.04699982018376109, + 0.9790657758712769, + -0.1980434203837102, + -0.09592901915311813 + ], + [ + -0.683420169775544, + 0.11307834088802338, + 0.7212143567184935, + 1.2834620475769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7255491333091847, + 0.183659702539444, + 0.663209989809147, + -0.5132465362548828 + ], + [ + -0.04193759766953952, + 0.9737385511398318, + -0.22377335812655083, + -0.10591231286525726 + ], + [ + -0.6868912631409201, + 0.13454513251781466, + 0.7141974367203142, + 1.276651382446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7127453543840109, + 0.18310168385505676, + 0.677102517540824, + -0.5163651704788208 + ], + [ + -0.025022895641966185, + 0.9713501334190369, + -0.23633184414384945, + -0.11586642265319824 + ], + [ + -0.7009764206942792, + 0.1515013724565506, + 0.6969070403795237, + 1.2728655338287354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.6858175540648479, + 0.16783741116523745, + 0.7081559948298121, + -0.5112895369529724 + ], + [ + -0.014565663169555524, + 0.9760149717330935, + -0.21721549841415538, + -0.12142118066549301 + ], + [ + -0.7276277218618576, + 0.1386554390192032, + 0.6718129336850349, + 1.270522117614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6557379391505364, + 0.1534339785575867, + 0.7392332669602756, + -0.5081328749656677 + ], + [ + -0.010081199712384949, + 0.9808238148689272, + -0.19463555662023732, + -0.1342877596616745 + ], + [ + -0.7549213179256514, + 0.1201775670051575, + 0.6447102195039061, + 1.2663253545761108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6563340113393484, + 0.1412988007068634, + 0.7411210023041003, + -0.506118655204773 + ], + [ + 0.004265161171747482, + 0.9815955758094788, + -0.19092383351323183, + -0.14181441068649292 + ], + [ + -0.7544584465523925, + 0.1284707933664322, + 0.6436518854925877, + 1.2620618343353271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6623486515014002, + 0.14272023737430573, + 0.735476173162216, + -0.5036013126373291 + ], + [ + 0.00987681605943478, + 0.9799388647079468, + -0.19905335672568797, + -0.14741122722625732 + ], + [ + -0.7491306737612019, + 0.1391068696975708, + 0.6476515382886632, + 1.2608124017715454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6603956324294044, + 0.1529001891613007, + 0.7351864716656468, + -0.5007312297821045 + ], + [ + -0.011352817583398463, + 0.9809715151786806, + -0.19381939347730381, + -0.14934852719306946 + ], + [ + -0.7508320188470866, + 0.11965104937553409, + 0.649565157992466, + 1.2676340341567993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6777559582874637, + 0.1482444703578949, + 0.7201877936885427, + -0.49598053097724915 + ], + [ + -0.02336602828344069, + 0.9833126068115234, + -0.18041709755006716, + -0.1521517038345337 + ], + [ + -0.7349155817972933, + 0.105450838804245, + 0.6699098073075114, + 1.2807989120483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6910086151882279, + 0.16057254374027252, + 0.7047861845009864, + -0.49185752868652344 + ], + [ + -0.04425434906145969, + 0.9825836420059204, + -0.18047433596735543, + -0.15786990523338318 + ], + [ + -0.7214906194818392, + 0.09351947903633118, + 0.6860797889970005, + 1.28353750705719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6971140955984049, + 0.1336606740951538, + 0.7043911113202358, + -0.4768844246864319 + ], + [ + -0.014893942251798895, + 0.9849565625190735, + -0.17215890683796062, + -0.1671411395072937 + ], + [ + -0.7168054923671143, + 0.109523244202137, + 0.6886178566515748, + 1.27056086063385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6860832447187869, + 0.12160331010818481, + 0.7172881866932806, + -0.4687903821468353 + ], + [ + 0.005184307747369546, + 0.9850897789001465, + -0.17196301403860909, + -0.16919440031051636 + ], + [ + -0.7275044767836125, + 0.12169958651065826, + 0.675223160581215, + 1.266076922416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6774348863906361, + 0.12608471512794495, + 0.7246962421476848, + -0.46414241194725037 + ], + [ + -0.008690279880871708, + 0.9865032434463501, + -0.16351110127358742, + -0.1712256371974945 + ], + [ + -0.7355313939004089, + 0.10447032749652863, + 0.6693874186984794, + 1.2694326639175415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6755985533613806, + 0.12672460079193115, + 0.7262970569286528, + -0.4615344703197479 + ], + [ + -0.014699446749879573, + 0.9872366786003113, + -0.15858009175334528, + -0.17372383177280426 + ], + [ + -0.7371231479732722, + 0.09646032750606537, + 0.6688385413128277, + 1.272552490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6778731207208901, + 0.1308019757270813, + 0.7234492256730813, + -0.4595617949962616 + ], + [ + -0.021031755400890927, + 0.9870927333831787, + -0.15876279635721982, + -0.17572975158691406 + ], + [ + -0.7348779868332649, + 0.09240563213825226, + 0.6718746386180757, + 1.2755602598190308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6825455070789078, + 0.13616037368774417, + 0.7180472989750349, + -0.4559358060359955 + ], + [ + -0.027360594283812024, + 0.9865636229515078, + -0.1610702153451471, + -0.17629161477088928 + ], + [ + -0.7303307379240199, + 0.09029155969619752, + 0.6771000137161088, + 1.2793976068496704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6859551771729987, + 0.14112858474254608, + 0.7138264037170255, + -0.4508799910545349 + ], + [ + -0.034490577954046725, + 0.9862144589424133, + -0.1618377299378507, + -0.17586231231689453 + ], + [ + -0.7268258920678198, + 0.08639314770698547, + 0.6813665352253168, + 1.28389310836792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.688227163189195, + 0.14414788782596588, + 0.7110308321500652, + -0.4454721212387085 + ], + [ + -0.04053828427624251, + 0.9861721992492676, + -0.1606893834134914, + -0.17566537857055664 + ], + [ + -0.7243618357695626, + 0.08176682889461517, + 0.6845539976821546, + 1.2892428636550903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6931601959474435, + 0.14556653797626495, + 0.7059315660210826, + -0.43857887387275696 + ], + [ + -0.046525300759192964, + 0.9863881468772888, + -0.15771448127504709, + -0.1757778823375702 + ], + [ + -0.7192804518518348, + 0.07647773623466492, + 0.6904975161711742, + 1.29604971408844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7011605261499523, + 0.14542911946773532, + 0.6980145341980404, + -0.43099191784858704 + ], + [ + -0.05066936823650318, + 0.9866658449172976, + -0.15467096195579955, + -0.1767120361328125 + ], + [ + -0.7112008086743659, + 0.07308121025562288, + 0.6991799027265513, + 1.3022432327270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7094753587997662, + 0.1440925896167755, + 0.6898420308377141, + -0.42199185490608215 + ], + [ + -0.052827632562352206, + 0.9869939088821411, + -0.1518298556841412, + -0.17819994688034058 + ], + [ + -0.7027474444931777, + 0.07127682864665985, + 0.7078599390955723, + 1.3079445362091064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7166232220391653, + 0.13998255133628845, + 0.6832686971043549, + -0.41207796335220337 + ], + [ + -0.05122997616768275, + 0.9875703454017639, + -0.1485945758854994, + -0.18034213781356812 + ], + [ + -0.695576565018716, + 0.07148247957229614, + 0.7148870825539956, + 1.3127350807189941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7193548116938746, + 0.13279315829277039, + 0.6818317953174844, + -0.402025043964386 + ], + [ + -0.0460301810717172, + 0.9885125756263733, + -0.14395877380619307, + -0.18363390862941742 + ], + [ + -0.6931160208038726, + 0.0721726045012474, + 0.7172037840879005, + 1.3155121803283691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7153896482100217, + 0.1257798820734024, + 0.6873115106992883, + -0.3925572633743286 + ], + [ + -0.03924313162781246, + 0.9893442988395691, + -0.14020640835974468, + -0.18745476007461548 + ], + [ + -0.6976228583498684, + 0.07332996279001236, + 0.7127026393164345, + 1.317570447921753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7101802917847433, + 0.12104804813861847, + 0.6935353733439008, + -0.3836248517036438 + ], + [ + -0.033063034191502895, + 0.9897552728652954, + -0.1388930423003749, + -0.19205284118652344 + ], + [ + -0.7032430507209119, + 0.07570873200893402, + 0.7069069738018263, + 1.319107174873352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7049159082878534, + 0.11858713626861572, + 0.6993073196309152, + -0.37516093254089355 + ], + [ + -0.028473659924394393, + 0.9898609519004822, + -0.139156626771069, + -0.195920929312706 + ], + [ + -0.7087192093191135, + 0.07818187773227692, + 0.7011453172789053, + 1.3200311660766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6980785010732049, + 0.11547547578811646, + 0.706648339599109, + -0.36600619554519653 + ], + [ + -0.02314077782874827, + 0.9900326132774353, + -0.13892401241996652, + -0.19920217990875244 + ], + [ + -0.7156472694274711, + 0.08062747865915298, + 0.6937926722412218, + 1.3197484016418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6919228685144648, + 0.11303699016571045, + 0.7130676027967927, + -0.35687071084976196 + ], + [ + -0.01884452492634352, + 0.9901584386825562, + -0.13867631666800861, + -0.20218244194984436 + ], + [ + -0.7217254549157036, + 0.0825159028172493, + 0.6872434203410056, + 1.320493221282959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6875125540324548, + 0.11086848378181458, + 0.7176592093825308, + -0.3473951518535614 + ], + [ + -0.014856965424158786, + 0.9902170896530151, + -0.13874208034355442, + -0.20488014817237854 + ], + [ + -0.7260205073552957, + 0.08472467958927155, + 0.682433861263561, + 1.3201351165771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6814401139004516, + 0.10702851414680481, + 0.7240057717316936, + -0.33688050508499146 + ], + [ + -0.009039902415672468, + 0.9904047250747681, + -0.13790139347208766, + -0.20609521865844727 + ], + [ + -0.7318180966847978, + 0.08742660284042358, + 0.675868999789076, + 1.3198174238204956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6743998440003139, + 0.10158804059028625, + 0.7313444668039764, + -0.32696789503097534 + ], + [ + -0.0024767729491113116, + 0.9907956719398499, + -0.13534341594885974, + -0.2066211700439453 + ], + [ + -0.7383621962111717, + 0.0894642025232315, + 0.6684440515449511, + 1.3203794956207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6691747020848563, + 0.09570881724357605, + 0.7369159287112385, + -0.3168022632598877 + ], + [ + 0.0016620022049198065, + 0.9914758801460266, + -0.1302796730640397, + -0.20717382431030273 + ], + [ + -0.7431032366576837, + 0.08840461820363998, + 0.6633115093355333, + 1.320702314376831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.66108434505626, + 0.085726797580719, + 0.7453982307349923, + -0.3064883053302765 + ], + [ + 0.007241253091915217, + 0.9926762580871582, + -0.12058795884200565, + -0.20808151364326477 + ], + [ + -0.7502766976774828, + 0.0851164385676384, + 0.6556219310750782, + 1.3199254274368286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6511313742916892, + 0.07395096123218536, + 0.75535371800375, + -0.29920196533203125 + ], + [ + 0.017131349209441163, + 0.9935560822486877, + -0.11203915487579277, + -0.2107727825641632 + ], + [ + -0.7587716763108158, + 0.0858924388885498, + 0.6456686894821938, + 1.3175063133239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6430600118962465, + 0.072268545627594, + 0.7623982810912022, + -0.29717668890953064 + ], + [ + 0.026103448808091158, + 0.9928904175758362, + -0.1161346300186651, + -0.21251046657562256 + ], + [ + -0.7653707630497925, + 0.09458276629447937, + 0.6366016551959989, + 1.3158520460128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6429524619683037, + 0.08294961601495744, + 0.7614010408987558, + -0.29855674505233765 + ], + [ + 0.027957373316116592, + 0.9909136891365053, + -0.1315616447368154, + -0.21181026101112366 + ], + [ + -0.7653956539635, + 0.10587465763092044, + 0.6347913243443771, + 1.3132686614990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6439820737731047, + 0.10026845335960391, + 0.7584414464977625, + -0.2996962368488312 + ], + [ + 0.022842052331087697, + 0.9884120225906374, + -0.15006620532206053, + -0.20924820005893707 + ], + [ + -0.7646995326391516, + 0.11396431177854541, + 0.6342293223480069, + 1.3118743896484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6373805273818699, + 0.11133722960948944, + 0.7624632162978446, + -0.30091407895088196 + ], + [ + 0.021592727618728564, + 0.9865368008613586, + -0.16210757846437357, + -0.2060355842113495 + ], + [ + -0.7702466102926826, + 0.11978787928819656, + 0.6263952379467789, + 1.3098139762878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6288652254025362, + 0.11511974781751633, + 0.7689447441757422, + -0.3008272349834442 + ], + [ + 0.023343175237546237, + 0.9857369065284729, + -0.16666671379723602, + -0.20330575108528137 + ], + [ + -0.7771638707789617, + 0.12276051193475723, + 0.6172084149197212, + 1.3116024732589722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6270169468973761, + 0.11353930830955505, + 0.7706870746013427, + -0.29970425367355347 + ], + [ + 0.024686672852915318, + 0.9859286546707153, + -0.16533378365811346, + -0.20065101981163025 + ], + [ + -0.7786143771091062, + 0.1226927787065506, + 0.6153910446926035, + 1.3155673742294312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6273094518842531, + 0.10871295630931854, + 0.7711448519603341, + -0.29772457480430603 + ], + [ + 0.02582516141960341, + 0.9867600202560425, + -0.16011773028461593, + -0.1981298327445984 + ], + [ + -0.7783417924332107, + 0.12035829573869705, + 0.6161963687554218, + 1.3205946683883667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.630422022261465, + 0.10231171548366547, + 0.7694806187753167, + -0.2954096496105194 + ], + [ + 0.025335810640199838, + 0.9880359172821045, + -0.15212845444010048, + -0.19546407461166382 + ], + [ + -0.7758390693748636, + 0.11540054529905319, + 0.6202874976017366, + 1.3279328346252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.636589623269107, + 0.09357401728630067, + 0.7655046893571794, + -0.2919084429740906 + ], + [ + 0.023707000136554735, + 0.9897680878639223, + -0.14070220044936074, + -0.19364547729492188 + ], + [ + -0.7708382396156532, + 0.10771739482879641, + 0.6278577959760343, + 1.3346487283706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6430292234175006, + 0.08713700622320175, + 0.7608682685954629, + -0.28905606269836426 + ], + [ + 0.019675743058678984, + 0.9912983775138855, + -0.13015506142250263, + -0.19263334572315216 + ], + [ + -0.7655888688948141, + 0.09866416454315186, + 0.63571936470394, + 1.3432965278625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6504053440077666, + 0.08191983401775361, + 0.7551569673310563, + -0.28414052724838257 + ], + [ + 0.013997638491208025, + 0.9927059412002566, + -0.11974524414311469, + -0.19054478406906128 + ], + [ + -0.7594583238509949, + 0.08845336735248567, + 0.644514595904163, + 1.3553714752197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.656241703769289, + 0.07515870779752731, + 0.7507982308772148, + -0.2801705300807953 + ], + [ + 0.008637218140021323, + 0.9942134022712708, + -0.10707523483351594, + -0.1920093595981598 + ], + [ + -0.7545012482459013, + 0.07675204426050186, + 0.6517951539235918, + 1.360337257385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6603683619762408, + 0.06682216376066208, + 0.7479628973034812, + -0.2758221924304962 + ], + [ + 0.006563708147426444, + 0.9954813718795776, + -0.09473021673098307, + -0.19286338984966278 + ], + [ + -0.7509132025766447, + 0.06746625155210495, + 0.6569457445076561, + 1.3653277158737183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6663428589520556, + 0.05733489617705345, + 0.7434379176926523, + -0.2721450626850128 + ], + [ + 0.007191167386714062, + 0.9964988231658936, + -0.08329672151740211, + -0.1945473551750183 + ], + [ + -0.7456108061295651, + 0.0608503632247448, + 0.6635976124230198, + 1.3696112632751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.672857035791204, + 0.04943409934639931, + 0.7381190798347615, + -0.26793235540390015 + ], + [ + 0.009635290474288065, + 0.9970945715904236, + -0.07556185791774439, + -0.19522309303283691 + ], + [ + -0.7397098235845326, + 0.057954318821430206, + 0.6704257448649372, + 1.37478768825531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6775573089137379, + 0.04127850383520126, + 0.7343107588840345, + -0.26475799083709717 + ], + [ + 0.015567484049016107, + 0.9973950982093811, + -0.07043183209881626, + -0.19613529741764069 + ], + [ + -0.735305259466613, + 0.05915297567844391, + 0.6751497269132832, + 1.3791463375091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6846859841133703, + 0.03469128534197807, + 0.7280121631382599, + -0.2617291212081909 + ], + [ + 0.020444386986193407, + 0.9975593686103821, + -0.06676345324590652, + -0.1964550018310547 + ], + [ + -0.7285514387070127, + 0.06059575825929642, + 0.6823056703204666, + 1.3820416927337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6903345105996856, + 0.027961822226643562, + 0.7229498502284044, + -0.2573997378349304 + ], + [ + 0.024406371568544576, + 0.9977840781211853, + -0.06189699492232209, + -0.1956966072320938 + ], + [ + -0.72307858730622, + 0.06037421524524689, + 0.6881223198739533, + 1.3856799602508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.694238925988739, + 0.01998138800263405, + 0.7194671583825711, + -0.25268325209617615 + ], + [ + 0.027796011682199265, + 0.9981245398521423, + -0.05454173704432457, + -0.19522835314273834 + ], + [ + -0.7192076996370451, + 0.05786331743001938, + 0.6923815021402666, + 1.3910398483276367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6974786529223466, + 0.012407150119543076, + 0.7164982023901503, + -0.2482387125492096 + ], + [ + 0.029322171944310086, + 0.9985185861587524, + -0.045834538783382124, + -0.19524496793746948 + ], + [ + -0.7160054401628162, + 0.05297789350152016, + 0.6960815997817725, + 1.3967280387878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7022321791645042, + 0.006813941057771446, + 0.7119154186069674, + -0.24376866221427917 + ], + [ + 0.02792690293516504, + 0.9989209771156313, + -0.03710800176678964, + -0.1956263929605484 + ], + [ + -0.7114001304896973, + 0.045940026640892036, + 0.7012841576203689, + 1.402874231338501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7049762063478292, + 0.0035371622070670137, + 0.7092222035444201, + -0.2388565093278885 + ], + [ + 0.0250918316751939, + 0.9992371797561648, + -0.029925191188953933, + -0.1956292688846588 + ], + [ + -0.7087869954960864, + 0.03889222815632821, + 0.7043495987942656, + 1.4084111452102661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7061801729631325, + 0.00019095931202173233, + 0.708032147726567, + -0.23422718048095703 + ], + [ + 0.02338092223398035, + 0.999448299407959, + -0.023589325910805228, + -0.1957719326019287 + ], + [ + -0.7076460188814552, + 0.03321275860071182, + 0.7057861185610476, + 1.41310453414917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7058791158488483, + -0.0016304003074765205, + 0.708330443584986, + -0.2303488552570343 + ], + [ + 0.022396192196172154, + 0.9995487332344055, + -0.020017973326113294, + -0.19630323350429535 + ], + [ + -0.7079781725771241, + 0.0299941748380661, + 0.7055971277841727, + 1.416853904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7043502216961325, + -0.0006570005789399148, + 0.7098523319852914, + -0.22749507427215576 + ], + [ + 0.02106904783283565, + 0.9995783567428591, + -0.019980586307752228, + -0.19725081324577332 + ], + [ + -0.7095399212169685, + 0.029029242694377906, + 0.7040670883786404, + 1.419241189956665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.702543174246178, + 0.0018861819989979267, + 0.7116386774744683, + -0.22443802654743195 + ], + [ + 0.018730549405507575, + 0.9996010661125183, + -0.021140573624807896, + -0.19844256341457367 + ], + [ + -0.711394606441014, + 0.028181549161672592, + 0.7022275303987086, + 1.4215939044952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.698686550229384, + 0.005308737978339195, + 0.7154082593013189, + -0.22133734822273254 + ], + [ + 0.01570455660681279, + 0.9996176958084106, + -0.022755220315371527, + -0.20024487376213074 + ], + [ + -0.715255511035276, + 0.027133934199810028, + 0.6983360691319562, + 1.423167109489441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6933110676042477, + 0.010189252905547619, + 0.7205664111787509, + -0.21760083734989166 + ], + [ + 0.010481090766846985, + 0.9996517300605774, + -0.024220336693045103, + -0.2023068219423294 + ], + [ + -0.7205622216957707, + 0.0243445485830307, + 0.6929627678045319, + 1.4241665601730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6843239218882595, + 0.011551767587661743, + 0.7290866603376726, + -0.2147032618522644 + ], + [ + 0.00678122734883342, + 0.9997304677963257, + -0.022204783288057042, + -0.206202432513237 + ], + [ + -0.7291466110942131, + 0.020139366388320923, + 0.6840611116551973, + 1.4246821403503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.674813596070074, + 0.011629345826804638, + 0.7378966451141705, + -0.21377822756767273 + ], + [ + 0.00895435732681546, + 0.9996731877326965, + -0.02394382634303682, + -0.20848514139652252 + ], + [ + -0.7379339507021502, + 0.022765010595321655, + 0.6744888773758819, + 1.4230633974075317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6698608526219774, + 0.01619885861873627, + 0.74230992564722, + -0.21588075160980225 + ], + [ + 0.012159415823073226, + 0.9993885755538943, + -0.03278155431187602, + -0.2117891013622284 + ], + [ + -0.7423870870493826, + 0.030985135585069663, + 0.6692543433830727, + 1.4219534397125244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.670295393711798, + 0.02665378153324128, + 0.7416155949581116, + -0.2187867909669876 + ], + [ + 0.009547300847663491, + 0.9989623427391054, + -0.04453201585073689, + -0.20999103784561157 + ], + [ + -0.7420330503986222, + 0.036930032074451453, + 0.669345359931348, + 1.4166737794876099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6669979566542441, + 0.03707797825336456, + 0.7441364397262794, + -0.22097325325012207 + ], + [ + 0.0030958312949029804, + 0.9986144304275513, + -0.052532732398334635, + -0.20882847905158997 + ], + [ + -0.7450531846598522, + 0.037342946976423264, + 0.665958983391654, + 1.4156574010849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.660863691758232, + 0.04220186918973923, + 0.7493184709336119, + -0.22345253825187683 + ], + [ + -0.0005831180488512068, + 0.9984463453292847, + -0.055718548822709324, + -0.2065870761871338 + ], + [ + -0.7505057418460058, + 0.0363854244351387, + 0.6598615030498747, + 1.4125821590423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6544281348322604, + 0.04268907383084297, + 0.7549182452811916, + -0.22542953491210938 + ], + [ + -0.0006225504586020559, + 0.9984350800514221, + -0.05591977378046873, + -0.2046322375535965 + ], + [ + -0.7561239812457204, + 0.03612550348043442, + 0.6534305307753311, + 1.4120757579803467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.6474198193497952, + 0.040155068039894104, + 0.7610749661961524, + -0.22729842364788055 + ], + [ + 0.0020645435218453524, + 0.9985149502754211, + -0.05443887341306298, + -0.201866015791893 + ], + [ + -0.7621308038028664, + 0.036816079169511795, + 0.6463754771585632, + 1.4121723175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.6397845737428022, + 0.03601080924272537, + 0.7677102384286362, + -0.22890955209732056 + ], + [ + 0.0063827097290003925, + 0.9986183047294617, + -0.0521611115422447, + -0.1995084434747696 + ], + [ + -0.7685278481066646, + 0.0382719486951828, + 0.6386706712072471, + 1.4123883247375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.631077878834895, + 0.03305539861321449, + 0.7750149016747906, + -0.23230066895484924 + ], + [ + 0.009999965797597501, + 0.998661994934082, + -0.05073699578576374, + -0.19759172201156616 + ], + [ + -0.7756550195462164, + 0.039769116789102554, + 0.6299029321521313, + 1.4122205972671509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6206826837088146, + 0.03392140194773674, + 0.7833277214704647, + -0.238056480884552 + ], + [ + 0.012352770737939335, + 0.9985166192054749, + -0.05302791742986953, + -0.19549721479415894 + ], + [ + -0.7839645996748058, + 0.042589783668518066, + 0.619343027040871, + 1.4109843969345093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6076206527522697, + 0.039789356291294105, + 0.7932301247014039, + -0.24568846821784973 + ], + [ + 0.01307778906028697, + 0.9981076717376711, + -0.06008394516478862, + -0.19348883628845215 + ], + [ + -0.7941197613969797, + 0.04688194021582605, + 0.6059504131250825, + 1.4093530178070068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.592424632652934, + 0.04955450445413591, + 0.8041003983127892, + -0.25500890612602234 + ], + [ + 0.011537142275140003, + 0.997482240200043, + -0.06997214188885575, + -0.19152840971946716 + ], + [ + -0.8055433053314768, + 0.05073024332523347, + 0.5903613102906479, + 1.407266616821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.5754120087612299, + 0.059891149401664734, + 0.8156678617246595, + -0.2686733603477478 + ], + [ + 0.007647711619235012, + 0.9968775510787964, + -0.07859170816050942, + -0.1899534910917282 + ], + [ + -0.8178279301880105, + 0.05146060883998871, + 0.5731572670257068, + 1.4048006534576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.5569856797531212, + 0.06956323981285095, + 0.827603776189097, + -0.2816961705684662 + ], + [ + 0.00337562349960414, + 0.9962882399559021, + -0.08601364672675456, + -0.18671748042106628 + ], + [ + -0.8305152735957383, + 0.0507020503282547, + 0.5546834368418446, + 1.4047935009002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.5386855392309441, + 0.07782904803752899, + 0.8389043855716654, + -0.2923305332660675 + ], + [ + -0.0005070011805474212, + 0.9957537651062012, + -0.09205513698620464, + -0.18351563811302185 + ], + [ + -0.8425067543859566, + 0.049163445830345154, + 0.5364376082944626, + 1.4017661809921265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.5186443565137033, + 0.08739078044891359, + 0.850512189213384, + -0.304244726896286 + ], + [ + -0.007250475650270359, + 0.9951763749122622, + -0.09783378506398703, + -0.18145066499710083 + ], + [ + -0.8549593569715603, + 0.044574320316314704, + 0.5167761610267636, + 1.400631308555603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.4990863354507364, + 0.09310662746429443, + 0.8615358480935393, + -0.3160116374492645 + ], + [ + -0.011083909678604854, + 0.9948155879974365, + -0.10108934732290548, + -0.17858117818832397 + ], + [ + -0.8664814044918454, + 0.04090312123298645, + 0.49753079998760935, + 1.400037407875061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4817405788319569, + 0.0942610651254654, + 0.871229553672893, + -0.32669153809547424 + ], + [ + -0.012077722286563581, + 0.9948177933692932, + -0.10095417012316212, + -0.1749831736087799 + ], + [ + -0.8762306773634181, + 0.038111262023448944, + 0.4803825597235328, + 1.399641990661621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.46646413683000115, + 0.09133201837539673, + 0.8798123266723871, + -0.33626028895378113 + ], + [ + -0.009852708742107214, + 0.9951298236846924, + -0.09807919137314138, + -0.17118850350379944 + ], + [ + -0.8844852112568736, + 0.03708188608288765, + 0.46509223613019446, + 1.3997312784194946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.45291957406166355, + 0.08540842682123186, + 0.8874510156298684, + -0.34515345096588135 + ], + [ + -0.006070295859137743, + 0.9956731796264651, + -0.09272571779172357, + -0.16710315644741058 + ], + [ + -0.8915307854499305, + 0.0366102084517479, + 0.45147834663914604, + 1.3997712135314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.44024593607951906, + 0.07984350621700287, + 0.8943201277857924, + -0.353069007396698 + ], + [ + -0.0037943008773188396, + 0.9961948990821838, + -0.08707090604302997, + -0.1623539924621582 + ], + [ + -0.8978692251652087, + 0.03493928909301758, + 0.438873706690516, + 1.4003854990005493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.4282417171077792, + 0.07579241693019867, + 0.9004801672822934, + -0.3603188395500183 + ], + [ + -0.004568788165780008, + 0.9966453909873962, + -0.08171375687979826, + -0.1570979505777359 + ], + [ + -0.9036527042499918, + 0.03087913990020752, + 0.427151420527606, + 1.4006271362304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.4164762249806743, + 0.07393410056829453, + 0.9061354389394093, + -0.36692214012145996 + ], + [ + -0.00897500372042371, + 0.9969736337661743, + -0.07722076978872923, + -0.15134960412979126 + ], + [ + -0.909102377772868, + 0.024028053507208824, + 0.4158793785511266, + 1.4013136625289917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.40297857909530804, + 0.0707332044839859, + 0.912471992081859, + -0.3735644221305847 + ], + [ + -0.014070925727130557, + 0.9973699450492859, + -0.07110014701625528, + -0.1455441564321518 + ], + [ + -0.915101314629125, + 0.01581251062452793, + 0.40291399392887167, + 1.4015419483184814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.3886469864109833, + 0.0671861693263054, + 0.9189339946240985, + -0.3816370368003845 + ], + [ + -0.017800594182574674, + 0.9976992607116701, + -0.06541650176725645, + -0.13799956440925598 + ], + [ + -0.9212148113035982, + 0.00906636379659176, + 0.3889487878247127, + 1.4025119543075562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.38070200198285337, + 0.0605977401137352, + 0.9227101194712354, + -0.38778507709503174 + ], + [ + -0.01641260377821315, + 0.998136043548584, + -0.058779546112916754, + -0.13381430506706238 + ], + [ + -0.9245521813568843, + 0.007233412936329842, + 0.3809869044753399, + 1.4027496576309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.37597405101234294, + 0.05291553586721422, + 0.9251181324685924, + -0.39353394508361816 + ], + [ + -0.013712402591326979, + 0.9985765814781191, + -0.0515444542151993, + -0.1308468133211136 + ], + [ + -0.9265287387097944, + 0.00669379346072674, + 0.37616453523805476, + 1.4025671482086182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.3688604195313268, + 0.04466269910335541, + 0.9284112119037314, + -0.3985440135002136 + ], + [ + -0.00957891004834244, + 0.9989745020866394, + -0.0442515364704363, + -0.12886370718479156 + ], + [ + -0.9294354783892073, + 0.007429473102092743, + 0.36890994867481947, + 1.401404619216919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.3602440354027519, + 0.039000529795885086, + 0.9320425267421144, + -0.40493762493133545 + ], + [ + -0.006111284452316747, + 0.9992029070854187, + -0.039448723069782, + -0.1283230185508728 + ], + [ + -0.9328381604453659, + 0.0085151931270957, + 0.36019516882806407, + 1.3999288082122803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.35447887121023397, + 0.037511080503463745, + 0.9343112941651324, + -0.4127935767173767 + ], + [ + -0.003964838156921394, + 0.99924635887146, + -0.03861385200350747, + -0.12874361872673035 + ], + [ + -0.935055641491641, + 0.009983401745557785, + 0.35436049457119184, + 1.3984380960464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.3518114458373731, + 0.04023795202374458, + 0.9352056600813186, + -0.4209015965461731 + ], + [ + -0.0020271785325930896, + 0.9991061091423035, + -0.042224722405074536, + -0.1298377513885498 + ], + [ + -0.9360686903637273, + 0.0129593126475811, + 0.35157854734949434, + 1.39622163772583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.3487093922410729, + 0.04551676288247109, + 0.9361249992112494, + -0.4290285110473633 + ], + [ + -0.0009526990841372203, + 0.9988366961479189, + -0.04821107972340153, + -0.13153153657913208 + ], + [ + -0.937230393611061, + 0.015919812023639682, + 0.3483470766498472, + 1.3938169479370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.3444581635768114, + 0.05082269012928009, + 0.9374250191749682, + -0.43695032596588135 + ], + [ + 0.0002928681558279448, + 0.9985277056694031, + -0.05424300515446509, + -0.13337111473083496 + ], + [ + -0.9388016622019019, + 0.018958987668156624, + 0.3439361530358785, + 1.3919914960861206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.33945420076828153, + 0.05573366209864618, + 0.9389699820036911, + -0.4451313018798828 + ], + [ + 0.00191754970995503, + 0.9981999993324282, + -0.05994256026302237, + -0.13561052083969116 + ], + [ + -0.9406206182936251, + 0.022148275747895244, + 0.3387362936691923, + 1.389902949333191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.33708440895120667, + 0.060352012515068054, + 0.93953804594613, + -0.4527174234390259 + ], + [ + 0.004132535178693118, + 0.9978387951850891, + -0.06557967313631331, + -0.13772326707839966 + ], + [ + -0.9414654176650568, + 0.025988563895225525, + 0.3361064813135395, + 1.3887261152267456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.33553518172045316, + 0.06465776264667511, + 0.9398061237530506, + -0.45922672748565674 + ], + [ + 0.005553239313274489, + 0.9974886178970337, + -0.07060891886748596, + -0.13917675614356995 + ], + [ + -0.9420113399169391, + 0.028910748660564423, + 0.33433345546321525, + 1.3883514404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.33409495278292567, + 0.06922449916601181, + 0.9399939564207861, + -0.46463656425476074 + ], + [ + 0.004684463845012439, + 0.9971650242805481, + -0.07509975095360066, + -0.1400730311870575 + ], + [ + -0.9425278262886146, + 0.029493816196918488, + 0.3328235097669364, + 1.388035774230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.33336793134246223, + 0.07206359505653381, + 0.9400386723986404, + -0.46914100646972656 + ], + [ + 0.0028611866870171714, + 0.9969925880432129, + -0.07744436832255656, + -0.14077651500701904 + ], + [ + -0.9427925003844887, + 0.02850710041821003, + 0.332159215848166, + 1.3879804611206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.33221978927483414, + 0.07331778109073639, + 0.9403481124713589, + -0.47216111421585083 + ], + [ + 0.0011822931270475201, + 0.996941089630127, + -0.0781479648624261, + -0.14124637842178345 + ], + [ + -0.9432012883841825, + 0.027074074372649193, + 0.33111687757325725, + 1.387619972229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.33021093124665707, + 0.07381334900856018, + 0.9410166579956061, + -0.4751153588294983 + ], + [ + 0.0007594091977174386, + 0.9969165921211243, + -0.07846462641321701, + -0.14169718325138092 + ], + [ + -0.9439068803291122, + 0.026624489575624466, + 0.3291367087539767, + 1.387144923210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.3290288450306528, + 0.07486776262521744, + 0.9413474163244729, + -0.47739291191101074 + ], + [ + 0.002047175391082725, + 0.9967933297157288, + -0.07999307040626104, + -0.1416957825422287 + ], + [ + -0.9443177014670744, + 0.028247127309441566, + 0.32782043252864795, + 1.386672019958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.3269086689984178, + 0.07563894987106323, + 0.9420241142252299, + -0.4795306921005249 + ], + [ + 0.0056272172500168765, + 0.9966184496879578, + -0.0819753473285963, + -0.14140933752059937 + ], + [ + -0.9450391756482177, + 0.03209943324327469, + 0.32537759833909413, + 1.3854131698608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.3256403729740157, + 0.07548543065786362, + 0.9424756696770327, + -0.4816204309463501 + ], + [ + 0.011164316788075798, + 0.9964314699172974, + -0.0836643456432878, + -0.14075231552124023 + ], + [ + -0.9454278164090799, + 0.03776659071445465, + 0.3236355735867665, + 1.3831379413604736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.32446442279543547, + 0.07426562905311584, + 0.9429780072150727, + -0.48319947719573975 + ], + [ + 0.018001979934703777, + 0.9962476491928101, + -0.08465517144082295, + -0.1398201435804367 + ], + [ + -0.9457266013701211, + 0.04444306343793869, + 0.32191000906293, + 1.3806791305541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.32211402551776497, + 0.07352326065301895, + 0.9438415648132696, + -0.48496073484420776 + ], + [ + 0.026232263736992743, + 0.995903730392456, + -0.08653133363826143, + -0.1392829865217209 + ], + [ + -0.9463374177142987, + 0.052632056176662445, + 0.3188658640035529, + 1.378443956375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.3194622848258899, + 0.07322097569704056, + 0.9447659298389958, + -0.4870064854621887 + ], + [ + 0.03196625153191759, + 0.9956100583076477, + -0.08797052588646279, + -0.13891255855560303 + ], + [ + -0.9470596853846766, + 0.058303892612457275, + 0.31571924579478566, + 1.3765555620193481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.3162013818113734, + 0.07066094130277634, + 0.9460569710697251, + -0.48861485719680786 + ], + [ + 0.03348711307569416, + 0.9957695603370667, + -0.08556640064063673, + -0.13834676146507263 + ], + [ + -0.9481008861569875, + 0.058736927807331085, + 0.3124974595076062, + 1.376590371131897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.31295287347649087, + 0.06957677006721498, + 0.9472167522010091, + -0.49005943536758423 + ], + [ + 0.028465583165799776, + 0.9961779713630678, + -0.08257797166248591, + -0.13875794410705566 + ], + [ + -0.9493419874090202, + 0.052806094288826, + 0.3097762712456694, + 1.377956509590149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.3123582507971466, + 0.07382387667894363, + 0.9470915479043788, + -0.4917299747467041 + ], + [ + 0.01771992384224005, + 0.996349573135376, + -0.08350761834984585, + -0.13966023921966553 + ], + [ + -0.9497991362947541, + 0.04286668449640274, + 0.3099098586703793, + 1.379563808441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.3126986983772292, + 0.08189307153224946, + 0.9463155469949999, + -0.4952676296234131 + ], + [ + 0.005411840178565113, + 0.9961066246032717, + -0.08799021418914117, + -0.14029698073863983 + ], + [ + -0.9498370202300322, + 0.03263574093580247, + 0.3110380708874524, + 1.3817003965377808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.31708554816101103, + 0.08889098465442657, + 0.9442220449253813, + -0.4996887445449829 + ], + [ + -0.00405409446194119, + 0.9957157969474792, + -0.09237728663188799, + -0.141079381108284 + ], + [ + -0.9483883151251272, + 0.025463547557592392, + 0.3160874428630906, + 1.3851007223129272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.331744801396936, + 0.09572515636682513, + 0.938499946714637, + -0.5039430260658264 + ], + [ + -0.010986951870200358, + 0.9951630234718325, + -0.09762097046551622, + -0.14139705896377563 + ], + [ + -0.9433052352594721, + 0.02207400649785996, + 0.3311919254223514, + 1.3887362480163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.3463770851482237, + 0.10160455107688904, + 0.9325767875960976, + -0.504864513874054 + ], + [ + -0.014660109069392468, + 0.9945821166038513, + -0.10291500574969696, + -0.14158302545547485 + ], + [ + -0.9379807878493511, + 0.021975718438625336, + 0.3459900205424515, + 1.3901749849319458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.3560612222617138, + 0.10144573450088501, + 0.9289398533383231, + -0.5085488557815552 + ], + [ + -0.009517062499238555, + 0.9944319725036621, + -0.1049499874858271, + -0.14262758195400238 + ], + [ + -0.9344142349327592, + 0.028527840971946716, + 0.3550441188597167, + 1.3922282457351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.3780047173050838, + 0.09669722616672516, + 0.9207399732160757, + -0.510456383228302 + ], + [ + 0.0007402839166662159, + 0.994498610496521, + -0.10474736661929573, + -0.1447235345840454 + ], + [ + -0.9258033550513212, + 0.040276605635881424, + 0.3758535424148026, + 1.3930469751358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.39107159066526664, + 0.08511510491371155, + 0.9164161054378269, + -0.5074138045310974 + ], + [ + 0.01285368820288174, + 0.9951122999191284, + -0.09790945922478413, + -0.145826056599617 + ], + [ + -0.9202705779717908, + 0.0500689335167408, + 0.38806614687991753, + 1.3911269903182983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.3939020411717163, + 0.07242016494274141, + 0.9162950144597869, + -0.506000280380249 + ], + [ + 0.027879902413306908, + 0.995491147041321, + -0.09066468621844385, + -0.14801616966724396 + ], + [ + -0.9187295306870055, + 0.0612592250108719, + 0.39010690238838475, + 1.3903915882110596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.3927006449585375, + 0.06573612987995148, + 0.9173140265240038, + -0.5038326978683472 + ], + [ + 0.03950101069015908, + 0.9953160285949707, + -0.08823620396877087, + -0.15028144419193268 + ], + [ + -0.9188176867555806, + 0.07088525593280792, + 0.38826464526155374, + 1.3893773555755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.3857272488582888, + 0.0635758638381958, + 0.9204198270897046, + -0.5009617209434509 + ], + [ + 0.04406149308419486, + 0.9952152967453003, + -0.08720737156839008, + -0.15303683280944824 + ], + [ + -0.9215601226717102, + 0.0741933286190033, + 0.3810804526905342, + 1.3904569149017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.3789693410584014, + 0.06489643454551697, + 0.9231309452527472, + -0.49943405389785767 + ], + [ + 0.04261088170744631, + 0.9952563047409058, + -0.08745976604733675, + -0.15394072234630585 + ], + [ + -0.9244277851036052, + 0.07248000055551529, + 0.3744063719648631, + 1.3931527137756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.3761664362714828, + 0.06690725684165955, + 0.9241332333765051, + -0.49825209379196167 + ], + [ + 0.03847980184985011, + 0.9954007863998413, + -0.08773014831928655, + -0.1538240909576416 + ], + [ + -0.925752731267971, + 0.0685615986585617, + 0.3718617701403587, + 1.3962113857269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.3755153171857104, + 0.06888251006603241, + 0.9242529357317137, + -0.496537983417511 + ], + [ + 0.03293335352257442, + 0.9956128001213074, + -0.08758132614401339, + -0.15310031175613403 + ], + [ + -0.9262308795755658, + 0.0633268877863884, + 0.3715993529572421, + 1.4009476900100708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.3783300618049584, + 0.07167219370603561, + 0.9228919283531463, + -0.49499815702438354 + ], + [ + 0.027251989661201424, + 0.9957034587860107, + -0.08849845430660798, + -0.15156805515289307 + ], + [ + -0.9252695483965104, + 0.05863227695226669, + 0.3747513764130955, + 1.4074130058288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.38534775595009807, + 0.07368713617324829, + 0.9198246383983557, + -0.4933413863182068 + ], + [ + 0.02029639130488931, + 0.9958885908126831, + -0.08828351561920146, + -0.14995543658733368 + ], + [ + -0.9225482520080764, + 0.05268897861242294, + 0.3822678276735246, + 1.4150639772415161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.39470128044701397, + 0.07392972707748413, + 0.9158303615426008, + -0.4919145107269287 + ], + [ + 0.012264283081012838, + 0.9962449073791504, + -0.08570674487389647, + -0.14777469635009766 + ], + [ + -0.9187276276006558, + 0.04506056383252144, + 0.3923125122050379, + 1.4240484237670898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.40726487296777364, + 0.0721774995326996, + 0.910453600970311, + -0.4905250668525696 + ], + [ + 0.003459816041825874, + 0.9967432618141177, + -0.08056588617066895, + -0.1455572545528412 + ], + [ + -0.9133034985981215, + 0.03596165776252747, + 0.40568882670804224, + 1.4344483613967896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.4226303463917647, + 0.06780781596899033, + 0.9037620158238917, + -0.489010214805603 + ], + [ + -0.003975947398411254, + 0.9973263144493103, + -0.07296851292551544, + -0.1437673568725586 + ], + [ + -0.9062934885654123, + 0.027245398610830307, + 0.42176994216425956, + 1.445556879043579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pull_out/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3e60bd7bdacbec1f88821a057bc6c23a248f4f77 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/pull_out/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.01409677229821682, + -0.021288489922881126, + 0.01648878111477409 + ], + [ + 0.013991974294185638, + 0.9998893141746521, + -0.005063758231699467, + -0.015258603772414583 + ], + [ + 0.021357515826821327, + 0.004764239303767681, + 0.9997605681419373, + 0.028701115540095738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993339776992798, + -0.0066764033399522305, + -0.03587494045495987, + 0.022975691912429673 + ], + [ + 0.007027733605355024, + 0.9999284744262695, + 0.009676043875515461, + -0.029357971435146672 + ], + [ + 0.0358077734708786, + -0.009921719320118427, + 0.9993094205856323, + 0.07223629385232926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.003423885675147176, + -0.04378214478492737, + 0.019145678547876223 + ], + [ + -0.0026892416644841433, + 0.9998548030853271, + 0.016827436164021492, + -0.03815416085187878 + ], + [ + 0.043833404779434204, + -0.016693459823727608, + 0.9988994002342224, + 0.11100714430638722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020067639648914337, + 0.0018178781028836966, + 0.004082782139735563 + ], + [ + -0.02001941204071045, + 0.9995232820510864, + -0.023502860218286514, + -0.04890202517168862 + ], + [ + -0.00228865840472281, + 0.02346169576048851, + 0.9997221231460571, + 0.1625308086701802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530579, + 0.05287696793675423, + 0.04762083292007446, + -0.013572220504283906 + ], + [ + -0.05093449726700783, + 0.9978551268577576, + -0.04112015292048454, + -0.05687345024730478 + ], + [ + -0.04969300329685211, + 0.03859036788344383, + 0.998018741607666, + 0.19414271822997503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08022276312112808, + 0.09895365685224533, + -0.03570583839501654 + ], + [ + -0.07482220977544785, + 0.9955586791038513, + -0.05713612213730812, + -0.06154918582098825 + ], + [ + -0.10309778898954391, + 0.04926670715212822, + 0.9934503436088562, + 0.23064789862292154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521912, + 0.09010225534439087, + 0.10647290199995041, + -0.045581435441970825 + ], + [ + -0.08542878925800323, + 0.995202898979187, + -0.047677136957645416, + -0.05362240993976593 + ], + [ + -0.11025796085596085, + 0.038115233182907104, + 0.9931718707084656, + 0.25187208437919617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9878880381584167, + 0.10910330712795258, + 0.1103343814611435, + -0.05569363391825131 + ], + [ + -0.1089736670255661, + 0.9940183758735657, + -0.007222636602818966, + -0.03047583386514868 + ], + [ + -0.11046241223812103, + -0.00488838367164135, + 0.9938682913780212, + 0.2929265160560608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11517572402954102, + 0.10127005726099014, + -0.06241333062308175 + ], + [ + -0.1155034601688385, + 0.9933035373687744, + -0.0026410154532641172, + -0.018272891683903125 + ], + [ + -0.10089608281850815, + -0.009087270125746727, + 0.9948554635047913, + 0.3278275465965271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9912038445472717, + 0.11717354506254196, + 0.06152477487921715, + -0.07047032524432455 + ], + [ + -0.11816620081663132, + 0.9929121136665344, + 0.01273887138813734, + -0.000952006415463984 + ], + [ + -0.05959603562951088, + -0.019896965473890305, + 0.9980242848396301, + 0.3756530943938664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10898551344871521, + 0.03810727968811989, + -0.07007918037474155 + ], + [ + -0.11007972061634064, + 0.9935311675071716, + 0.02789670042693615, + 0.013347324572503566 + ], + [ + -0.03482043370604515, + -0.03190498426556587, + 0.9988842010498047, + 0.41509490503583635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12342751026153564, + -0.020068813115358353, + -0.0643866707767759 + ], + [ + -0.12239201366901398, + 0.9913910031318665, + 0.04652000963687897, + 0.033815848103591374 + ], + [ + 0.02563788741827011, + -0.043698593974113464, + 0.9987157583236694, + 0.47801661355154856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13652752339839935, + -0.020918643102049828, + -0.059452028207480904 + ], + [ + -0.1353638619184494, + 0.9895585179328918, + 0.049502670764923096, + 0.04370222286241395 + ], + [ + 0.02745869942009449, + -0.046196579933166504, + 0.9985548853874207, + 0.529654285805566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14335879683494568, + -0.021872254088521004, + -0.05490746606886387 + ], + [ + -0.14277836680412292, + 0.9894096851348877, + 0.026129750534892082, + 0.05531876827776432 + ], + [ + 0.025386551395058632, + -0.022730650380253792, + 0.9994192719459534, + 0.5832874903678894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.15059123933315277, + -0.04844290763139725, + -0.05309633876596178 + ], + [ + -0.1487281173467636, + 0.9880677461624146, + 0.04002520442008972, + 0.06376760078327996 + ], + [ + 0.05389232188463211, + -0.032316409051418304, + 0.9980236887931824, + 0.6112634834221431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12358082085847855, + -0.06031331419944763, + -0.05035239466173308 + ], + [ + -0.1207491084933281, + 0.9914954304695129, + 0.04854371398687363, + 0.06723506288017546 + ], + [ + 0.06579944491386414, + -0.04079976677894592, + 0.9969984292984009, + 0.643442674091884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10944973677396774, + -0.06214163452386856, + -0.04641123795935086 + ], + [ + -0.10524313896894455, + 0.9921627044677734, + 0.06735746562480927, + 0.07180240272624153 + ], + [ + 0.06902686506509781, + -0.06028185784816742, + 0.9957918524742126, + 0.6708749633175987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10997270047664642, + -0.030588766559958458, + -0.04757912782473223 + ], + [ + -0.1078801304101944, + 0.9921504259109497, + 0.06324061006307602, + 0.07957009035348893 + ], + [ + 0.03730339929461479, + -0.059527333825826645, + 0.9975294470787048, + 0.7198704291752407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.990229606628418, + 0.13941560685634613, + 0.0029355152510106564, + -0.056120739837044055 + ], + [ + -0.13941024243831635, + 0.9892725348472595, + 0.04364265128970146, + 0.08216535307466984 + ], + [ + 0.0031804428435862064, + -0.04362548515200615, + 0.9990428686141968, + 0.7579315729822431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.18429037928581238, + 0.04083311930298805, + -0.08727973410061428 + ], + [ + -0.18587321043014526, + 0.9817957282066345, + 0.039093632251024246, + 0.08102155191557749 + ], + [ + -0.03288520500063896, + -0.04598063603043556, + 0.998400866985321, + 0.8090450171061925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.1761280745267868, + 0.07524944096803665, + -0.10653613290190697 + ], + [ + -0.1787332147359848, + 0.9834593534469604, + 0.02936212159693241, + 0.0721090211942792 + ], + [ + -0.06883326917886734, + -0.04226810857653618, + 0.9967323541641235, + 0.8465935153961182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550232, + 0.1559009850025177, + 0.10445744544267654, + -0.11494314628839493 + ], + [ + -0.1605827808380127, + 0.9862918853759766, + 0.03796759992837906, + 0.06197500931365149 + ], + [ + -0.09710634499788284, + -0.054067134857177734, + 0.9938043355941772, + 0.8952000246729169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16043990850448608, + 0.10332164913415909, + -0.12179199491654123 + ], + [ + -0.1622307002544403, + 0.986710786819458, + 0.009113379754126072, + 0.054215006215763945 + ], + [ + -0.10048643499612808, + -0.025707848370075226, + 0.9946062564849854, + 0.9361585837772914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15839089453220367, + 0.0569317452609539, + -0.13637067585332052 + ], + [ + -0.1557570844888687, + 0.986624538898468, + -0.048080768436193466, + 0.042901655908141816 + ], + [ + -0.06378581374883652, + 0.038527313619852066, + 0.9972196221351624, + 0.9734692094666617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.12986084818840027, + 0.036820583045482635, + -0.14949500294668333 + ], + [ + -0.12779107689857483, + 0.9903359413146973, + -0.053890399634838104, + 0.038728998920747215 + ], + [ + -0.043462999165058136, + 0.04869186878204346, + 0.99786776304245, + 1.0035897808415548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1303732544183731, + 0.011355924420058727, + -0.1677584853587406 + ], + [ + -0.12995941936969757, + 0.9910128712654114, + -0.031685881316661835, + 0.024409614958933422 + ], + [ + -0.015384859405457973, + 0.02993757277727127, + 0.9994333386421204, + 1.0475807042121887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12228640168905258, + 0.020507536828517914, + -0.18206748930471284 + ], + [ + -0.12112308293581009, + 0.9913427829742432, + -0.050682183355093, + 0.009419971496931145 + ], + [ + -0.02652774006128311, + 0.047807130962610245, + 0.9985042810440063, + 1.0837353878702436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12498211860656738, + 0.11386945843696594, + -0.20900753736495972 + ], + [ + -0.11320650577545166, + 0.9880491495132446, + -0.10460938513278961, + -0.013200562864542006 + ], + [ + -0.12558293342590332, + 0.09021255373954773, + 0.9879729747772217, + 1.1434454336166382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857361, + 0.13895663619041443, + 0.2117922008037567, + -0.239449619276183 + ], + [ + -0.10959387570619583, + 0.9833987355232239, + -0.1446239948272705, + -0.031839559052671704 + ], + [ + -0.22837263345718384, + 0.1166960597038269, + 0.9665547013282776, + 1.1852312151704516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736633, + 0.16089852154254913, + 0.3294365108013153, + -0.2797493364129748 + ], + [ + -0.10751975327730179, + 0.9787876605987549, + -0.17439670860767365, + -0.07563916529927935 + ], + [ + -0.35050854086875916, + 0.1268320530653, + 0.9279317855834961, + 1.2206388759613036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.161844402551651, + 0.42879581451416016, + -0.31063339539936613 + ], + [ + -0.07678793370723724, + 0.9749354124069214, + -0.20881691575050354, + -0.11095067053181784 + ], + [ + -0.45184409618377686, + 0.15266719460487366, + 0.8789366483688354, + 1.2375735756329127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1683233678340912, + 0.4872375428676605, + -0.344735794033323 + ], + [ + -0.06372948735952377, + 0.9725275635719299, + -0.22389432787895203, + -0.11611906836714063 + ], + [ + -0.511538565158844, + 0.16080224514007568, + 0.8440799117088318, + 1.2552117295946394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.17023156583309174, + 0.49248456954956055, + -0.372200311422348 + ], + [ + -0.09409771859645844, + 0.9799454808235168, + -0.17564865946769714, + -0.08406040642091206 + ], + [ + -0.5125089883804321, + 0.10357628017663956, + 0.8524121642112732, + 1.2745367322989873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204773, + 0.17138928174972534, + 0.5290848016738892, + -0.40806562151227677 + ], + [ + -0.11018028855323792, + 0.9832146167755127, + -0.14542801678180695, + -0.06351282719203404 + ], + [ + -0.5451287031173706, + 0.06256769597530365, + 0.8360143303871155, + 1.3004149790491377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612305, + 0.1661430448293686, + 0.5384422540664673, + -0.4358999872207642 + ], + [ + -0.11259321868419647, + 0.9849455952644348, + -0.13116765022277832, + -0.056455880552530285 + ], + [ + -0.5521289110183716, + 0.047735460102558136, + 0.8323911428451538, + 1.306090109348297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.1421755701303482, + 0.5065333247184753, + -0.47236105830328806 + ], + [ + -0.1269027143716812, + 0.9897986650466919, + -0.06476350873708725, + -0.038429108917713166 + ], + [ + -0.5105738043785095, + -0.009204419329762459, + 0.8597846627235413, + 1.3228779674257551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525391, + 0.12768206000328064, + 0.4868294894695282, + -0.492287803871291 + ], + [ + -0.132595032453537, + 0.9908668994903564, + -0.024523165076971054, + -0.022640660258276123 + ], + [ + -0.485514372587204, + -0.04336034879088402, + 0.8731527328491211, + 1.3326224543707712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.10844705998897552, + 0.4776364266872406, + -0.509263423885618 + ], + [ + -0.13851292431354523, + 0.9899630546569824, + 0.028059717267751694, + -0.005455836997500488 + ], + [ + -0.4697994291782379, + -0.09062235057353973, + 0.8781093955039978, + 1.3302314357076372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.052844807505607605, + 0.4829251766204834, + -0.512575148173741 + ], + [ + -0.09855006635189056, + 0.992685079574585, + 0.06974366307258606, + -0.0004547404428677901 + ], + [ + -0.4757070541381836, + -0.10855284333229065, + 0.8728797435760498, + 1.3268070838110788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.06852293759584427, + 0.537290096282959, + -0.5062193625313895 + ], + [ + -0.10477883368730545, + 0.9938000440597534, + 0.03718654066324234, + -0.009067771030323846 + ], + [ + -0.531410813331604, + -0.08755598217248917, + 0.8425772786140442, + 1.321354455947876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.14467664062976837, + 0.5528011322021484, + -0.5044549669197628 + ], + [ + -0.19230146706104279, + 0.9809144139289856, + 0.028759613633155823, + -0.004986053944698402 + ], + [ + -0.5380897521972656, + -0.12990626692771912, + 0.8328167796134949, + 1.3138016385010312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.17446689307689667, + 0.6060417890548706, + -0.5036153290271759 + ], + [ + -0.238027885556221, + 0.9709289073944092, + 0.02529500424861908, + -0.018026833698153496 + ], + [ + -0.5840103626251221, + -0.16388536989688873, + 0.7950304746627808, + 1.2913064031600952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.15146441757678986, + 0.6253744959831238, + -0.5017035594667707 + ], + [ + -0.17656175792217255, + 0.9840388894081116, + -0.02221343293786049, + -0.033003090664744376 + ], + [ + -0.6187573075294495, + -0.09341317415237427, + 0.7800085544586182, + 1.284283587047032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1724855899810791, + 0.6312922239303589, + -0.5131822941643851 + ], + [ + -0.12414335459470749, + 0.9849303960800171, + -0.12041796743869781, + -0.05457907140680722 + ], + [ + -0.6425492763519287, + 0.012679804116487503, + 0.7661394476890564, + 1.272102569580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.17190036177635193, + 0.6263754367828369, + -0.5134253329890115 + ], + [ + -0.09708493202924728, + 0.9835876226425171, + -0.1520850509405136, + -0.07115557704653058 + ], + [ + -0.6422386169433594, + 0.05482344701886177, + 0.7645416259765625, + 1.2708333696637835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.16924382746219635, + 0.6121340394020081, + -0.5229171984536307 + ], + [ + -0.06050634756684303, + 0.9790657758712769, + -0.19434289634227753, + -0.09082057730640684 + ], + [ + -0.6322107911109924, + 0.11307834088802338, + 0.7665003538131714, + 1.2633140382766723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634766, + 0.18365970253944397, + 0.610598623752594, + -0.529645470721381 + ], + [ + -0.057554930448532104, + 0.9737385511398315, + -0.2202741652727127, + -0.09999637814079013 + ], + [ + -0.6350188851356506, + 0.13454513251781464, + 0.7606895565986633, + 1.2562214343547822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.18310168385505676, + 0.6242208480834961, + -0.5334866565976825 + ], + [ + -0.041914306581020355, + 0.9713501334190369, + -0.23392750322818756, + -0.10945012542179652 + ], + [ + -0.6491695642471313, + 0.1515013724565506, + 0.7454034090042114, + 1.2524201831817627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.73583984375, + 0.16783741116523743, + 0.6560261845588684, + -0.5296582701206207 + ], + [ + -0.030435018241405487, + 0.9760149717330933, + -0.21556539833545685, + -0.11538534951210022 + ], + [ + -0.6764712929725647, + 0.13865543901920319, + 0.7232989072799683, + 1.250269748210907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7091473340988159, + 0.15343397855758667, + 0.6881628632545471, + -0.5277946710586547 + ], + [ + -0.024598143994808197, + 0.980823814868927, + -0.19333794713020325, + -0.12876381831509726 + ], + [ + -0.7046311497688293, + 0.12017756700515747, + 0.6993228197097778, + 1.246344702584403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.1412988007068634, + 0.6889380216598511, + -0.5261962775502886 + ], + [ + -0.010299809277057648, + 0.9815955758094788, + -0.19069351255893707, + -0.1362570568919182 + ], + [ + -0.7032033205032349, + 0.1284707933664322, + 0.699285626411438, + 1.2416826532227652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.14272023737430573, + 0.6817785501480103, + -0.5238598752702985 + ], + [ + -0.005622163414955139, + 0.9799388647079468, + -0.19921892881393433, + -0.14149157905578613 + ], + [ + -0.6965339183807373, + 0.1391068696975708, + 0.7039103507995605, + 1.2398962084906442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7165511846542358, + 0.15290018916130066, + 0.6805703043937683, + -0.5213427875723158 + ], + [ + -0.026668570935726166, + 0.9809715151786804, + -0.19231128692626953, + -0.14352424250330242 + ], + [ + -0.6970245242118835, + 0.11965104937553406, + 0.7069939374923706, + 1.2462222177641733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.1482444703578949, + 0.6631469130516052, + -0.5164433500085558 + ], + [ + -0.037848759442567825, + 0.9833126068115234, + -0.1779431700706482, + -0.14666088601521082 + ], + [ + -0.6784598231315613, + 0.105450838804245, + 0.7270298004150391, + 1.2583648496355329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.16057254374027252, + 0.6456099152565002, + -0.5121481260231563 + ], + [ + -0.058937277644872665, + 0.9825836420059204, + -0.1762266457080841, + -0.15233135351112911 + ], + [ + -0.662662923336029, + 0.09351947903633118, + 0.7430558800697327, + 1.2601843222549984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1336606740951538, + 0.6435877084732056, + -0.49747923135757444 + ], + [ + -0.029247593134641647, + 0.9849565625190735, + -0.17030882835388184, + -0.16169125699996947 + ], + [ + -0.6566694974899292, + 0.109523244202137, + 0.7461835145950317, + 1.2466829881668091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.12160331010818481, + 0.6562492847442627, + -0.4901653588499342 + ], + [ + -0.009480360895395279, + 0.9850897789001465, + -0.17177973687648773, + -0.16359928888082503 + ], + [ + -0.6673533916473389, + 0.12169958651065826, + 0.7347302436828613, + 1.2421457087653023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.12608471512794495, + 0.6632641553878784, + -0.4861248810972486 + ], + [ + -0.02282728999853134, + 0.9865032434463501, + -0.16214288771152496, + -0.16585175863334112 + ], + [ + -0.6747559309005737, + 0.10447032749652863, + 0.7306095957756042, + 1.2452181744575501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.12672460079193115, + 0.663916289806366, + -0.48391793380464826 + ], + [ + -0.028620939701795578, + 0.9872366786003113, + -0.15666703879833221, + -0.1684419144647462 + ], + [ + -0.6752961277961731, + 0.09646032750606537, + 0.73121178150177, + 1.2479002073151724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.1308019757270813, + 0.6597727537155151, + -0.4821825751236507 + ], + [ + -0.035178475081920624, + 0.9870927333831787, + -0.15623839199543, + -0.1703730067184993 + ], + [ + -0.6716932058334351, + 0.09240563213825226, + 0.7350438237190247, + 1.2503587572915213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.745140552520752, + 0.13616037368774414, + 0.6528597474098206, + -0.4786926315171378 + ], + [ + -0.04192494601011276, + 0.9865636229515076, + -0.1579066663980484, + -0.1707874395421573 + ], + [ + -0.6655883193016052, + 0.09029155969619751, + 0.7408370971679688, + 1.2535741423198155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.14112858474254608, + 0.6472257375717163, + -0.4738102743285043 + ], + [ + -0.04933154955506325, + 0.9862144589424133, + -0.1579476147890091, + -0.17026645396436962 + ], + [ + -0.6605943441390991, + 0.08639314770698547, + 0.7457555532455444, + 1.2574720544815063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.14414788782596588, + 0.6431073546409607, + -0.4686239860057831 + ], + [ + -0.055480580776929855, + 0.9861721992492676, + -0.15616124868392944, + -0.17004357361793518 + ], + [ + -0.6567248702049255, + 0.08176682889461517, + 0.7496843934059143, + 1.2622542254924773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.14556653797626495, + 0.636434018611908, + -0.4618541751248496 + ], + [ + -0.061389338225126266, + 0.9863881468772888, + -0.15254445374011993, + -0.1701991137436458 + ], + [ + -0.6499763131141663, + 0.07647773623466492, + 0.7560965418815613, + 1.2683981834139142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032837, + 0.1454291194677353, + 0.6266437768936157, + -0.45426725813320706 + ], + [ + -0.06544648110866547, + 0.9866658449172974, + -0.1490209698677063, + -0.17117697153772626 + ], + [ + -0.6399600505828857, + 0.07308121025562286, + 0.7649250030517578, + 1.2738317326136999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.1440925896167755, + 0.6165453791618347, + -0.4452444234916142 + ], + [ + -0.06753703206777573, + 0.9869939088821411, + -0.14588287472724915, + -0.17269807846205576 + ], + [ + -0.6295471787452698, + 0.07127682864665985, + 0.7736859917640686, + 1.278765521662576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.13998255133628845, + 0.6081311702728271, + -0.4353606995855059 + ], + [ + -0.06584182381629944, + 0.9875703454017639, + -0.1427225023508072, + -0.17487790486642293 + ], + [ + -0.6205509901046753, + 0.07148247957229614, + 0.7809012532234192, + 1.282837718452726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.13279315829277039, + 0.6052546501159668, + -0.42554351036889215 + ], + [ + -0.06041157245635986, + 0.9885125756263733, + -0.13854005932807922, + -0.1782506377526692 + ], + [ + -0.6166989803314209, + 0.0721726045012474, + 0.7838835716247559, + 1.2850527044023787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.1257798820734024, + 0.60993891954422, + -0.41660628363064356 + ], + [ + -0.05348119139671326, + 0.9893442988395691, + -0.13541647791862488, + -0.18211548180239542 + ], + [ + -0.620472252368927, + 0.07332996279001236, + 0.7807924747467041, + 1.2867849160603115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.12104804813861847, + 0.6155020594596863, + -0.4082449340820313 + ], + [ + -0.04740018770098686, + 0.9897552728652954, + -0.13467614352703094, + -0.1866657954454422 + ], + [ + -0.6254987120628357, + 0.07570873200893402, + 0.776543378829956, + 1.2880454397201537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.11858713626861572, + 0.6206338405609131, + -0.40034093407222204 + ], + [ + -0.04306604340672493, + 0.9898609519004822, + -0.13535372912883759, + -0.19042943515947885 + ], + [ + -0.6303924322128296, + 0.07818187773227692, + 0.7723296284675598, + 1.2886966497216905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.11547547578811646, + 0.6275071501731873, + -0.39182363258089337 + ], + [ + -0.037941500544548035, + 0.9900326132774353, + -0.13563118875026703, + -0.19362192528588432 + ], + [ + -0.6369146704673767, + 0.08062747865915298, + 0.7667065858840942, + 1.2882039021083287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.11303699016571045, + 0.6334064602851868, + -0.3832928089073726 + ], + [ + -0.03384670615196228, + 0.9901584386825562, + -0.13579630851745605, + -0.1965177959374019 + ], + [ + -0.6425227522850037, + 0.0825159028172493, + 0.7618107795715332, + 1.2887148287636894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.11086848378181458, + 0.6373112797737122, + -0.37434431454113554 + ], + [ + -0.030093934386968613, + 0.9902170896530151, + -0.13625141978263855, + -0.19911865956442698 + ], + [ + -0.6461824774742126, + 0.08472467958927155, + 0.7584655284881592, + 1.2880628599439348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.10702851414680481, + 0.6431562900543213, + -0.3644443460873195 + ], + [ + -0.02442311868071556, + 0.9904047250747681, + -0.13602215051651, + -0.20026569792202542 + ], + [ + -0.6515432596206665, + 0.08742660284042358, + 0.7535569071769714, + 1.2875221277986253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.10158804059028625, + 0.6501113176345825, + -0.3552013008253915 + ], + [ + -0.017815619707107544, + 0.9907956719398499, + -0.13418859243392944, + -0.20079355117252895 + ], + [ + -0.657759428024292, + 0.0894642025232315, + 0.7478961944580078, + 1.2878994323185513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.09570881724357605, + 0.6551191806793213, + -0.34562750720977786 + ], + [ + -0.013322986662387848, + 0.9914758801460266, + -0.12960730493068695, + -0.20147110289335252 + ], + [ + -0.6619393825531006, + 0.08840461820363998, + 0.7443257570266724, + 1.2879519810676574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.085726797580719, + 0.6633638143539429, + -0.33605537819862363 + ], + [ + -0.006847213953733444, + 0.9926762580871582, + -0.12061097472906113, + -0.20270571019819805 + ], + [ + -0.6688450574874878, + 0.0851164385676384, + 0.7385130524635315, + 1.2870088456698827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.07395096123218536, + 0.6733105778694153, + -0.32959712856156487 + ], + [ + 0.003801446408033371, + 0.9935560822486877, + -0.11327755451202393, + -0.2056591101033347 + ], + [ + -0.677348792552948, + 0.0858924388885498, + 0.73063063621521, + 1.2845235588891166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.072268545627594, + 0.6801671385765076, + -0.32827004381588526 + ], + [ + 0.012050924822688103, + 0.9928904175758362, + -0.11842051148414612, + -0.20709695747920445 + ], + [ + -0.6838894486427307, + 0.09458276629447937, + 0.7234288454055786, + 1.2827810130800519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416382, + 0.08294961601495743, + 0.6780981421470642, + -0.3299430019174303 + ], + [ + 0.011849276721477509, + 0.9909136891365051, + -0.13397639989852905, + -0.20560906764439174 + ], + [ + -0.6830499768257141, + 0.10587465763092041, + 0.7226570844650269, + 1.2798199621609279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390625, + 0.10026845335960388, + 0.6739415526390076, + -0.3312752124582018 + ], + [ + 0.004307657480239868, + 0.9884120225906372, + -0.15173354744911194, + -0.20213839954989296 + ], + [ + -0.6813459992408752, + 0.11396431177854538, + 0.7230351567268372, + 1.2779950280189514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.11133722960948944, + 0.6776542067527771, + -0.333054249899728 + ], + [ + 0.0013496428728103638, + 0.9865368008613586, + -0.1635337620973587, + -0.1982794114947319 + ], + [ + -0.6867381930351257, + 0.11978787928819656, + 0.7169668674468994, + 1.2758092620032175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.11511974781751633, + 0.6840636730194092, + -0.3336622912883759 + ], + [ + 0.002270229160785675, + 0.9857369065284729, + -0.16827817261219025, + -0.19522839879989623 + ], + [ + -0.6936789751052856, + 0.12276051193475723, + 0.7097460031509399, + 1.277534665107727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.11353930830955505, + 0.6849480271339417, + -0.33297315784863063 + ], + [ + 0.0035201720893383026, + 0.9859286546707153, + -0.16712959110736847, + -0.19253329681498663 + ], + [ + -0.6942856907844543, + 0.1226927787065506, + 0.7091642022132874, + 1.2811222558362143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.10871295630931854, + 0.6842870712280273, + -0.3313523965903691 + ], + [ + 0.005068447440862656, + 0.9867600202560425, + -0.16210779547691345, + -0.19016339250973294 + ], + [ + -0.6928503513336182, + 0.12035829573869705, + 0.7109657526016235, + 1.2856557799748012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.10231171548366547, + 0.6811534762382507, + -0.32927270814350673 + ], + [ + 0.005377601832151413, + 0.9880359172821045, + -0.1541299819946289, + -0.18780161264964512 + ], + [ + -0.6887734532356262, + 0.11540054529905319, + 0.7157331705093384, + 1.2923506712913513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032104, + 0.09357401728630066, + 0.6753170490264893, + -0.3258672431537083 + ], + [ + 0.005032200366258621, + 0.9897680878639221, + -0.14259666204452515, + -0.1864749022892543 + ], + [ + -0.6817506551742554, + 0.10771739482879639, + 0.7236111164093018, + 1.2982614265169417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.08713700622320175, + 0.6687716245651245, + -0.3230678767476763 + ], + [ + 0.0022234320640563965, + 0.9912983775138855, + -0.13161508738994598, + -0.18593977842160633 + ], + [ + -0.6744208335876465, + 0.09866416454315186, + 0.7317253351211548, + 1.3060830679621016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268921, + 0.0819198340177536, + 0.661016583442688, + -0.31813566582543507 + ], + [ + -0.002202838659286499, + 0.9927059412002563, + -0.12054046988487244, + -0.18434555990355356 + ], + [ + -0.666069746017456, + 0.08845336735248566, + 0.7406261563301086, + 1.3172821300370352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.07515870779752731, + 0.6547895073890686, + -0.31421958446502685 + ], + [ + -0.005974471569061279, + 0.9942134022712708, + -0.10725676268339157, + -0.18643200793862344 + ], + [ + -0.6590617299079895, + 0.07675204426050186, + 0.7481622099876404, + 1.3214328224658967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.06682216376066208, + 0.650288999080658, + -0.3100088140964508 + ], + [ + -0.006495116278529167, + 0.9954813718795776, + -0.09473494440317154, + -0.1878830384867532 + ], + [ + -0.6536809802055359, + 0.06746625155210495, + 0.7537569403648376, + 1.3257016367231096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.05733489617705345, + 0.6438463926315308, + -0.30636089955057416 + ], + [ + -0.004429847002029419, + 0.9964988231658936, + -0.08348912000656128, + -0.19011050479752678 + ], + [ + -0.6463789939880371, + 0.0608503632247448, + 0.7605862617492676, + 1.3291915362221853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.04943409934639931, + 0.6365248560905457, + -0.3021228333881923 + ], + [ + -0.0010506212711334229, + 0.9970945715904236, + -0.07616645842790604, + -0.1911318661229951 + ], + [ + -0.6384406685829163, + 0.057954318821430206, + 0.767486035823822, + 1.3335627240453447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.04127850383520126, + 0.6309370398521423, + -0.2990088587147849 + ], + [ + 0.005434446036815643, + 0.9973950982093811, + -0.07192674279212952, + -0.1922307028089251 + ], + [ + -0.6322625279426575, + 0.05915297567844391, + 0.7724927663803101, + 1.3372110159056527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.03469128534197807, + 0.622523307800293, + -0.2958789712360927 + ], + [ + 0.010678560473024845, + 0.9975593686103821, + -0.0690021738409996, + -0.19266973972320556 + ], + [ + -0.623397707939148, + 0.06059575825929642, + 0.7795534133911133, + 1.339277619770595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.027961822226643562, + 0.6155270934104919, + -0.2915175252982548 + ], + [ + 0.015199368819594383, + 0.9977840781211853, + -0.06477567553520203, + -0.1921061840738569 + ], + [ + -0.6159743666648865, + 0.06037421524524689, + 0.7854492664337158, + 1.3421436294828142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.01998138800263405, + 0.6103324294090271, + -0.2868618681430817 + ], + [ + 0.019530203193426132, + 0.9981245398521423, + -0.05801715701818466, + -0.19197939234972 + ], + [ + -0.6103470921516418, + 0.05786331743001938, + 0.7900179028511047, + 1.346798845767975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.012407150119543076, + 0.6057325601577759, + -0.2825058688095638 + ], + [ + 0.02223769947886467, + 0.9985185861587524, + -0.04965963587164879, + -0.19243565139387336 + ], + [ + -0.6054513454437256, + 0.05297789350152016, + 0.7941171526908875, + 1.351803697007043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400513, + 0.006813941057771444, + 0.5993016362190247, + -0.27801446999822343 + ], + [ + 0.022084321826696396, + 0.9989209771156311, + -0.04085582494735718, + -0.193291774392128 + ], + [ + -0.5989333987236023, + 0.04594002664089203, + 0.7994800806045532, + 1.357189655303955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409912, + 0.003537162207067013, + 0.5950278639793396, + -0.27319811747755324 + ], + [ + 0.02030157297849655, + 0.9992371797561646, + -0.033361103385686874, + -0.19370385663211345 + ], + [ + -0.5946919322013855, + 0.0388922281563282, + 0.8030123710632324, + 1.3620658597946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.00019095931202173233, + 0.5924656391143799, + -0.2687594634464809 + ], + [ + 0.01952366530895233, + 0.999448299407959, + -0.02686913311481476, + -0.1942058459860938 + ], + [ + -0.5921438932418823, + 0.03321275860071182, + 0.8051475286483765, + 1.3661759353365217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.0016304003074765205, + 0.591600775718689, + -0.2651687866279057 + ], + [ + 0.019058510661125183, + 0.9995487332344055, + -0.02321813628077507, + -0.19493668034034117 + ], + [ + -0.5912959575653076, + 0.0299941748380661, + 0.8058966994285583, + 1.3694211275577546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.805838942527771, + -0.0006570005789399147, + 0.592134416103363, + -0.2626847767148699 + ], + [ + 0.01771843433380127, + 0.9995783567428589, + -0.023004036396741867, + -0.1958837162256241 + ], + [ + -0.5918696522712708, + 0.0290292426943779, + 0.8055108189582825, + 1.3713708327157157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.0018861819989979267, + 0.5929752588272095, + -0.2600165420770645 + ], + [ + 0.015192830935120583, + 0.9996010661125183, + -0.023810401558876038, + -0.1970139393210411 + ], + [ + -0.5927835702896118, + 0.028181549161672592, + 0.8048685789108276, + 1.3733017897605897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.005308737978339195, + 0.5961012840270996, + -0.25744405456951686 + ], + [ + 0.011914195492863655, + 0.9996176958084106, + -0.024949651211500168, + -0.1987336377458913 + ], + [ + -0.5960057973861694, + 0.027133934199810028, + 0.8025215268135071, + 1.3745572341510228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.010189252905547619, + 0.6008484959602356, + -0.2543384311028889 + ], + [ + 0.006486645899713039, + 0.9996517300605774, + -0.025581270456314087, + -0.20074270997728622 + ], + [ + -0.600899875164032, + 0.0243445485830307, + 0.7989534735679626, + 1.3753162620748793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.011551767587661743, + 0.6095070838928223, + -0.25231855617250715 + ], + [ + 0.003120924811810255, + 0.9997304677963257, + -0.023006461560726166, + -0.2047826051712036 + ], + [ + -0.60960853099823, + 0.020139366388320923, + 0.7924467325210571, + 1.3757768562861852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.011629345826804638, + 0.6185575723648071, + -0.25230552778925214 + ], + [ + 0.00494848657399416, + 0.9996731877326965, + -0.025079868733882904, + -0.20692302385824068 + ], + [ + -0.6186470985412598, + 0.022765010595321655, + 0.7853391170501709, + 1.3741479895455497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914246, + 0.016198858618736267, + 0.6225465536117554, + -0.2550122492653983 + ], + [ + 0.0066249435767531395, + 0.999388575553894, + -0.03433062508702278, + -0.2096311763567584 + ], + [ + -0.6227220296859741, + 0.030985135585069656, + 0.7818294167518616, + 1.372809876373836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511108, + 0.026653781533241272, + 0.6206187605857849, + -0.25815175235271454 + ], + [ + 0.002055118791759014, + 0.9989623427391052, + -0.04549755901098251, + -0.20710519267405783 + ], + [ + -0.6211875081062317, + 0.03693003207445145, + 0.7827913761138916, + 1.3670224407741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.03707797825336456, + 0.6224811673164368, + -0.26081204795837404 + ], + [ + -0.005708340555429459, + 0.9986144304275513, + -0.05231335386633873, + -0.2054804244041443 + ], + [ + -0.6235583424568176, + 0.037342946976423264, + 0.7808845043182373, + 1.3656807928085326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.04220186918973923, + 0.6274511814117432, + -0.26396795739446366 + ], + [ + -0.00994909554719925, + 0.9984463453292847, + -0.054826200008392334, + -0.20304687012944903 + ], + [ + -0.6287901401519775, + 0.0363854244351387, + 0.7767232656478882, + 1.3624280281748091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.04268907383084297, + 0.6328980922698975, + -0.26665832492283414 + ], + [ + -0.010104116052389145, + 0.9984350800514221, + -0.05500286817550659, + -0.20104919356959206 + ], + [ + -0.6342556476593018, + 0.03612550348043442, + 0.772278904914856, + 1.361767303603036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.040155068039894104, + 0.639006495475769, + -0.26929027906485964 + ], + [ + -0.007285444065928459, + 0.9985149502754211, + -0.053988661617040634, + -0.1983181894570589 + ], + [ + -0.6402255296707153, + 0.036816079169511795, + 0.7673043012619019, + 1.3617494634219578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.03601080924272537, + 0.6457105875015259, + -0.2717109396117074 + ], + [ + -0.0027196016162633896, + 0.9986183047294617, + -0.05247975140810013, + -0.19602978566714696 + ], + [ + -0.6467082500457764, + 0.0382719486951828, + 0.7617766857147217, + 1.3618934129987443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.03305539861321449, + 0.6532780528068542, + -0.2759769730567932 + ], + [ + 0.0010118745267391205, + 0.998661994934082, + -0.05170317366719246, + -0.194134995543531 + ], + [ + -0.6541129946708679, + 0.039769116789102554, + 0.755350649356842, + 1.361720010995865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.03392140194773674, + 0.6621549129486084, + -0.28270464072908674 + ], + [ + 0.002848452888429165, + 0.9985166192054749, + -0.054373130202293396, + -0.19183091230051857 + ], + [ + -0.6630171537399292, + 0.042589783668518066, + 0.7473918199539185, + 1.3605888342176164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966064, + 0.0397893562912941, + 0.6730932593345642, + -0.2914588098526001 + ], + [ + 0.002231152728199959, + 0.9981076717376709, + -0.061450231820344925, + -0.1893102205246687 + ], + [ + -0.6742646098136902, + 0.046881940215826035, + 0.7370002269744873, + 1.3592370023727418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109741, + 0.049554504454135895, + 0.685396671295166, + -0.30200753501483374 + ], + [ + -0.001142272725701332, + 0.9974822402000427, + -0.07090769708156586, + -0.18666616763387409 + ], + [ + -0.6871848106384277, + 0.05073024332523346, + 0.7247092723846436, + 1.3575722667149135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.059891149401664734, + 0.6987503170967102, + -0.31698695370129176 + ], + [ + -0.006626000627875328, + 0.9968775510787964, + -0.07868443429470062, + -0.1845130244919232 + ], + [ + -0.7012810111045837, + 0.05146060883998871, + 0.7110251188278198, + 1.3556383452415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.06956323981285095, + 0.7127651572227478, + -0.3313860843862806 + ], + [ + -0.012291919440031052, + 0.9962882399559021, + -0.08519771695137024, + -0.18077798243931362 + ], + [ + -0.716046154499054, + 0.0507020503282547, + 0.696209192276001, + 1.3562577743530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.07782904803752899, + 0.7261784672737122, + -0.3433705055373056 + ], + [ + -0.0173418577760458, + 0.9957537651062012, + -0.0904083251953125, + -0.17716122439929416 + ], + [ + -0.7301313281059265, + 0.049163445830345154, + 0.6815358996391296, + 1.3538639434746333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821777, + 0.08739078044891357, + 0.7402608394622803, + -0.3566974949496133 + ], + [ + -0.025170691311359406, + 0.995176374912262, + -0.09481801092624664, + -0.17473213165146964 + ], + [ + -0.744976282119751, + 0.0445743203163147, + 0.665600061416626, + 1.3534687899180822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.09310662746429443, + 0.753730297088623, + -0.3698495158127376 + ], + [ + -0.029684361070394516, + 0.9948155879974365, + -0.09726637601852417, + -0.17163357990128653 + ], + [ + -0.7588788270950317, + 0.04090312123298645, + 0.6499460339546204, + 1.3536126911640167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.0942610651254654, + 0.7655285000801086, + -0.38180959010124205 + ], + [ + -0.030780717730522156, + 0.9948177933692932, + -0.09690285474061966, + -0.1680061680674553 + ], + [ + -0.7706955075263977, + 0.038111262023448944, + 0.6360629200935364, + 1.3538454604148864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.09133201837539673, + 0.7758888006210327, + -0.3925676476274218 + ], + [ + -0.02819773182272911, + 0.9951298236846924, + -0.09445364773273468, + -0.16433386735405242 + ], + [ + -0.7807366847991943, + 0.03708188608288765, + 0.623758852481842, + 1.3544642074108124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954834, + 0.08540842682123184, + 0.7850309610366821, + -0.40257285840170726 + ], + [ + -0.023606853559613228, + 0.9956731796264648, + -0.08987560123205185, + -0.16052939818586623 + ], + [ + -0.7893104553222656, + 0.036610208451747894, + 0.6129019856452942, + 1.3549418111528668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.07984350621700287, + 0.7932844758033752, + -0.41154540589877536 + ], + [ + -0.020423011854290962, + 0.9961948990821838, + -0.08472685515880585, + -0.1561084128533091 + ], + [ + -0.7970308661460876, + 0.03493928909301758, + 0.6029270887374878, + 1.3559411593164716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.07579241693019867, + 0.8007444143295288, + -0.4198027103287833 + ], + [ + -0.0202743262052536, + 0.9966453909873962, + -0.07929037511348724, + -0.15120780842644826 + ], + [ + -0.804067850112915, + 0.03087913990020752, + 0.5937351584434509, + 1.3565210958889553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.07393410056829453, + 0.8076926469802856, + -0.42738370398112707 + ], + [ + -0.023839903995394707, + 0.9969736337661743, + -0.07399497926235199, + -0.14581055139643806 + ], + [ + -0.8107190132141113, + 0.024028053507208824, + 0.5849422812461853, + 1.3575265546185629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.0707332044839859, + 0.8156781792640686, + -0.43508986193793164 + ], + [ + -0.02774665132164955, + 0.9973699450492859, + -0.06695778667926788, + -0.14049362623691558 + ], + [ + -0.8182690739631653, + 0.01581251062452793, + 0.5746179819107056, + 1.3581993348257881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436523, + 0.06718616932630539, + 0.8239855766296387, + -0.44425994062423707 + ], + [ + -0.030379461124539375, + 0.9976992607116699, + -0.06060749292373657, + -0.133393394947052 + ], + [ + -0.8261617422103882, + 0.009066363796591759, + 0.5633601546287537, + 1.359696582555771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.0605977401137352, + 0.8284255266189575, + -0.45121880313328333 + ], + [ + -0.027788326144218445, + 0.998136043548584, + -0.05433431267738342, + -0.12965384912490846 + ], + [ + -0.8301739692687988, + 0.007233412936329842, + 0.5574575662612915, + 1.3600643354143416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447021, + 0.0529155358672142, + 0.8308990597724915, + -0.4576318725517818 + ], + [ + -0.02377297542989254, + 0.9985765814781189, + -0.04774627089500427, + -0.12716352956635613 + ], + [ + -0.8322427868843079, + 0.006693793460726738, + 0.5543709993362427, + 1.3598013854026794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.04466269910335541, + 0.8347319960594177, + -0.46341461433683123 + ], + [ + -0.018322572112083435, + 0.9989745020866394, + -0.04140334948897362, + -0.12564607545307704 + ], + [ + -0.8357251286506653, + 0.007429473102092743, + 0.5490977764129639, + 1.358731877735683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.039000529795885086, + 0.8392189145088196, + -0.4706364770957402 + ], + [ + -0.014011972583830357, + 0.9992029070854187, + -0.03737932816147804, + -0.1253967511462314 + ], + [ + -0.8400078415870667, + 0.0085151931270957, + 0.542507529258728, + 1.3574582187788826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.037511080503463745, + 0.8418089151382446, + -0.4791762225968497 + ], + [ + -0.011795873753726482, + 0.99924635887146, + -0.03698116913437843, + -0.1258273893892765 + ], + [ + -0.8425617218017578, + 0.009983401745557785, + 0.538507342338562, + 1.3559729456220355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.04023795202374458, + 0.8424282073974609, + -0.4878144655908857 + ], + [ + -0.010700724087655544, + 0.9991061091423035, + -0.040896590799093246, + -0.12658939360507898 + ], + [ + -0.8433207273483276, + 0.0129593126475811, + 0.5372543334960938, + 1.3535482935224261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767334, + 0.045516762882471085, + 0.8431676626205444, + -0.49648192405700686 + ], + [ + -0.010955527424812317, + 0.9988366961479187, + -0.04695947468280792, + -0.12777477860450745 + ], + [ + -0.8443242311477661, + 0.01591981202363968, + 0.5355960130691528, + 1.3509692668914794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.05082269012928009, + 0.8445265889167786, + -0.5049950397014618 + ], + [ + -0.011070739477872849, + 0.9985277056694031, + -0.053102053701877594, + -0.12909260640399797 + ], + [ + -0.845982015132904, + 0.018958987668156624, + 0.532874345779419, + 1.3490570487976075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095581, + 0.055733662098646164, + 0.8462933897972107, + -0.5138019655091421 + ], + [ + -0.010763686150312424, + 0.998199999332428, + -0.05899941176176071, + -0.130823139999594 + ], + [ + -0.84805828332901, + 0.02214827574789524, + 0.5294398665428162, + 1.3469426858765738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.060352012515068054, + 0.8465580940246582, + -0.521893313407898 + ], + [ + -0.009884199127554893, + 0.9978387951850891, + -0.06496209651231766, + -0.13241493576339314 + ], + [ + -0.8486491441726685, + 0.025988563895225525, + 0.5283174514770508, + 1.3455550320489067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.06465776264667511, + 0.8463590145111084, + -0.5288699835368565 + ], + [ + -0.009668562561273575, + 0.9974886178970337, + -0.07016392797231674, + -0.13340326721327644 + ], + [ + -0.8487701416015625, + 0.028910748660564423, + 0.527971088886261, + 1.344906962258475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.06922449916601181, + 0.846060574054718, + -0.5347387261050088 + ], + [ + -0.011588459834456444, + 0.9971650242805481, + -0.07434799522161484, + -0.133912768725838 + ], + [ + -0.8488087058067322, + 0.029493816196918488, + 0.5278768539428711, + 1.3442974063328335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.07206359505653381, + 0.8454700708389282, + -0.5396773666654314 + ], + [ + -0.013987669721245766, + 0.9969925880432129, + -0.0762244164943695, + -0.13441722083091737 + ], + [ + -0.8484203815460205, + 0.02850710041821003, + 0.5285549163818359, + 1.343883879525321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.07331778109073639, + 0.845229983329773, + -0.5431604328155517 + ], + [ + -0.01589363068342209, + 0.996941089630127, + -0.07652381807565689, + -0.13481837770342828 + ], + [ + -0.8482550382614136, + 0.027074074372649193, + 0.5288954973220825, + 1.343192750453949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.07381334900856018, + 0.8455305099487305, + -0.5466230819565909 + ], + [ + -0.016490193083882332, + 0.9969165921211243, + -0.07671602070331573, + -0.13520919978618623 + ], + [ + -0.8485860824584961, + 0.026624489575624466, + 0.5283870100975037, + 1.3424584789276124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.07486776262521744, + 0.8453223705291748, + -0.5493660737446376 + ], + [ + -0.015686916187405586, + 0.9967933297157288, + -0.07846657186746597, + -0.1350149144232273 + ], + [ + -0.8484863042831421, + 0.028247127309441566, + 0.5284630060195923, + 1.3416771697316852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.07563894987106323, + 0.8456615805625916, + -0.5520159704344614 + ], + [ + -0.012755099684000015, + 0.9966184496879578, + -0.08117222785949707, + -0.13445171798978534 + ], + [ + -0.8489417433738708, + 0.03209943324327469, + 0.5275107026100159, + 1.3401979667799813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.07548543065786362, + 0.8455944061279297, + -0.5545831482751029 + ], + [ + -0.00785839557647705, + 0.9964314699172974, + -0.08403933793306351, + -0.13350092121958732 + ], + [ + -0.8489205837249756, + 0.03776659071445465, + 0.527169406414032, + 1.3376507525784629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.07426562905311584, + 0.8455573916435242, + -0.5566421763556344 + ], + [ + -0.001545831561088562, + 0.9962476491928101, + -0.08653426915407181, + -0.13230402420248305 + ], + [ + -0.8488110899925232, + 0.04444306343793869, + 0.5268250107765198, + 1.3349206153324673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.07352326065301895, + 0.8461398482322693, + -0.5589375330039433 + ], + [ + 0.005914658308029175, + 0.995903730392456, + -0.09022649377584457, + -0.1313946130658899 + ], + [ + -0.8493075966835022, + 0.052632056176662445, + 0.5252680778503418, + 1.3325205187116351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.07322097569704056, + 0.8468546867370605, + -0.56152969789505 + ], + [ + 0.011033521965146065, + 0.9956100583076477, + -0.09294576942920685, + -0.13073333084583283 + ], + [ + -0.8499425649642944, + 0.058303892612457275, + 0.5236395001411438, + 1.3304752860069275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.07066094130277634, + 0.8480715751647949, + -0.5637297681399754 + ], + [ + 0.012927105650305748, + 0.9957695603370667, + -0.09097189456224442, + -0.13028925080384526 + ], + [ + -0.8509119749069214, + 0.058736927807331085, + 0.5220141410827637, + 1.3303548329217094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278198, + 0.06957677006721497, + 0.849164605140686, + -0.5657563944544111 + ], + [ + 0.008596707135438919, + 0.9961779713630676, + -0.08692242205142975, + -0.1310094310556139 + ], + [ + -0.8519668579101562, + 0.05280609428882599, + 0.5209261178970337, + 1.3315196670804705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.07382387667894363, + 0.8483970761299133, + -0.5678433124337877 + ], + [ + -0.002200312912464142, + 0.996349573135376, + -0.08533859997987747, + -0.13200414767861365 + ], + [ + -0.8516001105308533, + 0.04286668449640274, + 0.5224363803863525, + 1.3326938017436436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.525605320930481, + 0.08189307153224945, + 0.8467777967453003, + -0.5717195678438459 + ], + [ + -0.01534353569149971, + 0.9961066246032715, + -0.08681095391511917, + -0.13245919175658907 + ], + [ + -0.8505902290344238, + 0.03263574093580246, + 0.5248154997825623, + 1.334317054271698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.08889098465442657, + 0.8429223299026489, + -0.5762742590904236 + ], + [ + -0.02570650726556778, + 0.9957157969474792, + -0.08882102370262146, + -0.13300935666901725 + ], + [ + -0.8472064733505249, + 0.025463547557592392, + 0.5306532382965088, + 1.3368870852334158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656494, + 0.0957251563668251, + 0.8330931663513184, + -0.5801115441322326 + ], + [ + -0.033817730844020844, + 0.9951630234718323, + -0.09223300963640213, + -0.13296432665416172 + ], + [ + -0.8378925323486328, + 0.022074006497859955, + 0.5453888177871704, + 1.338872127532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.10160455107688904, + 0.8230347633361816, + -0.5805837121009827 + ], + [ + -0.03878560662269592, + 0.9945821166038513, + -0.09644736349582672, + -0.13270986801385878 + ], + [ + -0.8283751010894775, + 0.021975718438625336, + 0.5597425699234009, + 1.3386786684989929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.10144573450088501, + 0.8163431286811829, + -0.5841189054080418 + ], + [ + -0.03442546725273132, + 0.9944319725036621, + -0.09959900379180908, + -0.13340755988870348 + ], + [ + -0.8219016194343567, + 0.028527840971946716, + 0.5689147710800171, + 1.339562992640904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.09669722616672516, + 0.8022363185882568, + -0.5851789660453797 + ], + [ + -0.02457161247730255, + 0.994498610496521, + -0.10182727873325348, + -0.1352390509077481 + ], + [ + -0.8076692819595337, + 0.040276605635881424, + 0.5882585048675537, + 1.338254897253854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.08511510491371155, + 0.793985903263092, + -0.58182162632261 + ], + [ + -0.01131240651011467, + 0.9951122999191284, + -0.098099485039711, + -0.13663273343018123 + ], + [ + -0.7984549403190613, + 0.0500689335167408, + 0.5999691486358643, + 1.3349013101032803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544312, + 0.0724201649427414, + 0.7922754883766174, + -0.5807005407129016 + ], + [ + 0.004881802946329117, + 0.9954911470413208, + -0.09472878277301788, + -0.1390845987200737 + ], + [ + -0.7955635190010071, + 0.06125922501087189, + 0.6027653217315674, + 1.3335594293049404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.06573612987995148, + 0.7926512956619263, + -0.5790213350568499 + ], + [ + 0.01660158857703209, + 0.9953160285949707, + -0.09523835778236389, + -0.1412474056822913 + ], + [ + -0.7951991558074951, + 0.07088525593280792, + 0.6021907329559326, + 1.332255263192313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.0635758638381958, + 0.7964771389961243, + -0.5769683964933667 + ], + [ + 0.02113236114382744, + 0.9952152967453003, + -0.09539373219013214, + -0.1439335452233042 + ], + [ + -0.7987309098243713, + 0.0741933286190033, + 0.5970965623855591, + 1.3334768429483685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.06489643454551697, + 0.799883246421814, + -0.5762228455543518 + ], + [ + 0.019521823152899742, + 0.9952563047409058, + -0.09530895203351974, + -0.14479106295108796 + ], + [ + -0.8022741079330444, + 0.07248000055551529, + 0.5925395488739014, + 1.3362689170837403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.06690725684165955, + 0.8006613254547119, + -0.5755731017930167 + ], + [ + 0.0153118334710598, + 0.9954007863998413, + -0.09456649422645569, + -0.14469166951520102 + ], + [ + -0.8033061027526855, + 0.0685615986585617, + 0.5916067957878113, + 1.3390790723051345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.06888251006603241, + 0.8000494241714478, + -0.5742570703370231 + ], + [ + 0.009839741513133049, + 0.9956128001213074, + -0.09304984658956528, + -0.14406118380171912 + ], + [ + -0.8029489517211914, + 0.0633268877863884, + 0.592674195766449, + 1.343373625278473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.07167219370603561, + 0.7971280217170715, + -0.5728889522893088 + ], + [ + 0.003971986472606659, + 0.9957034587860107, + -0.09251416474580765, + -0.14252809962630272 + ], + [ + -0.8003337979316711, + 0.05863227695226669, + 0.5966809391975403, + 1.3491087540558406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.07368713617324829, + 0.7914780378341675, + -0.5711323706081936 + ], + [ + -0.0028383247554302216, + 0.9958885908126831, + -0.09054207056760788, + -0.1410564445086888 + ], + [ + -0.7948957681655884, + 0.05268897861242294, + 0.6044540405273438, + 1.3556547801154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.07392972707748413, + 0.7843143939971924, + -0.5694495908192226 + ], + [ + -0.010078910738229752, + 0.9962449073791504, + -0.08599112927913666, + -0.139273858998503 + ], + [ + -0.7877265214920044, + 0.04506056383252144, + 0.6143748760223389, + 1.36331307888031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852783, + 0.07217749953269958, + 0.7749629020690918, + -0.5675785211154393 + ], + [ + -0.01739228144288063, + 0.9967432618141174, + -0.07874224334955215, + -0.1377280257855143 + ], + [ + -0.7781224250793457, + 0.035961657762527466, + 0.6270822882652283, + 1.3720984653064183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.06780781596899033, + 0.7635822892189026, + -0.5653684437274933 + ], + [ + -0.022726111114025116, + 0.9973263144493103, + -0.06945312023162842, + -0.13682204484939575 + ], + [ + -0.7662501931190491, + 0.027245398610830307, + 0.6419644951820374, + 1.3813604295253754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/push_in/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0669455c8b227ed1f9c91ab731c003cc45edf8ca --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/push_in/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.01409677229821682, + -0.021288489922881126, + 0.016464451412005084 + ], + [ + 0.013991974294185638, + 0.9998893141746521, + -0.005063758231699467, + -0.015264390924679381 + ], + [ + 0.021357515826821327, + 0.004764239303767681, + 0.9997605681419373, + 0.029843699046543666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993339776992798, + -0.0066764033399522305, + -0.03587494045495987, + 0.022893692048532623 + ], + [ + 0.007027733605355024, + 0.9999284744262695, + 0.009676043875515461, + -0.02933585476343121 + ], + [ + 0.0358077734708786, + -0.009921719320118427, + 0.9993094205856323, + 0.0745204296708107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.003423885675147176, + -0.04378214478492737, + 0.01899556833718504 + ], + [ + -0.0026892416644841433, + 0.9998548030853271, + 0.016827436164021492, + -0.0380964667850307 + ], + [ + 0.043833404779434204, + -0.016693459823727608, + 0.9988994002342224, + 0.11443194225004741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020067639648914337, + 0.0018178781028836966, + 0.004091092439634459 + ], + [ + -0.02001941204071045, + 0.9995232820510864, + -0.023502860218286514, + -0.04900946681840079 + ], + [ + -0.00228865840472281, + 0.02346169576048851, + 0.9997221231460571, + 0.1671009669474193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530579, + 0.05287696793675423, + 0.04762083292007446, + -0.013300101459026336 + ], + [ + -0.05093449726700783, + 0.9978551268577576, + -0.04112015292048454, + -0.05710842254970755 + ], + [ + -0.04969300329685211, + 0.03859036788344383, + 0.998018741607666, + 0.1998456824677331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08022276312112808, + 0.09895365685224533, + -0.03502729903374399 + ], + [ + -0.07482220977544785, + 0.9955586791038513, + -0.05713612213730812, + -0.06194097637278693 + ], + [ + -0.10309778898954391, + 0.04926670715212822, + 0.9934503436088562, + 0.23746012955052512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521912, + 0.09010225534439087, + 0.10647290199995041, + -0.04472965222597122 + ], + [ + -0.08542878925800323, + 0.995202898979187, + -0.047677136957645416, + -0.054003827035427096 + ], + [ + -0.11025796085596085, + 0.038115233182907104, + 0.9931718707084656, + 0.2598174593448639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9878880381584167, + 0.10910330712795258, + 0.1103343814611435, + -0.05468486243060657 + ], + [ + -0.1089736670255661, + 0.9940183758735657, + -0.007222636602818966, + -0.030541869399803027 + ], + [ + -0.11046241223812103, + -0.00488838367164135, + 0.9938682913780212, + 0.30201331186294555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11517572402954102, + 0.10127005726099014, + -0.061371695748397286 + ], + [ + -0.1155034601688385, + 0.9933035373687744, + -0.0026410154532641172, + -0.018300056414279554 + ], + [ + -0.10089608281850815, + -0.009087270125746727, + 0.9948554635047913, + 0.33806034564971926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9912038445472717, + 0.11717354506254196, + 0.06152477487921715, + -0.06976718495999064 + ], + [ + -0.11816620081663132, + 0.9929121136665344, + 0.01273887138813734, + -0.0008064193138852716 + ], + [ + -0.05959603562951088, + -0.019896965473890305, + 0.9980242848396301, + 0.38705908622060503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10898551344871521, + 0.03810727968811989, + -0.06960011743009091 + ], + [ + -0.11007972061634064, + 0.9935311675071716, + 0.02789670042693615, + 0.013698025949299336 + ], + [ + -0.03482043370604515, + -0.03190498426556587, + 0.9988842010498047, + 0.4276523064204625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12342751026153564, + -0.020068813115358353, + -0.06466190021378654 + ], + [ + -0.12239201366901398, + 0.9913910031318665, + 0.04652000963687897, + 0.03445383680718286 + ], + [ + 0.02563788741827011, + -0.043698593974113464, + 0.9987157583236694, + 0.49171328680855886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13652752339839935, + -0.020918643102049828, + -0.05976281947642565 + ], + [ + -0.1353638619184494, + 0.9895585179328918, + 0.049502670764923096, + 0.04443769111377852 + ], + [ + 0.02745869942009449, + -0.046196579933166504, + 0.9985548853874207, + 0.5444899583884648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14335879683494568, + -0.021872254088521004, + -0.055257422134280205 + ], + [ + -0.14277836680412292, + 0.9894096851348877, + 0.026129750534892082, + 0.05573684428632259 + ], + [ + 0.025386551395058632, + -0.022730650380253792, + 0.9994192719459534, + 0.5992781987190247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.15059123933315277, + -0.04844290763139725, + -0.053926788611071454 + ], + [ + -0.1487281173467636, + 0.9880677461624146, + 0.04002520442008972, + 0.06445374714476722 + ], + [ + 0.05389232188463211, + -0.032316409051418304, + 0.9980236887931824, + 0.628372460944312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12358082085847855, + -0.06031331419944763, + -0.0514552666928087 + ], + [ + -0.1207491084933281, + 0.9914954304695129, + 0.04854371398687363, + 0.06812271936450685 + ], + [ + 0.06579944491386414, + -0.04079976677894592, + 0.9969984292984009, + 0.6616735025133406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10944973677396774, + -0.06214163452386856, + -0.04761856114438602 + ], + [ + -0.10524313896894455, + 0.9921627044677734, + 0.06735746562480927, + 0.07311106205838067 + ], + [ + 0.06902686506509781, + -0.06028185784816742, + 0.9957918524742126, + 0.6902217764513833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10997270047664642, + -0.030588766559958458, + -0.04820838245110853 + ], + [ + -0.1078801304101944, + 0.9921504259109497, + 0.06324061006307602, + 0.08087104004621505 + ], + [ + 0.03730339929461479, + -0.059527333825826645, + 0.9975294470787048, + 0.7403910349437168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.990229606628418, + 0.13941560685634613, + 0.0029355152510106564, + -0.05605699722016496 + ], + [ + -0.13941024243831635, + 0.9892725348472595, + 0.04364265128970146, + 0.08311302207410336 + ], + [ + 0.0031804428435862064, + -0.04362548515200615, + 0.9990428686141968, + 0.7796250752721514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.18429037928581238, + 0.04083311930298805, + -0.08634640565940312 + ], + [ + -0.18587321043014526, + 0.9817957282066345, + 0.039093632251024246, + 0.08191512065274374 + ], + [ + -0.03288520500063896, + -0.04598063603043556, + 0.998400866985321, + 0.8318656083515712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.1761280745267868, + 0.07524944096803665, + -0.10473014631867408 + ], + [ + -0.1787332147359848, + 0.9834593534469604, + 0.02936212159693241, + 0.07281371211260557 + ], + [ + -0.06883326917886734, + -0.04226810857653618, + 0.9967323541641235, + 0.8705150918960571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550232, + 0.1559009850025177, + 0.10445744544267654, + -0.11231678766012192 + ], + [ + -0.1605827808380127, + 0.9862918853759766, + 0.03796759992837906, + 0.06292962325470788 + ], + [ + -0.09710634499788284, + -0.054067134857177734, + 0.9938043355941772, + 0.9201871051107134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16043990850448608, + 0.10332164913415909, + -0.11907611156787191 + ], + [ + -0.1622307002544403, + 0.986710786819458, + 0.009113379754126072, + 0.054454557912158114 + ], + [ + -0.10048643499612808, + -0.025707848370075226, + 0.9946062564849854, + 0.9623025196620396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15839089453220367, + 0.0569317452609539, + -0.13480911941187723 + ], + [ + -0.1557570844888687, + 0.986624538898468, + -0.048080768436193466, + 0.041582869116749084 + ], + [ + -0.06378581374883652, + 0.038527313619852066, + 0.9972196221351624, + 1.000821519102369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.12986084818840027, + 0.036820583045482635, + -0.14844298628824099 + ], + [ + -0.12779107689857483, + 0.9903359413146973, + -0.053890399634838104, + 0.03718927321689469 + ], + [ + -0.043462999165058136, + 0.04869186878204346, + 0.99786776304245, + 1.0321002883570536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1303732544183731, + 0.011355924420058727, + -0.16742105217597314 + ], + [ + -0.12995941936969757, + 0.9910128712654114, + -0.031685881316661835, + 0.023468091628381184 + ], + [ + -0.015384859405457973, + 0.02993757277727127, + 0.9994333386421204, + 1.0772781519889831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12228640168905258, + 0.020507536828517914, + -0.18143468531114715 + ], + [ + -0.12112308293581009, + 0.9913427829742432, + -0.050682183355093, + 0.007856064124831131 + ], + [ + -0.02652774006128311, + 0.047807130962610245, + 0.9985042810440063, + 1.1145463771138873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12498211860656738, + 0.11386945843696594, + -0.2053637146949768 + ], + [ + -0.11320650577545166, + 0.9880491495132446, + -0.10460938513278961, + -0.016548063188791276 + ], + [ + -0.12558293342590332, + 0.09021255373954773, + 0.9879729747772217, + 1.1750605688095093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857361, + 0.13895663619041443, + 0.2117922008037567, + -0.23243022062097277 + ], + [ + -0.10959387570619583, + 0.9833987355232239, + -0.1446239948272705, + -0.03663281145266124 + ], + [ + -0.22837263345718384, + 0.1166960597038269, + 0.9665547013282776, + 1.2172655995573316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736633, + 0.16089852154254913, + 0.3294365108013153, + -0.2684543703283582 + ], + [ + -0.10751975327730179, + 0.9787876605987549, + -0.17439670860767365, + -0.08161848102297102 + ], + [ + -0.35050854086875916, + 0.1268320530653, + 0.9279317855834961, + 1.2524536800384523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.161844402551651, + 0.42879581451416016, + -0.2954417722565787 + ], + [ + -0.07678793370723724, + 0.9749354124069214, + -0.20881691575050354, + -0.11834875554697855 + ], + [ + -0.45184409618377686, + 0.15266719460487366, + 0.8789366483688354, + 1.2687130454608373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1683233678340912, + 0.4872375428676605, + -0.32691682103702 + ], + [ + -0.06372948735952377, + 0.9725275635719299, + -0.22389432787895203, + -0.12430720378671374 + ], + [ + -0.511538565158844, + 0.16080224514007568, + 0.8440799117088318, + 1.2860809377942766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.17023156583309174, + 0.49248456954956055, + -0.3536266076564789 + ], + [ + -0.09409771859645844, + 0.9799454808235168, + -0.17564865946769714, + -0.09068487014940807 + ], + [ + -0.5125089883804321, + 0.10357628017663956, + 0.8524121642112732, + 1.3066848482063838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204773, + 0.17138928174972534, + 0.5290848016738892, + -0.3875068977900914 + ], + [ + -0.11018028855323792, + 0.9832146167755127, + -0.14542801678180695, + -0.06916374441555569 + ], + [ + -0.5451287031173706, + 0.06256769597530365, + 0.8360143303871155, + 1.3329001073156084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612305, + 0.1661430448293686, + 0.5384422540664673, + -0.41436229705810546 + ], + [ + -0.11259321868419647, + 0.9849455952644348, + -0.13116765022277832, + -0.061702586561441425 + ], + [ + -0.5521289110183716, + 0.047735460102558136, + 0.8323911428451538, + 1.3393857550621033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.1421755701303482, + 0.5065333247184753, + -0.45152083008629934 + ], + [ + -0.1269027143716812, + 0.9897986650466919, + -0.06476350873708725, + -0.041093664705753326 + ], + [ + -0.5105738043785095, + -0.009204419329762459, + 0.8597846627235413, + 1.3582519649778093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525391, + 0.12768206000328064, + 0.4868294894695282, + -0.4717018711737224 + ], + [ + -0.132595032453537, + 0.9908668994903564, + -0.024523165076971054, + -0.023677639810102326 + ], + [ + -0.485514372587204, + -0.04336034879088402, + 0.8731527328491211, + 1.3695443413598196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.10844705998897552, + 0.4776364266872406, + -0.48852035621234347 + ], + [ + -0.13851292431354523, + 0.9899630546569824, + 0.028059717267751694, + -0.004237243561872414 + ], + [ + -0.4697994291782379, + -0.09062235057353973, + 0.8781093955039978, + 1.3683664723123823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.052844807505607605, + 0.4829251766204834, + -0.4910504831586565 + ], + [ + -0.09855006635189056, + 0.992685079574585, + 0.06974366307258606, + 0.0026538342540817603 + ], + [ + -0.4757070541381836, + -0.10855284333229065, + 0.8728797435760498, + 1.3657125809533255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.06852293759584427, + 0.537290096282959, + -0.48165752955845426 + ], + [ + -0.10477883368730545, + 0.9938000440597534, + 0.03718654066324234, + -0.0073678148857184815 + ], + [ + -0.531410813331604, + -0.08755598217248917, + 0.8425772786140442, + 1.3598722743988036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.14467664062976837, + 0.5528011322021484, + -0.47855228529657634 + ], + [ + -0.19230146706104279, + 0.9809144139289856, + 0.028759613633155823, + -0.003638460620173386 + ], + [ + -0.5380897521972656, + -0.12990626692771912, + 0.8328167796134949, + 1.3528250533172061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.17446689307689667, + 0.6060417890548706, + -0.4745253231525421 + ], + [ + -0.238027885556221, + 0.9709289073944092, + 0.02529500424861908, + -0.01681267349421978 + ], + [ + -0.5840103626251221, + -0.16388536989688873, + 0.7950304746627808, + 1.3294678659439088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.15146441757678986, + 0.6253744959831238, + -0.4709708699498858 + ], + [ + -0.17656175792217255, + 0.9840388894081116, + -0.02221343293786049, + -0.03409472222626209 + ], + [ + -0.6187573075294495, + -0.09341317415237427, + 0.7800085544586182, + 1.3226154360089983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1724855899810791, + 0.6312922239303589, + -0.48143731376102994 + ], + [ + -0.12414335459470749, + 0.9849303960800171, + -0.12041796743869781, + -0.06063437491229602 + ], + [ + -0.6425492763519287, + 0.012679804116487503, + 0.7661394476890564, + 1.310628438949585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.17190036177635193, + 0.6263754367828369, + -0.48121173909732273 + ], + [ + -0.09708493202924728, + 0.9835876226425171, + -0.1520850509405136, + -0.07897709395204272 + ], + [ + -0.6422386169433594, + 0.05482344701886177, + 0.7645416259765625, + 1.3101526532854353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.16924382746219635, + 0.6121340394020081, + -0.490736437525068 + ], + [ + -0.06050634756684303, + 0.9790657758712769, + -0.19434289634227753, + -0.10103746099982942 + ], + [ + -0.6322107911109924, + 0.11307834088802338, + 0.7665003538131714, + 1.3036100568771363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634766, + 0.18365970253944397, + 0.610598623752594, + -0.49684760178838455 + ], + [ + -0.057554930448532104, + 0.9737385511398315, + -0.2202741652727127, + -0.1118282475897244 + ], + [ + -0.6350188851356506, + 0.13454513251781464, + 0.7606895565986633, + 1.297081330537796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.18310168385505676, + 0.6242208480834961, + -0.4992436843599592 + ], + [ + -0.041914306581020355, + 0.9713501334190369, + -0.23392750322818756, + -0.12228271988459996 + ], + [ + -0.6491695642471313, + 0.1515013724565506, + 0.7454034090042114, + 1.293310884475708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.73583984375, + 0.16783741116523743, + 0.6560261845588684, + -0.4929208037853241 + ], + [ + -0.030435018241405487, + 0.9760149717330933, + -0.21556539833545685, + -0.1274570118188858 + ], + [ + -0.6764712929725647, + 0.13865543901920319, + 0.7232989072799683, + 1.290774487018585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7091473340988159, + 0.15343397855758667, + 0.6881628632545471, + -0.48847107887268065 + ], + [ + -0.024598143994808197, + 0.980823814868927, + -0.19333794713020325, + -0.13981170100825174 + ], + [ + -0.7046311497688293, + 0.12017756700515747, + 0.6993228197097778, + 1.2863060065678187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.1412988007068634, + 0.6889380216598511, + -0.48604103285925726 + ], + [ + -0.010299809277057648, + 0.9815955758094788, + -0.19069351255893707, + -0.14737176448106765 + ], + [ + -0.7032033205032349, + 0.1284707933664322, + 0.699285626411438, + 1.2824410154478891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.14272023737430573, + 0.6817785501480103, + -0.48334275000435967 + ], + [ + -0.005622163414955139, + 0.9799388647079468, + -0.19921892881393433, + -0.15333087539672852 + ], + [ + -0.6965339183807373, + 0.1391068696975708, + 0.7039103507995605, + 1.2817285950524466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7165511846542358, + 0.15290018916130066, + 0.6805703043937683, + -0.4801196719918932 + ], + [ + -0.026668570935726166, + 0.9809715151786804, + -0.19231128692626953, + -0.1551728118828365 + ], + [ + -0.6970245242118835, + 0.11965104937553406, + 0.7069939374923706, + 1.2890458505494253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.1482444703578949, + 0.6631469130516052, + -0.47551771194594245 + ], + [ + -0.037848759442567825, + 0.9833126068115234, + -0.1779431700706482, + -0.15764252165385656 + ], + [ + -0.6784598231315613, + 0.105450838804245, + 0.7270298004150391, + 1.3032329744611468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.16057254374027252, + 0.6456099152565002, + -0.4715669313498906 + ], + [ + -0.058937277644872665, + 0.9825836420059204, + -0.1762266457080841, + -0.16340845695563724 + ], + [ + -0.662662923336029, + 0.09351947903633118, + 0.7430558800697327, + 1.3068906918593814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1336606740951538, + 0.6435877084732056, + -0.45628961801528933 + ], + [ + -0.029247593134641647, + 0.9849565625190735, + -0.17030882835388184, + -0.17259102201461793 + ], + [ + -0.6566694974899292, + 0.109523244202137, + 0.7461835145950317, + 1.294438733100891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.12160331010818481, + 0.6562492847442627, + -0.4474154054437365 + ], + [ + -0.009480360895395279, + 0.9850897789001465, + -0.17177973687648773, + -0.17478951174020768 + ], + [ + -0.6673533916473389, + 0.12169958651065826, + 0.7347302436828613, + 1.2900081360680717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.12608471512794495, + 0.6632641553878784, + -0.4421599427972521 + ], + [ + -0.02282728999853134, + 0.9865032434463501, + -0.16214288771152496, + -0.1765995157616479 + ], + [ + -0.6747559309005737, + 0.10447032749652863, + 0.7306095957756042, + 1.2936471533775329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.12672460079193115, + 0.663916289806366, + -0.4391510068348476 + ], + [ + -0.028620939701795578, + 0.9872366786003113, + -0.15666703879833221, + -0.1790057490808623 + ], + [ + -0.6752961277961731, + 0.09646032750606537, + 0.73121178150177, + 1.2972047731535776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.1308019757270813, + 0.6597727537155151, + -0.4369410148688725 + ], + [ + -0.035178475081920624, + 0.9870927333831787, + -0.15623839199543, + -0.18108649645532882 + ], + [ + -0.6716932058334351, + 0.09240563213825226, + 0.7350438237190247, + 1.3007617623465402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.745140552520752, + 0.13616037368774414, + 0.6528597474098206, + -0.43317898055485315 + ], + [ + -0.04192494601011276, + 0.9865636229515076, + -0.1579066663980484, + -0.18179578999962126 + ], + [ + -0.6655883193016052, + 0.09029155969619751, + 0.7408370971679688, + 1.3052210713795254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.14112858474254608, + 0.6472257375717163, + -0.4279497077805655 + ], + [ + -0.04933154955506325, + 0.9862144589424133, + -0.1579476147890091, + -0.18145817066941944 + ], + [ + -0.6605943441390991, + 0.08639314770698547, + 0.7457555532455444, + 1.3103141622543335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.14414788782596588, + 0.6431073546409607, + -0.4223202564716339 + ], + [ + -0.055480580776929855, + 0.9861721992492676, + -0.15616124868392944, + -0.1812871835231781 + ], + [ + -0.6567248702049255, + 0.08176682889461517, + 0.7496843934059143, + 1.3162315018177033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.14556653797626495, + 0.636434018611908, + -0.4153035726206643 + ], + [ + -0.061389338225126266, + 0.9863881468772888, + -0.15254445374011993, + -0.18135665093149458 + ], + [ + -0.6499763131141663, + 0.07647773623466492, + 0.7560965418815613, + 1.3237012447629657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032837, + 0.1454291194677353, + 0.6266437768936157, + -0.407716577563967 + ], + [ + -0.06544648110866547, + 0.9866658449172974, + -0.1490209698677063, + -0.18224710072789874 + ], + [ + -0.6399600505828857, + 0.07308121025562286, + 0.7649250030517578, + 1.3306547328404017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.1440925896167755, + 0.6165453791618347, + -0.3987392863205501 + ], + [ + -0.06753703206777573, + 0.9869939088821411, + -0.14588287472724915, + -0.1837018152986254 + ], + [ + -0.6295471787452698, + 0.07127682864665985, + 0.7736859917640686, + 1.337123550755637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.13998255133628845, + 0.6081311702728271, + -0.38879522711890085 + ], + [ + -0.06584182381629944, + 0.9875703454017639, + -0.1427225023508072, + -0.1858063707607133 + ], + [ + -0.6205509901046753, + 0.07148247957229614, + 0.7809012532234192, + 1.3426324429852623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.13279315829277039, + 0.6052546501159668, + -0.3785065775598798 + ], + [ + -0.06041157245635986, + 0.9885125756263733, + -0.13854005932807922, + -0.18901717950616564 + ], + [ + -0.6166989803314209, + 0.0721726045012474, + 0.7838835716247559, + 1.3459716562543595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.1257798820734024, + 0.60993891954422, + -0.36850824311801367 + ], + [ + -0.05348119139671326, + 0.9893442988395691, + -0.13541647791862488, + -0.19279403834683553 + ], + [ + -0.620472252368927, + 0.07332996279001236, + 0.7807924747467041, + 1.3483559797831943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.12104804813861847, + 0.6155020594596863, + -0.3590047693252563 + ], + [ + -0.04740018770098686, + 0.9897552728652954, + -0.13467614352703094, + -0.19743988692760467 + ], + [ + -0.6254987120628357, + 0.07570873200893402, + 0.776543378829956, + 1.3501689100265504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.11858713626861572, + 0.6206338405609131, + -0.34998093100956507 + ], + [ + -0.04306604340672493, + 0.9898609519004822, + -0.13535372912883759, + -0.20141242346593313 + ], + [ + -0.6303924322128296, + 0.07818187773227692, + 0.7723296284675598, + 1.3513656824316298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.11547547578811646, + 0.6275071501731873, + -0.3401887585094997 + ], + [ + -0.037941500544548035, + 0.9900326132774353, + -0.13563118875026703, + -0.20478243453162057 + ], + [ + -0.6369146704673767, + 0.08062747865915298, + 0.7667065858840942, + 1.3512929011753627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.11303699016571045, + 0.6334064602851868, + -0.3304486127921513 + ], + [ + -0.03384670615196228, + 0.9901584386825562, + -0.13579630851745605, + -0.20784708796228682 + ], + [ + -0.6425227522850037, + 0.0825159028172493, + 0.7618107795715332, + 1.3522716138022286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.11086848378181458, + 0.6373112797737122, + -0.32044598916598727 + ], + [ + -0.030093934386968613, + 0.9902170896530151, + -0.13625141978263855, + -0.2106416367803301 + ], + [ + -0.6461824774742126, + 0.08472467958927155, + 0.7584655284881592, + 1.352207373210362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.10702851414680481, + 0.6431562900543213, + -0.3093166640826634 + ], + [ + -0.02442311868071556, + 0.9904047250747681, + -0.13602215051651, + -0.2119247393948691 + ], + [ + -0.6515432596206665, + 0.08742660284042358, + 0.7535569071769714, + 1.352112719842366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.10158804059028625, + 0.6501113176345825, + -0.2987344892365592 + ], + [ + -0.017815619707107544, + 0.9907956719398499, + -0.13418859243392944, + -0.21244878891536167 + ], + [ + -0.657759428024292, + 0.0894642025232315, + 0.7478961944580078, + 1.3528595589229038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.09570881724357605, + 0.6551191806793213, + -0.28797701930999753 + ], + [ + -0.013322986662387848, + 0.9914758801460266, + -0.12960730493068695, + -0.21287654572725295 + ], + [ + -0.6619393825531006, + 0.08840461820363998, + 0.7443257570266724, + 1.3534526476860047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.085726797580719, + 0.6633638143539429, + -0.27692123246192935 + ], + [ + -0.006847213953733444, + 0.9926762580871582, + -0.12061097472906113, + -0.2134573170883315 + ], + [ + -0.6688450574874878, + 0.0851164385676384, + 0.7385130524635315, + 1.3528420092037745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.07395096123218536, + 0.6733105778694153, + -0.26880680210249763 + ], + [ + 0.003801446408033371, + 0.9935560822486877, + -0.11327755451202393, + -0.2158864550249917 + ], + [ + -0.677348792552948, + 0.0858924388885498, + 0.73063063621521, + 1.3504890677588326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.072268545627594, + 0.6801671385765076, + -0.266083334003176 + ], + [ + 0.012050924822688103, + 0.9928904175758362, + -0.11842051148414612, + -0.21792397567204067 + ], + [ + -0.6838894486427307, + 0.09458276629447937, + 0.7234288454055786, + 1.348923078945705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416382, + 0.08294961601495743, + 0.6780981421470642, + -0.267170488187245 + ], + [ + 0.011849276721477509, + 0.9909136891365051, + -0.13397639989852905, + -0.21801145437785557 + ], + [ + -0.6830499768257141, + 0.10587465763092041, + 0.7226570844650269, + 1.346717360837119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390625, + 0.10026845335960388, + 0.6739415526390076, + -0.26811726123946056 + ], + [ + 0.004307657480239868, + 0.9884120225906372, + -0.15173354744911194, + -0.21635800056798118 + ], + [ + -0.6813459992408752, + 0.11396431177854538, + 0.7230351567268372, + 1.3457537512779236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.11133722960948944, + 0.6776542067527771, + -0.26877390800203593 + ], + [ + 0.0013496428728103638, + 0.9865368008613586, + -0.1635337620973587, + -0.21379175692796706 + ], + [ + -0.6867381930351257, + 0.11978787928819656, + 0.7169668674468994, + 1.343818690572466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.11511974781751633, + 0.6840636730194092, + -0.26799217867851255 + ], + [ + 0.002270229160785675, + 0.9857369065284729, + -0.16827817261219025, + -0.21138310337066651 + ], + [ + -0.6936789751052856, + 0.12276051193475723, + 0.7097460031509399, + 1.3456702814102173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.11353930830955505, + 0.6849480271339417, + -0.2664353494984763 + ], + [ + 0.0035201720893383026, + 0.9859286546707153, + -0.16712959110736847, + -0.20876874280827387 + ], + [ + -0.6942856907844543, + 0.1226927787065506, + 0.7091642022132874, + 1.350012492622648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.10871295630931854, + 0.6842870712280273, + -0.264096753018243 + ], + [ + 0.005068447440862656, + 0.9867600202560425, + -0.16210779547691345, + -0.20609627297946384 + ], + [ + -0.6928503513336182, + 0.12035829573869705, + 0.7109657526016235, + 1.3555335568019322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.10231171548366547, + 0.6811534762382507, + -0.2615465910775321 + ], + [ + 0.005377601832151413, + 0.9880359172821045, + -0.1541299819946289, + -0.20312653657368251 + ], + [ + -0.6887734532356262, + 0.11540054529905319, + 0.7157331705093384, + 1.363514997959137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032104, + 0.09357401728630066, + 0.6753170490264893, + -0.25794964279447286 + ], + [ + 0.005032200366258621, + 0.9897680878639221, + -0.14259666204452515, + -0.20081605230058944 + ], + [ + -0.6817506551742554, + 0.10771739482879639, + 0.7236111164093018, + 1.3710360302243914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.08713700622320175, + 0.6687716245651245, + -0.25504424864905223 + ], + [ + 0.0022234320640563965, + 0.9912983775138855, + -0.13161508738994598, + -0.199326913024698 + ], + [ + -0.6744208335876465, + 0.09866416454315186, + 0.7317253351211548, + 1.380509987762996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268921, + 0.0819198340177536, + 0.661016583442688, + -0.25014538867133007 + ], + [ + -0.002202838659286499, + 0.9927059412002563, + -0.12054046988487244, + -0.196744008234569 + ], + [ + -0.666069746017456, + 0.08845336735248566, + 0.7406261563301086, + 1.393460820402418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.07515870779752731, + 0.6547895073890686, + -0.24612147569656373 + ], + [ + -0.005974471569061279, + 0.9942134022712708, + -0.10725676268339157, + -0.19758671125769614 + ], + [ + -0.6590617299079895, + 0.07675204426050186, + 0.7481622099876404, + 1.3992416923046112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.06682216376066208, + 0.650288999080658, + -0.24163557076454162 + ], + [ + -0.006495116278529167, + 0.9954813718795776, + -0.09473494440317154, + -0.19784374121257237 + ], + [ + -0.6536809802055359, + 0.06746625155210495, + 0.7537569403648376, + 1.404953795024327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.05733489617705345, + 0.6438463926315308, + -0.23792922581945147 + ], + [ + -0.004429847002029419, + 0.9964988231658936, + -0.08348912000656128, + -0.19898420555250984 + ], + [ + -0.6463789939880371, + 0.0608503632247448, + 0.7605862617492676, + 1.4100309903281076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.04943409934639931, + 0.6365248560905457, + -0.23374187741960797 + ], + [ + -0.0010506212711334229, + 0.9970945715904236, + -0.07616645842790604, + -0.19931431994267873 + ], + [ + -0.6384406685829163, + 0.057954318821430206, + 0.767486035823822, + 1.4160126524652754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.04127850383520126, + 0.6309370398521423, + -0.23050712295940945 + ], + [ + 0.005434446036815643, + 0.9973950982093811, + -0.07192674279212952, + -0.20003989202635628 + ], + [ + -0.6322625279426575, + 0.05915297567844391, + 0.7724927663803101, + 1.4210816591126578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.03469128534197807, + 0.622523307800293, + -0.22757927118028914 + ], + [ + 0.010678560473024845, + 0.9975593686103821, + -0.0690021738409996, + -0.20024026393890382 + ], + [ + -0.623397707939148, + 0.06059575825929642, + 0.7795534133911133, + 1.4248057656969344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.027961822226643562, + 0.6155270934104919, + -0.223281950371606 + ], + [ + 0.015199368819594383, + 0.9977840781211853, + -0.06477567553520203, + -0.19928703039033072 + ], + [ + -0.6159743666648865, + 0.06037421524524689, + 0.7854492664337158, + 1.4292162910188948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.01998138800263405, + 0.6103324294090271, + -0.21850463604927062 + ], + [ + 0.019530203193426132, + 0.9981245398521423, + -0.05801715701818466, + -0.19847731393575668 + ], + [ + -0.6103470921516418, + 0.05786331743001938, + 0.7900179028511047, + 1.4352808508872985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.012407150119543076, + 0.6057325601577759, + -0.21397155628885542 + ], + [ + 0.02223769947886467, + 0.9985185861587524, + -0.04965963587164879, + -0.1980542844810656 + ], + [ + -0.6054513454437256, + 0.05297789350152016, + 0.7941171526908875, + 1.4416523805686405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400513, + 0.006813941057771444, + 0.5993016362190247, + -0.20952285443033491 + ], + [ + 0.022084321826696396, + 0.9989209771156311, + -0.04085582494735718, + -0.1979610115289688 + ], + [ + -0.5989333987236023, + 0.04594002664089203, + 0.7994800806045532, + 1.4485588073730469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409912, + 0.003537162207067013, + 0.5950278639793396, + -0.20451490117822374 + ], + [ + 0.02030157297849655, + 0.9992371797561646, + -0.033361103385686874, + -0.19755468113720417 + ], + [ + -0.5946919322013855, + 0.0388922281563282, + 0.8030123710632324, + 1.4547564306259155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.00019095931202173233, + 0.5924656391143799, + -0.19969489751543318 + ], + [ + 0.01952366530895233, + 0.999448299407959, + -0.02686913311481476, + -0.19733801921776362 + ], + [ + -0.5921438932418823, + 0.03321275860071182, + 0.8051475286483765, + 1.4600331329618181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.0016304003074765205, + 0.591600775718689, + -0.1955289238861629 + ], + [ + 0.019058510661125183, + 0.9995487332344055, + -0.02321813628077507, + -0.19766978666824953 + ], + [ + -0.5912959575653076, + 0.0299941748380661, + 0.8058966994285583, + 1.4642866818904876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.805838942527771, + -0.0006570005789399147, + 0.592134416103363, + -0.1923053718294416 + ], + [ + 0.01771843433380127, + 0.9995783567428589, + -0.023004036396741867, + -0.19861791026592254 + ], + [ + -0.5918696522712708, + 0.0290292426943779, + 0.8055108189582825, + 1.4671115471976144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.0018861819989979267, + 0.5929752588272095, + -0.18885951101779938 + ], + [ + 0.015192830935120583, + 0.9996010661125183, + -0.023810401558876038, + -0.19987118750810623 + ], + [ + -0.5927835702896118, + 0.028181549161672592, + 0.8048685789108276, + 1.4698860192298888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.005308737978339195, + 0.5961012840270996, + -0.18523064187594823 + ], + [ + 0.011914195492863655, + 0.9996176958084106, + -0.024949651211500168, + -0.20175610977837016 + ], + [ + -0.5960057973861694, + 0.027133934199810028, + 0.8025215268135071, + 1.471776984827859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.010189252905547619, + 0.6008484959602356, + -0.1808632435968944 + ], + [ + 0.006486645899713039, + 0.9996517300605774, + -0.025581270456314087, + -0.2038709339073726 + ], + [ + -0.600899875164032, + 0.0243445485830307, + 0.7989534735679626, + 1.47301685827119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.011551767587661743, + 0.6095070838928223, + -0.17708796753202166 + ], + [ + 0.003120924811810255, + 0.9997304677963257, + -0.023006461560726166, + -0.20762225985527039 + ], + [ + -0.60960853099823, + 0.020139366388320923, + 0.7924467325210571, + 1.4735874244144984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.011629345826804638, + 0.6185575723648071, + -0.17525092734609332 + ], + [ + 0.00494848657399416, + 0.9996731877326965, + -0.025079868733882904, + -0.21004725893480436 + ], + [ + -0.6186470985412598, + 0.022765010595321655, + 0.7853391170501709, + 1.4719788052695137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914246, + 0.016198858618736267, + 0.6225465536117554, + -0.17674925395420618 + ], + [ + 0.0066249435767531395, + 0.999388575553894, + -0.03433062508702278, + -0.21394702636769838 + ], + [ + -0.6227220296859741, + 0.030985135585069656, + 0.7818294167518616, + 1.471097003051213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511108, + 0.026653781533241272, + 0.6206187605857849, + -0.17942182958126068 + ], + [ + 0.002055118791759014, + 0.9989623427391052, + -0.04549755901098251, + -0.2128768830171653 + ], + [ + -0.6211875081062317, + 0.03693003207445145, + 0.7827913761138916, + 1.4663251182011197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.03707797825336456, + 0.6224811673164368, + -0.1811344585418701 + ], + [ + -0.005708340555429459, + 0.9986144304275513, + -0.05231335386633873, + -0.21217653369903564 + ], + [ + -0.6235583424568176, + 0.037342946976423264, + 0.7808845043182373, + 1.4656340093612672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.04220186918973923, + 0.6274511814117432, + -0.18293711910929 + ], + [ + -0.00994909554719925, + 0.9984463453292847, + -0.054826200008392334, + -0.21012728224481855 + ], + [ + -0.6287901401519775, + 0.0363854244351387, + 0.7767232656478882, + 1.4627362899099077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.04268907383084297, + 0.6328980922698975, + -0.1842007449013846 + ], + [ + -0.010104116052389145, + 0.9984350800514221, + -0.05500286817550659, + -0.20821528153760094 + ], + [ + -0.6342556476593018, + 0.03612550348043442, + 0.772278904914856, + 1.4623842123576574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.040155068039894104, + 0.639006495475769, + -0.18530656823090144 + ], + [ + -0.007285444065928459, + 0.9985149502754211, + -0.053988661617040634, + -0.20541384212672711 + ], + [ + -0.6402255296707153, + 0.036816079169511795, + 0.7673043012619019, + 1.4625951715878078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.03601080924272537, + 0.6457105875015259, + -0.1861081645829337 + ], + [ + -0.0027196016162633896, + 0.9986183047294617, + -0.05247975140810013, + -0.20298710128239222 + ], + [ + -0.6467082500457764, + 0.0382719486951828, + 0.7617766857147217, + 1.4628832364763533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.03305539861321449, + 0.6532780528068542, + -0.18862436485290526 + ], + [ + 0.0010118745267391205, + 0.998661994934082, + -0.05170317366719246, + -0.20104844847960132 + ], + [ + -0.6541129946708679, + 0.039769116789102554, + 0.755350649356842, + 1.4627211835384368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.03392140194773674, + 0.6621549129486084, + -0.19340832104001726 + ], + [ + 0.002848452888429165, + 0.9985166192054749, + -0.054373130202293396, + -0.1991635172877993 + ], + [ + -0.6630171537399292, + 0.042589783668518066, + 0.7473918199539185, + 1.461379959651402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966064, + 0.0397893562912941, + 0.6730932593345642, + -0.19991812658309938 + ], + [ + 0.002231152728199959, + 0.9981076717376709, + -0.061450231820344925, + -0.1976674520522356 + ], + [ + -0.6742646098136902, + 0.046881940215826035, + 0.7370002269744873, + 1.4594690332412719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109741, + 0.049554504454135895, + 0.685396671295166, + -0.20801027723721094 + ], + [ + -0.001142272725701332, + 0.9974822402000427, + -0.07090769708156586, + -0.19639065180506024 + ], + [ + -0.6871848106384277, + 0.05073024332523346, + 0.7247092723846436, + 1.4569609669276646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.059891149401664734, + 0.6987503170967102, + -0.22035976699420384 + ], + [ + -0.006626000627875328, + 0.9968775510787964, + -0.07868443429470062, + -0.19539395769153323 + ], + [ + -0.7012810111045837, + 0.05146060883998871, + 0.7110251188278198, + 1.4539629616737366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.06956323981285095, + 0.7127651572227478, + -0.23200625675065178 + ], + [ + -0.012291919440031052, + 0.9962882399559021, + -0.08519771695137024, + -0.19265697840281895 + ], + [ + -0.716046154499054, + 0.0507020503282547, + 0.696209192276001, + 1.4533292274475098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.07782904803752899, + 0.7261784672737122, + -0.24129056099482946 + ], + [ + -0.0173418577760458, + 0.9957537651062012, + -0.0904083251953125, + -0.18987005182674954 + ], + [ + -0.7301313281059265, + 0.049163445830345154, + 0.6815358996391296, + 1.4496684185096196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821777, + 0.08739078044891357, + 0.7402608394622803, + -0.25179195884295874 + ], + [ + -0.025170691311359406, + 0.995176374912262, + -0.09481801092624664, + -0.18816919834273202 + ], + [ + -0.744976282119751, + 0.0445743203163147, + 0.665600061416626, + 1.4477938271931239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.09310662746429443, + 0.753730297088623, + -0.26217375908579144 + ], + [ + -0.029684361070394516, + 0.9948155879974365, + -0.09726637601852417, + -0.18552877647536142 + ], + [ + -0.7588788270950317, + 0.04090312123298645, + 0.6499460339546204, + 1.4464621245861053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.0942610651254654, + 0.7655285000801086, + -0.27157348608970644 + ], + [ + -0.030780717730522156, + 0.9948177933692932, + -0.09690285474061966, + -0.1819601791501045 + ], + [ + -0.7706955075263977, + 0.038111262023448944, + 0.6360629200935364, + 1.4454385209083558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.09133201837539673, + 0.7758888006210327, + -0.27995293028014046 + ], + [ + -0.02819773182272911, + 0.9951298236846924, + -0.09445364773273468, + -0.17804313965354646 + ], + [ + -0.7807366847991943, + 0.03708188608288765, + 0.623758852481842, + 1.4449983494281768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954834, + 0.08540842682123184, + 0.7850309610366821, + -0.28773404353005544 + ], + [ + -0.023606853559613228, + 0.9956731796264648, + -0.08987560123205185, + -0.17367691470895494 + ], + [ + -0.7893104553222656, + 0.036610208451747894, + 0.6129019856452942, + 1.4446006159101215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.07984350621700287, + 0.7932844758033752, + -0.29459260889462063 + ], + [ + -0.020423011854290962, + 0.9961948990821838, + -0.08472685515880585, + -0.16859957207100731 + ], + [ + -0.7970308661460876, + 0.03493928909301758, + 0.6029270887374878, + 1.444829838684627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.07579241693019867, + 0.8007444143295288, + -0.3008349687712533 + ], + [ + -0.0202743262052536, + 0.9966453909873962, + -0.07929037511348724, + -0.16298809272902354 + ], + [ + -0.804067850112915, + 0.03087913990020752, + 0.5937351584434509, + 1.4447331765719822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.07393410056829453, + 0.8076926469802856, + -0.30646057626179285 + ], + [ + -0.023839903995394707, + 0.9969736337661743, + -0.07399497926235199, + -0.15688865686314446 + ], + [ + -0.8107190132141113, + 0.024028053507208824, + 0.5849422812461853, + 1.4451007704394205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.0707332044839859, + 0.8156781792640686, + -0.3120389823232378 + ], + [ + -0.02774665132164955, + 0.9973699450492859, + -0.06695778667926788, + -0.150594686627388 + ], + [ + -0.8182690739631653, + 0.01581251062452793, + 0.5746179819107056, + 1.4448845618111748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436523, + 0.06718616932630539, + 0.8239855766296387, + -0.31901413297653197 + ], + [ + -0.030379461124539375, + 0.9976992607116699, + -0.06060749292373657, + -0.14260573387145997 + ], + [ + -0.8261617422103882, + 0.009066363796591759, + 0.5633601546287537, + 1.4453273260593413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.0605977401137352, + 0.8284255266189575, + -0.32435135105678015 + ], + [ + -0.027788326144218445, + 0.998136043548584, + -0.05433431267738342, + -0.1379747610092163 + ], + [ + -0.8301739692687988, + 0.007233412936329842, + 0.5574575662612915, + 1.4454349798474992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447021, + 0.0529155358672142, + 0.8308990597724915, + -0.32943601761545455 + ], + [ + -0.02377297542989254, + 0.9985765814781189, + -0.04774627089500427, + -0.13453009707587105 + ], + [ + -0.8322427868843079, + 0.006693793460726738, + 0.5543709993362427, + 1.445332911014557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.04466269910335541, + 0.8347319960594177, + -0.333673412663596 + ], + [ + -0.018322572112083435, + 0.9989745020866394, + -0.04140334948897362, + -0.13208133891650609 + ], + [ + -0.8357251286506653, + 0.007429473102092743, + 0.5490977764129639, + 1.444077360698155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.039000529795885086, + 0.8392189145088196, + -0.3392387727669307 + ], + [ + -0.014011972583830357, + 0.9992029070854187, + -0.03737932816147804, + -0.13124928595551422 + ], + [ + -0.8400078415870667, + 0.0085151931270957, + 0.542507529258728, + 1.442399397645678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.037511080503463745, + 0.8418089151382446, + -0.3464109308379037 + ], + [ + -0.011795873753726482, + 0.99924635887146, + -0.03698116913437843, + -0.13165984806418418 + ], + [ + -0.8425617218017578, + 0.009983401745557785, + 0.538507342338562, + 1.44090324647086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.04023795202374458, + 0.8424282073974609, + -0.3539887275014605 + ], + [ + -0.010700724087655544, + 0.9991061091423035, + -0.040896590799093246, + -0.13308610917202063 + ], + [ + -0.8433207273483276, + 0.0129593126475811, + 0.5372543334960938, + 1.438894981929234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767334, + 0.045516762882471085, + 0.8431676626205444, + -0.3615750980377197 + ], + [ + -0.010955527424812317, + 0.9988366961479187, + -0.04695947468280792, + -0.1352882945537567 + ], + [ + -0.8443242311477661, + 0.01591981202363968, + 0.5355960130691528, + 1.436664628982544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.05082269012928009, + 0.8445265889167786, + -0.3689056122303009 + ], + [ + -0.011070739477872849, + 0.9985277056694031, + -0.053102053701877594, + -0.13764962305767195 + ], + [ + -0.845982015132904, + 0.018958987668156624, + 0.532874345779419, + 1.4349259433746337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095581, + 0.055733662098646164, + 0.8462933897972107, + -0.3764606382506234 + ], + [ + -0.010763686150312424, + 0.998199999332428, + -0.05899941176176071, + -0.14039790167978833 + ], + [ + -0.84805828332901, + 0.02214827574789524, + 0.5294398665428162, + 1.432863212789808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.060352012515068054, + 0.8465580940246582, + -0.3835415334701538 + ], + [ + -0.009884199127554893, + 0.9978387951850891, + -0.06496209651231766, + -0.14303159839340618 + ], + [ + -0.8486491441726685, + 0.025988563895225525, + 0.5283174514770508, + 1.4318971984045845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.06465776264667511, + 0.8463590145111084, + -0.38958347143445693 + ], + [ + -0.009668562561273575, + 0.9974886178970337, + -0.07016392797231674, + -0.14495024507386345 + ], + [ + -0.8487701416015625, + 0.028910748660564423, + 0.527971088886261, + 1.4317959186009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.06922449916601181, + 0.846060574054718, + -0.39453440240451265 + ], + [ + -0.011588459834456444, + 0.9971650242805481, + -0.07434799522161484, + -0.146233293648277 + ], + [ + -0.8488087058067322, + 0.029493816196918488, + 0.5278768539428711, + 1.4317741421290806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.07206359505653381, + 0.8454700708389282, + -0.3986046462740217 + ], + [ + -0.013987669721245766, + 0.9969925880432129, + -0.0762244164943695, + -0.14713580918312072 + ], + [ + -0.8484203815460205, + 0.02850710041821003, + 0.5285549163818359, + 1.43207704271589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.07331778109073639, + 0.845229983329773, + -0.4011617956161499 + ], + [ + -0.01589363068342209, + 0.996941089630127, + -0.07652381807565689, + -0.14767437914013862 + ], + [ + -0.8482550382614136, + 0.027074074372649193, + 0.5288954973220825, + 1.4320471940040589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.07381334900856018, + 0.8455305099487305, + -0.40360763570240565 + ], + [ + -0.016490193083882332, + 0.9969165921211243, + -0.07671602070331573, + -0.1481851667165756 + ], + [ + -0.8485860824584961, + 0.026624489575624466, + 0.5283870100975037, + 1.4318313674926757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.07486776262521744, + 0.8453223705291748, + -0.40541975007738384 + ], + [ + -0.015686916187405586, + 0.9967933297157288, + -0.07846657186746597, + -0.1483766506612301 + ], + [ + -0.8484863042831421, + 0.028247127309441566, + 0.5284630060195923, + 1.431666870185307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.07563894987106323, + 0.8456615805625916, + -0.4070454137665885 + ], + [ + -0.012755099684000015, + 0.9966184496879578, + -0.08117222785949707, + -0.1483669570514134 + ], + [ + -0.8489417433738708, + 0.03209943324327469, + 0.5275107026100159, + 1.4306283729416984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.07548543065786362, + 0.8455944061279297, + -0.4086577136175973 + ], + [ + -0.00785839557647705, + 0.9964314699172974, + -0.08403933793306351, + -0.14800370982289315 + ], + [ + -0.8489205837249756, + 0.03776659071445465, + 0.527169406414032, + 1.4286251301424844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.07426562905311584, + 0.8455573916435242, + -0.4097567780358451 + ], + [ + -0.001545831561088562, + 0.9962476491928101, + -0.08653426915407181, + -0.14733626295839036 + ], + [ + -0.8488110899925232, + 0.04444306343793869, + 0.5268250107765198, + 1.4264376457759311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.07352326065301895, + 0.8461398482322693, + -0.4109839366844722 + ], + [ + 0.005914658308029175, + 0.995903730392456, + -0.09022649377584457, + -0.14717135997755187 + ], + [ + -0.8493075966835022, + 0.052632056176662445, + 0.5252680778503418, + 1.424367394038609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.07322097569704056, + 0.8468546867370605, + -0.4124832730293274 + ], + [ + 0.011033521965146065, + 0.9956100583076477, + -0.09294576942920685, + -0.14709178626537323 + ], + [ + -0.8499425649642944, + 0.058303892612457275, + 0.5236395001411438, + 1.4226358380317687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.07066094130277634, + 0.8480715751647949, + -0.4134999462536403 + ], + [ + 0.012927105650305748, + 0.9957695603370667, + -0.09097189456224442, + -0.1464042721263 + ], + [ + -0.8509119749069214, + 0.058736927807331085, + 0.5220141410827637, + 1.4228259093420845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278198, + 0.06957677006721497, + 0.849164605140686, + -0.41436247628075734 + ], + [ + 0.008596707135438919, + 0.9961779713630676, + -0.08692242205142975, + -0.14650645715849742 + ], + [ + -0.8519668579101562, + 0.05280609428882599, + 0.5209261178970337, + 1.4243933520998273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.07382387667894363, + 0.8483970761299133, + -0.41561663705962043 + ], + [ + -0.002200312912464142, + 0.996349573135376, + -0.08533859997987747, + -0.1473163307607174 + ], + [ + -0.8516001105308533, + 0.04286668449640274, + 0.5224363803863525, + 1.4264338151386806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.525605320930481, + 0.08189307153224945, + 0.8467777967453003, + -0.41881569140298025 + ], + [ + -0.01534353569149971, + 0.9961066246032715, + -0.08681095391511917, + -0.1481347697206906 + ], + [ + -0.8505902290344238, + 0.03263574093580246, + 0.5248154997825623, + 1.4290837388038635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.08889098465442657, + 0.8429223299026489, + -0.42310322999954225 + ], + [ + -0.02570650726556778, + 0.9957157969474792, + -0.08882102370262146, + -0.14914940554755074 + ], + [ + -0.8472064733505249, + 0.025463547557592392, + 0.5306532382965088, + 1.4333143593924387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656494, + 0.0957251563668251, + 0.8330931663513184, + -0.4277745079994202 + ], + [ + -0.033817730844020844, + 0.9951630234718323, + -0.09223300963640213, + -0.14982979127338955 + ], + [ + -0.8378925323486328, + 0.022074006497859955, + 0.5453888177871704, + 1.438600368499756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.10160455107688904, + 0.8230347633361816, + -0.4291453156471252 + ], + [ + -0.03878560662269592, + 0.9945821166038513, + -0.09644736349582672, + -0.15045618289709092 + ], + [ + -0.8283751010894775, + 0.021975718438625336, + 0.5597425699234009, + 1.4416713013648987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.10144573450088501, + 0.8163431286811829, + -0.4329788061550685 + ], + [ + -0.03442546725273132, + 0.9944319725036621, + -0.09959900379180908, + -0.15184760401930128 + ], + [ + -0.8219016194343567, + 0.028527840971946716, + 0.5689147710800171, + 1.4448934988294329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.09669722616672516, + 0.8022363185882568, + -0.43573380041122434 + ], + [ + -0.02457161247730255, + 0.994498610496521, + -0.10182727873325348, + -0.15420801826034272 + ], + [ + -0.8076692819595337, + 0.040276605635881424, + 0.5882585048675537, + 1.4478390530177525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.08511510491371155, + 0.793985903263092, + -0.4330059827395848 + ], + [ + -0.01131240651011467, + 0.9951122999191284, + -0.098099485039711, + -0.15501937976905278 + ], + [ + -0.7984549403190613, + 0.0500689335167408, + 0.5999691486358643, + 1.4473526705333164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544312, + 0.0724201649427414, + 0.7922754883766174, + -0.4313000200475965 + ], + [ + 0.004881802946329117, + 0.9954911470413208, + -0.09472878277301788, + -0.15694774061441422 + ], + [ + -0.7955635190010071, + 0.06125922501087189, + 0.6027653217315674, + 1.4472237471171787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.06573612987995148, + 0.7926512956619263, + -0.42864406067984445 + ], + [ + 0.01660158857703209, + 0.9953160285949707, + -0.09523835778236389, + -0.15931548270157406 + ], + [ + -0.7951991558074951, + 0.07088525593280792, + 0.6021907329559326, + 1.44649944795881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.0635758638381958, + 0.7964771389961243, + -0.42495504539353507 + ], + [ + 0.02113236114382744, + 0.9952152967453003, + -0.09539373219013214, + -0.16214012039559228 + ], + [ + -0.7987309098243713, + 0.0741933286190033, + 0.5970965623855591, + 1.4474369868550983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.06489643454551697, + 0.799883246421814, + -0.4226452622413635 + ], + [ + 0.019521823152899742, + 0.9952563047409058, + -0.09530895203351974, + -0.16309038174152374 + ], + [ + -0.8022741079330444, + 0.07248000055551529, + 0.5925395488739014, + 1.4500365104675292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.06690725684165955, + 0.8006613254547119, + -0.42093108579090666 + ], + [ + 0.0153118334710598, + 0.9954007863998413, + -0.09456649422645569, + -0.1629565124000822 + ], + [ + -0.8033061027526855, + 0.0685615986585617, + 0.5916067957878113, + 1.453343699148723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.06888251006603241, + 0.8000494241714478, + -0.4188188964979989 + ], + [ + 0.009839741513133049, + 0.9956128001213074, + -0.09304984658956528, + -0.16213943971054895 + ], + [ + -0.8029489517211914, + 0.0633268877863884, + 0.592674195766449, + 1.4585217547416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.07167219370603561, + 0.7971280217170715, + -0.4171073617594583 + ], + [ + 0.003971986472606659, + 0.9957034587860107, + -0.09251416474580765, + -0.1606080106794834 + ], + [ + -0.8003337979316711, + 0.05863227695226669, + 0.5966809391975403, + 1.4657172576018742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.07368713617324829, + 0.7914780378341675, + -0.41555040202822 + ], + [ + -0.0028383247554302216, + 0.9958885908126831, + -0.09054207056760788, + -0.15885442866597857 + ], + [ + -0.7948957681655884, + 0.05268897861242294, + 0.6044540405273438, + 1.4744731743676323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.07392972707748413, + 0.7843143939971924, + -0.41437943063463484 + ], + [ + -0.010078910738229752, + 0.9962449073791504, + -0.08599112927913666, + -0.1562755337016923 + ], + [ + -0.7877265214920044, + 0.04506056383252144, + 0.6143748760223389, + 1.4847837686538696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852783, + 0.07217749953269958, + 0.7749629020690918, + -0.4134716125896999 + ], + [ + -0.01739228144288063, + 0.9967432618141174, + -0.07874224334955215, + -0.15338648332016808 + ], + [ + -0.7781224250793457, + 0.035961657762527466, + 0.6270822882652283, + 1.4967982574871608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.06780781596899033, + 0.7635822892189026, + -0.41265198588371277 + ], + [ + -0.022726111114025116, + 0.9973263144493103, + -0.06945312023162842, + -0.15071266889572144 + ], + [ + -0.7662501931190491, + 0.027245398610830307, + 0.6419644951820374, + 1.5097533285617828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/tilt_down/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5e93e1805f0d13430c302fa27dcd11c9b5695ee8 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/tilt_down/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.0140649090293204, + -0.021309554815183863, + 0.016476616263389587 + ], + [ + 0.013991974294185638, + 0.9998957706577264, + -0.0035679222071853854, + -0.015261497348546982 + ], + [ + 0.021357515826821327, + 0.003268596217958756, + 0.9997665766899775, + 0.029272407293319702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.99933397769928, + -0.006569036045627964, + -0.03589475560072644, + 0.022934691980481148 + ], + [ + 0.007027733605355026, + 0.9998950481263097, + 0.012667775101127685, + -0.02934691309928894 + ], + [ + 0.03580777347087861, + -0.012911597244089032, + 0.9992752619984476, + 0.07337836176156998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.0036203443398432544, + -0.043766337543205344, + 0.019070623442530632 + ], + [ + -0.0026892416644841433, + 0.9997692124362347, + 0.02131458949366112, + -0.03812531381845474 + ], + [ + 0.043833404779434204, + -0.021176326679069393, + 0.9988144204893904, + 0.11271954327821732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.02005640226586899, + 0.001937929313795526, + 0.004086937289685011 + ], + [ + -0.02001941204071045, + 0.999646026542723, + -0.01752134178541835, + -0.04895574599504471 + ], + [ + -0.00228865840472281, + 0.017478988209399637, + 0.9998446177515753, + 0.16481588780879974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530581, + 0.05251928903112323, + 0.04801501583725161, + -0.01343616098165512 + ], + [ + -0.05093449726700784, + 0.9981347870781521, + -0.03365513329297348, + -0.056990936398506165 + ], + [ + -0.049693003296852126, + 0.03112419520245899, + 0.998279474679575, + 0.19699420034885406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.07933133742096328, + 0.09966973878877089, + -0.035366568714380264 + ], + [ + -0.07482220977544785, + 0.9960314199345921, + -0.048197826662361436, + -0.06174508109688759 + ], + [ + -0.10309778898954391, + 0.040347652808383684, + 0.9938525346161886, + 0.23405401408672333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521914, + 0.08898235373658789, + 0.10741059538953132, + -0.045155543833971024 + ], + [ + -0.08542878925800325, + 0.995647596058293, + -0.03725297288000345, + -0.05381311848759651 + ], + [ + -0.11025796085596087, + 0.027712861880101008, + 0.9935165489580711, + 0.25584477186203003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.987888038158417, + 0.10777504639230263, + 0.11163219398456027, + -0.05518924817442894 + ], + [ + -0.10897366702556613, + 0.9940336271764879, + 0.0046739807630131434, + -0.030508851632475853 + ], + [ + -0.11046241223812106, + -0.016782337538690205, + 0.9937386125376865, + 0.2974699139595032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11380182908152958, + 0.10281155383064466, + -0.06189251318573952 + ], + [ + -0.1155034601688385, + 0.9932490639415154, + 0.010732627415880552, + -0.01828647404909134 + ], + [ + -0.10089608281850815, + -0.02248074442157989, + 0.9946429449173824, + 0.33294394612312317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.991203844547272, + 0.11624005940602496, + 0.06327073712029674, + -0.07011875510215759 + ], + [ + -0.11816620081663134, + 0.9926104426364474, + 0.027590822370213233, + -0.0008792128646746278 + ], + [ + -0.05959603562951089, + -0.034824590527506145, + 0.997614960923961, + 0.3813560903072357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.10834369358979103, + 0.03989550057625735, + -0.06983964890241623 + ], + [ + -0.11007972061634064, + 0.992937600773853, + 0.04424169608342625, + 0.013522675260901451 + ], + [ + -0.03482043370604515, + -0.04833752255363333, + 0.9982239523480037, + 0.4213736057281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12376787727096497, + -0.01784993291472032, + -0.06452428549528122 + ], + [ + -0.12239201366901398, + 0.9903961778419398, + 0.06430896752009548, + 0.034134842455387115 + ], + [ + 0.02563788741827011, + -0.06161949311289934, + 0.9977703999958336, + 0.4848649501800537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.13690850446697467, + -0.018259673577251875, + -0.05960742384195328 + ], + [ + -0.1353638619184494, + 0.98840872196413, + 0.06873698547097322, + 0.04406995698809624 + ], + [ + 0.02745869942009449, + -0.06560646975548896, + 0.9974676808071669, + 0.5370721220970154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.1437854138106908, + -0.018865177024466717, + -0.05508244410157204 + ], + [ + -0.14277836680412292, + 0.9886454710336406, + 0.046844652911556435, + 0.05552780628204346 + ], + [ + 0.025386551395058632, + -0.04365592320560896, + 0.9987240479595727, + 0.591282844543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.1516402907972331, + -0.045051735489430055, + -0.05351156368851662 + ], + [ + -0.1487281173467636, + 0.9869208971192639, + 0.06218545508920104, + 0.06411067396402359 + ], + [ + 0.05389232188463211, + -0.05470199260671334, + 0.9970473036376883, + 0.6198179721832275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12498893926942567, + -0.05733829622582524, + -0.05090383067727089 + ], + [ + -0.1207491084933281, + 0.9900495869082478, + 0.07225992161891763, + 0.06767889112234116 + ], + [ + 0.06579944491386414, + -0.06464989956730659, + 0.9957363503852976, + 0.6525580883026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.11099455553254363, + -0.05933832036148286, + -0.04701489955186844 + ], + [ + -0.10524313896894455, + 0.9901290180728741, + 0.09256558692219166, + 0.0724567323923111 + ], + [ + 0.06902686506509781, + -0.08558455354306005, + 0.9939369195449407, + 0.680548369884491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.11075642436315804, + -0.02761669697979599, + -0.04789375513792038 + ], + [ + -0.1078801304101944, + 0.9900880032983121, + 0.08993101868204538, + 0.08022056519985199 + ], + [ + 0.03730339929461479, + -0.08636391707631766, + 0.9955650531676937, + 0.7301307320594788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9902296066284182, + 0.13927586466409334, + 0.006896535868198485, + -0.05608886852860451 + ], + [ + -0.13941024243831637, + 0.9876326064308468, + 0.07174025320089916, + 0.0826391875743866 + ], + [ + 0.0031804428435862073, + -0.07200076792150757, + 0.9973994815029457, + 0.7687783241271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.1829863550624836, + 0.04632797632389451, + -0.0868130698800087 + ], + [ + -0.18587321043014526, + 0.9801868039014506, + 0.06844701209573359, + 0.08146833628416061 + ], + [ + -0.03288520500063896, + -0.07582768394196182, + 0.9965784828275203, + 0.8204553127288818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.17367752389309707, + 0.080744626427262, + -0.10563313961029053 + ], + [ + -0.1787332147359848, + 0.9820517890957738, + 0.06023883797664457, + 0.07246136665344238 + ], + [ + -0.06883326917886734, + -0.07355537165852388, + 0.9949128535406355, + 0.8585543036460876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550234, + 0.1523792822782339, + 0.1095309516325651, + -0.11362996697425842 + ], + [ + -0.16058278083801272, + 0.9845083993833726, + 0.07040194135398405, + 0.06245231628417969 + ], + [ + -0.09710634499788287, + -0.08673996215387343, + 0.9914870102442055, + 0.9076935648918152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.1567905635233724, + 0.10877980791835161, + -0.12043405324220657 + ], + [ + -0.1622307002544403, + 0.9858132479936835, + 0.04305195229674346, + 0.05433478206396103 + ], + [ + -0.10048643499612808, + -0.05990821182877662, + 0.9931331758945392, + 0.9492305517196655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.15624518188133688, + 0.06258068574278948, + -0.13558989763259888 + ], + [ + -0.1557570844888687, + 0.9877145997168411, + -0.012633707145174798, + 0.04224226251244545 + ], + [ + -0.06378581374883652, + 0.0027060860497924843, + 0.9979599219229446, + 0.9871453642845154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.1283932715450664, + 0.04165048679157146, + -0.14896899461746216 + ], + [ + -0.12779107689857483, + 0.9916584305354342, + -0.01682287075589653, + 0.03795913606882095 + ], + [ + -0.043462999165058136, + 0.01134635140135755, + 0.9989906060192497, + 1.0178450345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.1298330589033578, + 0.01641704306107364, + -0.16758976876735687 + ], + [ + -0.12995941936969757, + 0.9914954585984987, + 0.00687471214532475, + 0.023938853293657303 + ], + [ + -0.015384859405457973, + -0.008949137505954682, + 0.9998415722458379, + 1.062429428100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.1213585464808015, + 0.025428847809062922, + -0.18175108730793 + ], + [ + -0.12112308293581009, + 0.9925807954031208, + -0.010609508078344947, + 0.008638017810881138 + ], + [ + -0.02652774006128311, + 0.007447612796342416, + 0.9996203549836907, + 1.0991408824920654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12010413004210692, + 0.11900328349647611, + -0.20718562602996826 + ], + [ + -0.11320650577545166, + 0.9915630489270881, + -0.06314242087632738, + -0.014874313026666641 + ], + [ + -0.12558293342590332, + 0.04876140781712406, + 0.9908840642830299, + 1.1592530012130737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857363, + 0.12964039791478002, + 0.21761950806660582, + -0.23593991994857788 + ], + [ + -0.10959387570619586, + 0.9887458071619166, + -0.101837624325218, + -0.03423618525266647 + ], + [ + -0.2283726334571839, + 0.07466649819537675, + 0.9707063794255373, + 1.2012484073638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736636, + 0.1459563942693884, + 0.3363234750287321, + -0.2741018533706665 + ], + [ + -0.10751975327730182, + 0.9856263652997213, + -0.13030796038475148, + -0.07862882316112518 + ], + [ + -0.3505085408687592, + 0.08507283949038084, + 0.9326877185649968, + 1.236546277999878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.1417917316564039, + 0.4358377748842352, + -0.3030375838279724 + ], + [ + -0.07678793370723724, + 0.9835677918540525, + -0.16339510854352446, + -0.1146497130393982 + ], + [ + -0.45184409618377686, + 0.11175619042900606, + 0.8850691826378094, + 1.253143310546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.1448144567642102, + 0.49473422405450457, + -0.3358263075351715 + ], + [ + -0.06372948735952377, + 0.9821275478813305, + -0.17709887536663418, + -0.12021313607692719 + ], + [ + -0.511538565158844, + 0.12022575668179461, + 0.8508078671608345, + 1.270646333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.14572111807566507, + 0.5002851117084939, + -0.36291345953941345 + ], + [ + -0.09409771859645844, + 0.9874194485056574, + -0.12707647174837672, + -0.08737263828516006 + ], + [ + -0.5125089883804321, + 0.06138539451136382, + 0.8564848958687249, + 1.2906107902526855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204775, + 0.14426792192882942, + 0.5371143080977481, + -0.3977862596511841 + ], + [ + -0.11018028855323794, + 0.9893368810204424, + -0.09525138612561573, + -0.06633828580379486 + ], + [ + -0.5451287031173707, + 0.019982177492484307, + 0.8381141865968706, + 1.316657543182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612307, + 0.137735461312486, + 0.5463995927948597, + -0.4251311421394348 + ], + [ + -0.1125932186841965, + 0.9904605459600386, + -0.07943981994138409, + -0.059079233556985855 + ], + [ + -0.5521289110183717, + 0.004106053884555183, + 0.8337486606644484, + 1.3227379322052002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.11470282347545742, + 0.5134522023314342, + -0.4619409441947937 + ], + [ + -0.1269027143716812, + 0.9918497881700138, + -0.011388902460330882, + -0.039761386811733246 + ], + [ + -0.5105738043785095, + -0.055473147815582505, + 0.8580426081852011, + 1.3405649662017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525393, + 0.10055334703690497, + 0.4931477310740856, + -0.4819948375225067 + ], + [ + -0.13259503245353702, + 0.990706073373406, + 0.03033272674970668, + -0.023159150034189224 + ], + [ + -0.4855143725872041, + -0.0915999027475539, + 0.8694166277141211, + 1.3510833978652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.08113388438468912, + 0.4830265145139137, + -0.4988918900489807 + ], + [ + -0.13851292431354523, + 0.9867695874472984, + 0.08426137079360997, + -0.004846540279686451 + ], + [ + -0.4697994291782379, + -0.14036772246562512, + 0.8715419802773031, + 1.3492989540100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.024595152701949983, + 0.4851848909001573, + -0.5018128156661987 + ], + [ + -0.09855006635189056, + 0.9869291989940815, + 0.12750922288871122, + 0.001099546905606985 + ], + [ + -0.4757070541381836, + -0.15926642729545365, + 0.865064721091698, + 1.3462598323822021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.03626811079836582, + 0.5404263730422791, + -0.4939384460449219 + ], + [ + -0.10477883368730545, + 0.9897973613415594, + 0.09655335240659951, + -0.008217792958021164 + ], + [ + -0.531410813331604, + -0.13778888960716415, + 0.8358329631880179, + 1.3406133651733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.1105193077946629, + 0.5606299177822042, + -0.49150362610816956 + ], + [ + -0.19230146706104279, + 0.977306959798073, + 0.08883304092634352, + -0.004312257282435894 + ], + [ + -0.5380897521972656, + -0.1807114918728396, + 0.8232877888672837, + 1.3333133459091187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.1360689437253504, + 0.6158007708782127, + -0.489070326089859 + ], + [ + -0.238027885556221, + 0.9674247145250116, + 0.08621022085715206, + -0.017419753596186638 + ], + [ + -0.5840103626251221, + -0.21348235610116162, + 0.7831712161093917, + 1.310387134552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.11094988311684174, + 0.6338176815570716, + -0.48633721470832825 + ], + [ + -0.17656175792217255, + 0.9834315364725136, + 0.04108996887010135, + -0.033548906445503235 + ], + [ + -0.6187573075294495, + -0.14336164017071315, + 0.7723903198910561, + 1.3034495115280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.1305879726987064, + 0.6412705607873336, + -0.4973098039627075 + ], + [ + -0.12414335459470749, + 0.9907180747844946, + -0.05537208953716137, + -0.05760672315955162 + ], + [ + -0.6425492763519287, + -0.037741491142733924, + 0.7653143214288152, + 1.2913655042648315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.1293753332051807, + 0.6365201845517383, + -0.4973185360431671 + ], + [ + -0.09708493202924728, + 0.9915902839196974, + -0.08557559798909506, + -0.07506633549928665 + ], + [ + -0.6422386169433594, + 0.0032693101325247686, + 0.7664977624267232, + 1.2904930114746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.12675197057410809, + 0.622322660108286, + -0.5068268179893494 + ], + [ + -0.06050634756684303, + 0.9901117653807531, + -0.12656084266367376, + -0.09592901915311813 + ], + [ + -0.6322107911109924, + 0.06010495557619327, + 0.7724615834388716, + 1.2834620475769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634768, + 0.1403089610087019, + 0.6219927339817545, + -0.5132465362548828 + ], + [ + -0.05755493044853212, + 0.9868077032244171, + -0.15132095267820533, + -0.10591231286525726 + ], + [ + -0.6350188851356507, + 0.08077127039778612, + 0.7682623224399562, + 1.276651382446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.1378443827971897, + 0.6357490227628337, + -0.5163651704788208 + ], + [ + -0.041914306581020355, + 0.985630286177831, + -0.16363403505616295, + -0.11586642265319824 + ], + [ + -0.6491695642471313, + 0.09763112717364739, + 0.7543520869051277, + 1.2728655338287354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7358398437500001, + 0.11934050494935472, + 0.6665565207031949, + -0.5112895369529724 + ], + [ + -0.030435018241405494, + 0.989181482434423, + -0.1435049156493001, + -0.12142118066549301 + ], + [ + -0.6764712929725648, + 0.08530996872619345, + 0.7315113459666502, + 1.270522117614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.709147334098816, + 0.10157847086052724, + 0.6977047558934536, + -0.5081328749656677 + ], + [ + -0.024598143994808204, + 0.9925293954358723, + -0.11950027954050439, + -0.1342877596616745 + ], + [ + -0.7046311497688295, + 0.06758106638950498, + 0.7063482520993246, + 1.2663253545761108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.08837563449507926, + 0.6977038741453135, + -0.506118655204773 + ], + [ + -0.010299809277057648, + 0.993275008902634, + -0.115319759236134, + -0.14181441068649292 + ], + [ + -0.7032033205032349, + 0.07479623200244191, + 0.7070436024263812, + 1.2620618343353271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.0893052980536836, + 0.6908079482299286, + -0.5036013126373291 + ], + [ + -0.005622163414955139, + 0.992457253462744, + -0.12246207662806309, + -0.14741122722625732 + ], + [ + -0.6965339183807373, + 0.08398292106698041, + 0.7125920095881476, + 1.2608124017715454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.716551184654236, + 0.09851542117525866, + 0.6905426263880091, + -0.5007312297821045 + ], + [ + -0.026668570935726173, + 0.9931216337727417, + -0.11400949611218716, + -0.14934852719306946 + ], + [ + -0.6970245242118837, + 0.0632778602849379, + 0.7142497558035232, + 1.2676340341567993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.09424772409882232, + 0.6729469650602181, + -0.49598053097724915 + ], + [ + -0.037848759442567825, + 0.994465087808768, + -0.09801348692279424, + -0.1521517038345337 + ], + [ + -0.6784598231315613, + 0.04643856096819847, + 0.7331682413684143, + 1.2807989120483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.10696857254693297, + 0.6566227447842472, + -0.49185752868652344 + ], + [ + -0.058937277644872665, + 0.9937430281265075, + -0.09487485570529577, + -0.15786990523338318 + ], + [ + -0.662662923336029, + 0.032133561779327156, + 0.7482281524193044, + 1.28353750705719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.07933787585807114, + 0.6525149927409271, + -0.4768844246864319 + ], + [ + -0.029247593134641647, + 0.9957532566783011, + -0.08729249039418574, + -0.1671411395072937 + ], + [ + -0.6566694974899292, + 0.04670010353782958, + 0.7527312128532408, + 1.27056086063385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.06526970554282337, + 0.6642216153476014, + -0.4687903821468353 + ], + [ + -0.009480360895395279, + 0.9961407390580732, + -0.0872569681098909, + -0.16919440031051636 + ], + [ + -0.6673533916473389, + 0.05868152666032116, + 0.742425618340286, + 1.266076922416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.06813260437545092, + 0.6716953501642758, + -0.46414241194725037 + ], + [ + -0.02282728999853134, + 0.996843188222662, + -0.07604356290758169, + -0.1712256371974945 + ], + [ + -0.6747559309005737, + 0.04076344320229425, + 0.7369143589759377, + 1.2694326639175415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.06770758423344596, + 0.6725025259085617, + -0.4615344703197479 + ], + [ + -0.028620939701795578, + 0.9972037218169877, + -0.06903301973664851, + -0.17372383177280426 + ], + [ + -0.6752961277961731, + 0.03162907518525276, + 0.7368682825257817, + 1.272552490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.07113383175158819, + 0.6688417012864842, + -0.4595617949962616 + ], + [ + -0.035178475081920624, + 0.9971240897217962, + -0.06712711171853052, + -0.17572975158691406 + ], + [ + -0.6716932058334351, + 0.026144813858169, + 0.7403679303877744, + 1.2755602598190308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7451405525207521, + 0.07609924638353999, + 0.662551433362466, + -0.4559358060359955 + ], + [ + -0.04192494601011277, + 0.9968485154608574, + -0.0673448932557909, + -0.17629161477088928 + ], + [ + -0.6655883193016053, + 0.022403984955664053, + 0.7459827288555285, + 1.2793976068496704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.08057665836754743, + 0.657514893316498, + -0.4508799910545349 + ], + [ + -0.04933154955506325, + 0.996604277089729, + -0.06592664811040429, + -0.17586231231689453 + ], + [ + -0.6605943441390991, + 0.016950775800461677, + 0.7505516586931587, + 1.28389310836792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.08298640596941056, + 0.6538187360287726, + -0.4454721212387085 + ], + [ + -0.055480580776929855, + 0.9964916038408987, + -0.06266119722168456, + -0.17566537857055664 + ], + [ + -0.6567248702049255, + 0.010852411029042858, + 0.7540522058841362, + 1.2892428636550903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.08405831042770684, + 0.6474349986469199, + -0.43857887387275696 + ], + [ + -0.061389338225126266, + 0.9964534314744731, + -0.05754950538129142, + -0.1757778823375702 + ], + [ + -0.6499763131141663, + 0.0038464851063477103, + 0.759944754134905, + 1.29604971408844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032839, + 0.08390338820149876, + 0.6378026915566954, + -0.43099191784858704 + ], + [ + -0.06544648110866548, + 0.9964727133676019, + -0.052524951218306845, + -0.1767120361328125 + ], + [ + -0.6399600505828859, + -0.0015279993420033373, + 0.7684066558822674, + 1.3022432327270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.08261457750122136, + 0.6277465336683061, + -0.42199185490608215 + ], + [ + -0.06753703206777573, + 0.9965673025290669, + -0.047879022954463106, + -0.17819994688034058 + ], + [ + -0.6295471787452698, + -0.005336742551061158, + 0.7769439615138402, + 1.3079445362091064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.07842792836741425, + 0.6190861773517566, + -0.41207796335220337 + ], + [ + -0.06584182381629944, + 0.9968951180068073, + -0.04318591770970212, + -0.18034213781356812 + ], + [ + -0.6205509901046753, + -0.0070164109097263765, + 0.7841347346914663, + 1.3127350807189941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.07064158245327774, + 0.6156110632573678, + -0.402025043964386 + ], + [ + -0.06041157245635986, + 0.9974712303959858, + -0.03743801199893289, + -0.18363390862941742 + ], + [ + -0.6166989803314209, + -0.007805769908414033, + 0.7871603449487367, + 1.3155121803283691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.0622619364254095, + 0.6196527378957731, + -0.3925572633743286 + ], + [ + -0.05348119139671326, + 0.9980315618854525, + -0.03275310090248279, + -0.18745476007461548 + ], + [ + -0.620472252368927, + -0.007513643696175325, + 0.7841923980900823, + 1.317570447921753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.056047449852051956, + 0.6247832412304016, + -0.3836248517036438 + ], + [ + -0.04740018770098686, + 0.9984107802424307, + -0.030480775837726053, + -0.19205284118652344 + ], + [ + -0.6254987120628357, + -0.00587689439631286, + 0.7802031103624876, + 1.319107174873352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.05212161910494055, + 0.6297083529378181, + -0.37516093254089355 + ], + [ + -0.04306604340672493, + 0.998632180621306, + -0.029649686574177336, + -0.195920929312706 + ], + [ + -0.6303924322128296, + -0.004138134846559899, + 0.7762656354976533, + 1.3200311660766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.04734698669456564, + 0.6362845840328928, + -0.36600619554519653 + ], + [ + -0.037941500544548035, + 0.9988759134136203, + -0.028413101148305968, + -0.19920217990875244 + ], + [ + -0.6369146704673767, + -0.0022634952478926417, + 0.7709310317675887, + 1.3197484016418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.04332812505680343, + 0.6419530969282684, + -0.35687071084976196 + ], + [ + -0.03384670615196228, + 0.9990603739211984, + -0.02706917733660827, + -0.20218244194984436 + ], + [ + -0.6425227522850037, + -0.0010060302084356925, + 0.7662659629608721, + 1.320493221282959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.0397810895468293, + 0.6456585420617871, + -0.3473951518535614 + ], + [ + -0.030093934386968613, + 0.9992083229675285, + -0.026020402496724607, + -0.20488014817237854 + ], + [ + -0.6461824774742126, + 0.0004124719536536667, + 0.7631828477522374, + 1.3201351165771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.0343448842459324, + 0.6510956498111814, + -0.33688050508499146 + ], + [ + -0.02442311868071556, + 0.9994069168637835, + -0.024276725610955376, + -0.20609521865844727 + ], + [ + -0.6515432596206665, + 0.0025052783859175628, + 0.7586073732956654, + 1.3198174238204956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.027176407263932643, + 0.6574391973374965, + -0.32696789503097534 + ], + [ + -0.017815619707107544, + 0.999622520275012, + -0.02091551656476608, + -0.2066211700439453 + ], + [ + -0.657759428024292, + 0.00403705933289107, + 0.753217275007571, + 1.3203794956207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.019777000617091423, + 0.6617780510403023, + -0.3168022632598877 + ], + [ + -0.013322986662387848, + 0.9998018313985387, + -0.014790954494619157, + -0.20717382431030273 + ], + [ + -0.6619393825531006, + 0.0022680585257054938, + 0.7495539106719303, + 1.320702314376831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.007912956347503207, + 0.6688333268756128, + -0.3064883053302765 + ], + [ + -0.006847213953733444, + 0.9999676741646482, + -0.004220334200089509, + -0.20808151364326477 + ], + [ + -0.6688450574874878, + -0.0014423595731868771, + 0.7434004683697092, + 1.3199254274368286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + -0.0059541285224900525, + 0.677333320671254, + -0.29920196533203125 + ], + [ + 0.003801446408033371, + 0.999981880938312, + 0.004661622535251306, + -0.2107727825641632 + ], + [ + -0.677348792552948, + -0.0008544885600072904, + 0.7356615441109903, + 1.3175063133239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + -0.009456424670547485, + 0.6839302998982659, + -0.29717668890953064 + ], + [ + 0.012050924822688103, + 0.9999269244227411, + 0.000971940617043601, + -0.21251046657562256 + ], + [ + -0.6838894486427307, + 0.007532982793138837, + 0.7295467416245535, + 1.3158520460128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416383, + 0.000373276231154655, + 0.6831526841381687, + -0.29855674505233765 + ], + [ + 0.011849276721477512, + 0.9998425042324668, + -0.013212939795475057, + -0.21181026101112366 + ], + [ + -0.6830499768257142, + 0.01774395556506643, + 0.7301560496886009, + 1.3132686614990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390626, + 0.0170485909570666, + 0.6811463313114019, + -0.2996962368488312 + ], + [ + 0.004307657480239869, + 0.999551125265055, + -0.029646986433177185, + -0.20924820005893707 + ], + [ + -0.6813459992408754, + 0.024634225151327342, + 0.7315468933522672, + 1.3118743896484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.026553330354343707, + 0.6862260001442271, + -0.30091407895088196 + ], + [ + 0.0013496428728103638, + 0.9991950175020504, + -0.04009323881350224, + -0.2060355842113495 + ], + [ + -0.6867381930351257, + 0.030070089697276616, + 0.7262825997823307, + 1.3098139762878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.028476082117975778, + 0.6930979568788123, + -0.3008272349834442 + ], + [ + 0.002270229160785675, + 0.9990549241069311, + -0.04340565502000146, + -0.20330575108528137 + ], + [ + -0.6936789751052856, + 0.03283774704711591, + 0.7195354158400317, + 1.3116024732589722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.02575934793977704, + 0.6938165682655673, + -0.29970425367355347 + ], + [ + 0.0035201720893383026, + 0.9991632808342589, + -0.04074739938993336, + -0.20065101981163025 + ], + [ + -0.6942856907844543, + 0.03176788430162794, + 0.7189980425387411, + 1.3155673742294312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.020019710212136492, + 0.6925796083645296, + -0.29772457480430603 + ], + [ + 0.005068447440862656, + 0.9994033135366616, + -0.03416565266508728, + -0.1981298327445984 + ], + [ + -0.6928503513336182, + 0.02814590067376968, + 0.7205319069970315, + 1.3205946683883667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.013043183239822674, + 0.6886709088437206, + -0.2954096496105194 + ], + [ + 0.005377601832151413, + 0.999683015659306, + -0.024594580530477795, + -0.19546407461166382 + ], + [ + -0.6887734532356262, + 0.021533400284158552, + 0.7246568635532755, + 1.3279328346252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032106, + 0.004116963989842948, + 0.6817567484260416, + -0.2919084429740906 + ], + [ + 0.005032200366258622, + 0.9999219194148714, + -0.01143813156616012, + -0.19364547729492188 + ], + [ + -0.6817506551742555, + 0.0117985044000033, + 0.7314894942743485, + 1.3346487283706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + -0.0024140766114141812, + 0.674420133085551, + -0.28905606269836426 + ], + [ + 0.0022234320640563965, + 0.9999968463965426, + 0.001145289174957171, + -0.19263334572315216 + ], + [ + -0.6744208335876465, + 0.0006539136446385325, + 0.7383469075035864, + 1.3432965278625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268922, + -0.007551974751179091, + 0.6660305927426293, + -0.28414052724838257 + ], + [ + -0.0022028386592864995, + 0.9999022568738488, + 0.013804610568090629, + -0.19054478406906128 + ], + [ + -0.6660697460174562, + -0.011763824408650644, + 0.7457966975467154, + 1.3553714752197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + -0.014401805376259189, + 0.6589314974612441, + -0.2801705300807953 + ], + [ + -0.005974471569061279, + 0.999571194213055, + 0.02866583500657453, + -0.1920093595981598 + ], + [ + -0.6590617299079895, + -0.025495340499325978, + 0.7516565414899145, + 1.360337257385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + -0.023027800471495753, + 0.653307511284254, + -0.2758221924304962 + ], + [ + -0.006495116278529167, + 0.9990652079204891, + 0.04273852797076342, + -0.19286338984966278 + ], + [ + -0.6536809802055359, + -0.036585354033644886, + 0.7558853961526748, + 1.3653277158737183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + -0.03250725952720805, + 0.6455762896066579, + -0.2721450626850128 + ], + [ + -0.004429847002029419, + 0.9984482105756505, + 0.055511336939064335, + -0.1945473551750183 + ], + [ + -0.6463789939880371, + -0.045215161183615245, + 0.7616756642203087, + 1.3696112632751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + -0.04026961757748613, + 0.6371702916014231, + -0.26793235540390015 + ], + [ + -0.0010506212711334229, + 0.9979275671771135, + 0.06433882772096422, + -0.19522309303283691 + ], + [ + -0.6384406685829163, + -0.050189108052983274, + 0.7680329235699906, + 1.37478768825531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + -0.04850467942763471, + 0.630422682975382, + -0.26475799083709717 + ], + [ + 0.005434446036815643, + 0.9975271759233238, + 0.0700711891951608, + -0.19613529741764069 + ], + [ + -0.6322625279426575, + -0.050860616016396146, + 0.773083013899511, + 1.3791463375091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + -0.05476294367458237, + 0.6210795231155117, + -0.2617291212081909 + ], + [ + 0.010678560473024845, + 0.9971652411369968, + 0.07448137864810843, + -0.1964550018310547 + ], + [ + -0.623397707939148, + -0.05159969637874459, + 0.7802005137029688, + 1.3820416927337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + -0.061339076708891625, + 0.6131011204467853, + -0.2573997378349304 + ], + [ + 0.015199368819594383, + 0.9966638852407081, + 0.08018762092793291, + -0.1956966072320938 + ], + [ + -0.6159743666648865, + -0.05383858753964194, + 0.7859242981989283, + 1.3856799602508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + -0.06939217539272054, + 0.606703927998742, + -0.25268325209617615 + ], + [ + 0.019530203193426132, + 0.9958923141329353, + 0.08841428738880491, + -0.19522835314273834 + ], + [ + -0.6103470921516418, + -0.05816562884004125, + 0.7899957024888852, + 1.3910398483276367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + -0.07711227503949927, + 0.600932249798274, + -0.2482387125492096 + ], + [ + 0.02223769947886467, + 0.9949154055438394, + 0.09822821463773243, + -0.19524496793746948 + ], + [ + -0.6054513454437256, + -0.06478423261491013, + 0.7932412701078014, + 1.3967280387878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400515, + -0.08258343901916729, + 0.5936234973173709, + -0.24376866221427917 + ], + [ + 0.0220843218266964, + 0.9938530998715136, + 0.10848194702142776, + -0.1956263929605484 + ], + [ + -0.5989333987236024, + -0.07372940847589556, + 0.7973975543334852, + 1.402874231338501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409914, + -0.08606755653010786, + 0.5887809831688108, + -0.2388565093278885 + ], + [ + 0.020301572978496555, + 0.9928741833810076, + 0.11742555344413597, + -0.1956292688846588 + ], + [ + -0.5946919322013856, + -0.08242141591225718, + 0.7997175649506376, + 1.4084111452102661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + -0.08986613715052864, + 0.5856104911887353, + -0.23422718048095703 + ], + [ + 0.01952366530895233, + 0.9919192901587882, + 0.1253593846295064, + -0.1957719326019287 + ], + [ + -0.5921438932418823, + -0.08955571900503283, + 0.8008404356773882, + 1.41310453414917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + -0.09240914957116214, + 0.5843412402968421, + -0.2303488552570343 + ], + [ + 0.019058510661125183, + 0.9912695370222426, + 0.13046630574430326, + -0.19630323350429535 + ], + [ + -0.5912959575653076, + -0.09404910441234691, + 0.8009518753541289, + 1.416853904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8058389425277712, + -0.09240426716286018, + 0.5848803722077929, + -0.22749507427215576 + ], + [ + 0.017718434333801273, + 0.9910693402046092, + 0.13216519914749708, + -0.19725081324577332 + ], + [ + -0.5918696522712709, + -0.0961407021386745, + 0.8002795397750306, + 1.419241189956665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + -0.09089880742807625, + 0.5859698132770006, + -0.22443802654743195 + ], + [ + 0.015192830935120583, + 0.9910190856760597, + 0.13285480202636607, + -0.19844256341457367 + ], + [ + -0.5927835702896118, + -0.09807459804271344, + 0.7993678766687132, + 1.4215939044952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + -0.08888933676543517, + 0.5894604391535369, + -0.22133734822273254 + ], + [ + 0.011914195492863655, + 0.991015548565295, + 0.13321488419361774, + -0.20024487376213074 + ], + [ + -0.5960057973861694, + -0.09993418277461759, + 0.7967372280102213, + 1.423167109489441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + -0.08570959890513559, + 0.5947912244039679, + -0.21760083734989166 + ], + [ + 0.006486645899713039, + 0.9909494229512237, + 0.1340791705072104, + -0.2023068219423294 + ], + [ + -0.600899875164032, + -0.10331100421381322, + 0.7926197993870443, + 1.4241665601730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + -0.0866474075546153, + 0.6034273406251955, + -0.2147032618522644 + ], + [ + 0.003120924811810255, + 0.9904112462590937, + 0.13811541839097644, + -0.206202432513237 + ], + [ + -0.60960853099823, + -0.10760034899439885, + 0.7853658910712297, + 1.4246821403503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + -0.08894276019627569, + 0.6122400651891958, + -0.21377822756767273 + ], + [ + 0.00494848657399416, + 0.9904835986096735, + 0.1375417135729775, + -0.20848514139652252 + ], + [ + -0.6186470985412598, + -0.10503045479306133, + 0.7786169649079769, + 1.4230633974075317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914248, + -0.08600425451168953, + 0.6167899826037325, + -0.21588075160980225 + ], + [ + 0.006624943576753141, + 0.9915114007578754, + 0.1298509104075256, + -0.2117891013622284 + ], + [ + -0.6227220296859742, + -0.09751111732908903, + 0.7763432858748853, + 1.4219534397125244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511111, + -0.0762971125245905, + 0.6164874862326628, + -0.2187867909669876 + ], + [ + 0.0020551187917590146, + 0.9927414868332268, + 0.1202502823568987, + -0.20999103784561157 + ], + [ + -0.6211875081062318, + -0.09296829927896963, + 0.7781279207922539, + 1.4166737794876099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + -0.06725166450733469, + 0.6199474120891091, + -0.22097325325012207 + ], + [ + -0.005708340555429459, + 0.9933541034237903, + 0.11495691741694004, + -0.20882847905158997 + ], + [ + -0.6235583424568176, + -0.09340713238388984, + 0.7761766631334915, + 1.4156574010849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + -0.06396434899199606, + 0.6256073408106159, + -0.22345253825187683 + ], + [ + -0.00994909554719925, + 0.9934380979519943, + 0.11393753659917724, + -0.2065870761871338 + ], + [ + -0.6287901401519775, + -0.09481195668744813, + 0.7717730387744459, + 1.4125821590423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + -0.0653444861676852, + 0.6309615284237954, + -0.22542953491210938 + ], + [ + -0.010104116052389145, + 0.9932854181347878, + 0.11524757136539494, + -0.2046322375535965 + ], + [ + -0.6342556476593018, + -0.09546828170857537, + 0.7672063387158738, + 1.4120757579803467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + -0.0698306377885646, + 0.6364474941230854, + -0.22729842364788055 + ], + [ + -0.007285444065928459, + 0.99301696365455, + 0.11774630100782037, + -0.201866015791893 + ], + [ + -0.6402255296707153, + -0.09508391797407943, + 0.7622797143851656, + 1.4121723175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + -0.07602226456867628, + 0.6422301429267641, + -0.22890955209732056 + ], + [ + -0.0027196016162633896, + 0.9926809692361651, + 0.12073581144361208, + -0.1995084434747696 + ], + [ + -0.6467082500457764, + -0.09383574513755778, + 0.7569434020386939, + 1.4123883247375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + -0.08121100091194117, + 0.6490528845845107, + -0.23230066895484924 + ], + [ + 0.0010118745267391205, + 0.9924070281410612, + 0.1229930436618563, + -0.19759172201156616 + ], + [ + -0.6541129946708679, + -0.09237470635010302, + 0.7507350396516207, + 1.4122205972671509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + -0.08288823022030466, + 0.6578216563347735, + -0.238056480884552 + ], + [ + 0.002848452888429165, + 0.992547680947549, + 0.1218235492963883, + -0.19549721479415894 + ], + [ + -0.6630171537399292, + -0.08932320000579447, + 0.7432562062624748, + 1.4109843969345093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966066, + -0.08003403533430826, + 0.6695015174171074, + -0.24568846821784973 + ], + [ + 0.0022311527281999592, + 0.9932150851491057, + 0.11627058959437413, + -0.19348883628845215 + ], + [ + -0.6742646098136903, + -0.08437049415575848, + 0.7336544626694227, + 1.4093530178070068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109742, + -0.0736241581510198, + 0.6832303632529387, + -0.25500890612602234 + ], + [ + -0.0011422727257013323, + 0.9941133484426744, + 0.10833915020896608, + -0.19152840971946716 + ], + [ + -0.6871848106384278, + -0.07948684986427597, + 0.7221211309515676, + 1.407266616821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + -0.06688246613798556, + 0.6981158149925462, + -0.2686733603477478 + ], + [ + -0.006626000627875328, + 0.9947553872696002, + 0.10206768118872522, + -0.1899534910917282 + ], + [ + -0.7012810111045837, + -0.07738507917359747, + 0.7086723244120613, + 1.4048006534576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + -0.060959017106314795, + 0.7135525291928133, + -0.2816961705684662 + ], + [ + -0.012291919440031052, + 0.9952042188898804, + 0.09704365384680265, + -0.18671748042106628 + ], + [ + -0.716046154499054, + -0.07650203238012711, + 0.6938482372671999, + 1.4047935009002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + -0.05635439912931315, + 0.7281598098969758, + -0.2923305332660675 + ], + [ + -0.0173418577760458, + 0.9954858662515196, + 0.09331192893333003, + -0.18351563811302185 + ], + [ + -0.7301313281059265, + -0.07636778493763355, + 0.6790259113808179, + 1.4017661809921265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821778, + -0.05064334729242249, + 0.7436790371685149, + -0.304244726896286 + ], + [ + -0.025170691311359412, + 0.9955910028146334, + 0.09036054168758523, + -0.18145066499710083 + ], + [ + -0.7449762821197511, + -0.07895468201294352, + 0.6624020455718059, + 1.400631308555603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + -0.04864376031688959, + 0.7578997225288526, + -0.3160116374492645 + ], + [ + -0.029684361070394516, + 0.9955553921046573, + 0.08937708474661912, + -0.17858117818832397 + ], + [ + -0.7588788270950317, + -0.0806424761675366, + 0.6462195473811584, + 1.400037407875061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + -0.05085429418499747, + 0.7696316479956069, + -0.32669153809547424 + ], + [ + -0.030780717730522156, + 0.9953546195331106, + 0.09122382712388316, + -0.1749831736087799 + ], + [ + -0.7706955075263977, + -0.08175009933154721, + 0.6319378354476163, + 1.399641990661621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + -0.05683849308772828, + 0.7791754322443597, + -0.33626028895378113 + ], + [ + -0.02819773182272911, + 0.995060916622765, + 0.09517683419093842, + -0.17118850350379944 + ], + [ + -0.7807366847991943, + -0.08138260688273447, + 0.6195377660981605, + 1.3997312784194946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954835, + -0.0655593252777646, + 0.7869372173352706, + -0.34515345096588135 + ], + [ + -0.023606853559613235, + 0.9945795522110537, + 0.1012631159305181, + -0.16710315644741058 + ], + [ + -0.7893104553222658, + -0.08070612508633289, + 0.6086671280300704, + 1.3997712135314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + -0.07378104674811574, + 0.7938712755708024, + -0.353069007396698 + ], + [ + -0.020423011854290962, + 0.9939515172895818, + 0.10790411586312199, + -0.1623539924621582 + ], + [ + -0.7970308661460876, + -0.08134343479739142, + 0.5984355218995197, + 1.4003854990005493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + -0.0803849893663143, + 0.8002964207271195, + -0.3603188395500183 + ], + [ + -0.0202743262052536, + 0.9931803483994476, + 0.11481199639066172, + -0.1570979505777359 + ], + [ + -0.804067850112915, + -0.08444581477878622, + 0.5885098673932266, + 1.4006271362304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + -0.08475786856016217, + 0.8066286425177333, + -0.36692214012145996 + ], + [ + -0.023839903995394707, + 0.9922983003698757, + 0.12155561058224212, + -0.15134960412979126 + ], + [ + -0.8107190132141113, + -0.09033389297348086, + 0.5784242452777133, + 1.4013136625289917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + -0.09066986270357816, + 0.8137032962581837, + -0.3735644221305847 + ], + [ + -0.02774665132164955, + 0.9911233212654808, + 0.13001813153666117, + -0.1455441564321518 + ], + [ + -0.8182690739631653, + -0.09722946149735451, + 0.5665529917353866, + 1.4015419483184814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436525, + -0.09700613246354373, + 0.8210091486133919, + -0.3816370368003845 + ], + [ + -0.030379461124539382, + 0.9899953420754047, + 0.1377908040912601, + -0.13799956440925598 + ], + [ + -0.8261617422103884, + -0.10246477475105983, + 0.5540377538679472, + 1.4025119543075562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + -0.10557484095248836, + 0.8239022346241366, + -0.38778507709503174 + ], + [ + -0.027788326144218445, + 0.9889669975354904, + 0.14550620863242145, + -0.13381430506706238 + ], + [ + -0.8301739692687988, + -0.10391439856336085, + 0.5477344778411203, + 1.4027496576309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447023, + -0.11482950829114263, + 0.8246256638575709, + -0.39353394508361816 + ], + [ + -0.023772975429892547, + 0.9878583069003477, + 0.15352804613126653, + -0.1308468133211136 + ], + [ + -0.8322427868843081, + -0.10464321010844571, + 0.5444463337686819, + 1.4025671482086182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + -0.1249200951281216, + 0.826539310480583, + -0.3985440135002136 + ], + [ + -0.018322572112083435, + 0.9867356197358685, + 0.16129820182700905, + -0.12886370718479156 + ], + [ + -0.8357251286506653, + -0.103671596936625, + 0.5392733677095931, + 1.401404619216919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + -0.13261329600350863, + 0.8295921537218194, + -0.40493762493133545 + ], + [ + -0.014011972583830357, + 0.9858978712020289, + 0.166760460724546, + -0.1283230185508728 + ], + [ + -0.8400078415870667, + -0.10207398977424907, + 0.5328863184845036, + 1.3999288082122803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + -0.13584294446464684, + 0.8316225256725197, + -0.4127935767173767 + ], + [ + -0.011795873753726482, + 0.9856082078157805, + 0.16863378449937363, + -0.12874361872673035 + ], + [ + -0.8425617218017578, + -0.10061406475619063, + 0.5291187352912308, + 1.3984380960464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + -0.13454662012143775, + 0.832587283361848, + -0.4209015965461731 + ], + [ + -0.010700724087655544, + 0.9860259326270976, + 0.166248033526184, + -0.1298377513885498 + ], + [ + -0.8433207273483276, + -0.0982350278247904, + 0.5283559803322873, + 1.39622163772583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767335, + -0.13078230197163682, + 0.8342058933400621, + -0.4290285110473633 + ], + [ + -0.010955527424812319, + 0.9867731416431844, + 0.16173652885422984, + -0.13153153657913208 + ], + [ + -0.8443242311477663, + -0.09578474673740195, + 0.5272018701815198, + 1.3938169479370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + -0.12712632526056547, + 0.8364490436632296, + -0.43695032596588135 + ], + [ + -0.011070739477872849, + 0.9875140394266341, + 0.15714143003056685, + -0.13337111473083496 + ], + [ + -0.845982015132904, + -0.09303166922132909, + 0.5250329705124606, + 1.3919914960861206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095582, + -0.12394943604473806, + 0.8390204288392336, + -0.4451313018798828 + ], + [ + -0.010763686150312425, + 0.9882008950209025, + 0.15278468619393937, + -0.13561052083969116 + ], + [ + -0.8480582833290102, + -0.0899752991935051, + 0.5222083529957359, + 1.389902949333191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + -0.12074759158746207, + 0.8400732057976307, + -0.4527174234390259 + ], + [ + -0.009884199127554893, + 0.9888841285607746, + 0.148359413049201, + -0.13772326707839966 + ], + [ + -0.8486491441726685, + -0.08676538450823322, + 0.5217916279892584, + 1.3887261152267456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + -0.11775542028383908, + 0.8406175519869097, + -0.45922672748565674 + ], + [ + -0.009668562561273575, + 0.9894309431433586, + 0.14468216328588324, + -0.13917675614356995 + ], + [ + -0.8487701416015625, + -0.08461720545453522, + 0.5219475362801547, + 1.3883514404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + -0.11448890251665611, + 0.8411318668645932, + -0.46463656425476074 + ], + [ + -0.011588459834456444, + 0.9897978865293247, + 0.14200652754004478, + -0.1400730311870575 + ], + [ + -0.8488087058067322, + -0.08480825730753926, + 0.5218538278243622, + 1.388035774230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + -0.11284750755593123, + 0.8409983605544475, + -0.46914100646972656 + ], + [ + -0.013987669721245766, + 0.989822586901141, + 0.14161789697401952, + -0.14077651500701904 + ], + [ + -0.8484203815460205, + -0.08669905163654278, + 0.5221745195344059, + 1.3879804611206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + -0.11282915677449691, + 0.8408678868438688, + -0.47216111421585083 + ], + [ + -0.01589363068342209, + 0.9896246737545832, + 0.14279508402573207, + -0.14124637842178345 + ], + [ + -0.8482550382614136, + -0.08895293515163084, + 0.522064007492011, + 1.387619972229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + -0.11366949123065026, + 0.8411001726960855, + -0.4751153588294983 + ], + [ + -0.016490193083882332, + 0.9894282542540799, + 0.144082508177334, + -0.14169718325138092 + ], + [ + -0.8485860824584961, + -0.09006078607876809, + 0.5213355452065553, + 1.387144923210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + -0.11385330760374038, + 0.8409592834051227, + -0.47739291191101074 + ], + [ + -0.015686916187405586, + 0.9894783680614729, + 0.14382803692189577, + -0.1416957825422287 + ], + [ + -0.8484863042831421, + -0.08927490777854145, + 0.5216330508831207, + 1.386672019958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + -0.11443488124033957, + 0.8412903289190522, + -0.4795306921005249 + ], + [ + -0.012755099684000015, + 0.9896936643507765, + 0.14263139758845172, + -0.14140933752059937 + ], + [ + -0.8489417433738708, + -0.08608754078264672, + 0.5214277038139115, + 1.3854131698608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + -0.11582789332606873, + 0.8410183404921049, + -0.4816204309463501 + ], + [ + -0.00785839557647705, + 0.9899391244827531, + 0.14127566803980732, + -0.14075231552124023 + ], + [ + -0.8489205837249756, + -0.08126787766411397, + 0.5222350337664896, + 1.3831379413604736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + -0.1182659804985104, + 0.8405330713769573, + -0.48319947719573975 + ], + [ + -0.001545831561088562, + 0.9901100297310491, + 0.14028430876691456, + -0.1398201435804367 + ], + [ + -0.8488110899925232, + -0.07546680331282772, + 0.5232824662313575, + 1.3806791305541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + -0.12037844521897773, + 0.8407540321343937, + -0.48496073484420776 + ], + [ + 0.005914658308029175, + 0.9904018519849278, + 0.13809138993260114, + -0.1392829865217209 + ], + [ + -0.8493075966835022, + -0.06792086924505616, + 0.5235106899261677, + 1.378443956375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + -0.12209360738726746, + 0.8411999303172316, + -0.4870064854621887 + ], + [ + 0.011033521965146065, + 0.9905291955789066, + 0.1368583828778831, + -0.13891255855560303 + ], + [ + -0.8499425649642944, + -0.06281009567866831, + 0.5231181146573577, + 1.3765555620193481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + -0.12612307017923924, + 0.8416123433011505, + -0.48861485719680786 + ], + [ + 0.012927105650305748, + 0.9900249703091033, + 0.14029775856576776, + -0.13834676146507263 + ], + [ + -0.8509119749069214, + -0.06279764341670058, + 0.521541221918199, + 1.376590371131897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278199, + -0.12868953564175992, + 0.8422353928522784, + -0.49005943536758423 + ], + [ + 0.00859670713543892, + 0.9892748248435372, + 0.14581282184743843, + -0.13875794410705566 + ], + [ + -0.8519668579101565, + -0.06909623388846474, + 0.5190165839005005, + 1.377956509590149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + -0.12564025539927715, + 0.8422838534466266, + -0.4917299747467041 + ], + [ + -0.002200312912464142, + 0.9888538889184315, + 0.1488728816959826, + -0.13966023921966553 + ], + [ + -0.8516001105308533, + -0.07989058448285635, + 0.5180683533105409, + 1.379563808441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.5256053209304811, + -0.11867614597839898, + 0.8424102828203874, + -0.4952676296234131 + ], + [ + -0.015343535691499714, + 0.9887386607979354, + 0.1488637294362908, + -0.14029698073863983 + ], + [ + -0.850590229034424, + -0.09116912038396217, + 0.5178654187014847, + 1.3817003965377808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + -0.11222692711865523, + 0.8401337859120104, + -0.4996887445449829 + ], + [ + -0.02570650726556778, + 0.9886086577426817, + 0.14829714892252238, + -0.141079381108284 + ], + [ + -0.8472064733505249, + -0.10028952077920643, + 0.5217118587790259, + 1.3851007223129272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656495, + -0.10451400672637269, + 0.8320362683084905, + -0.5039430260658264 + ], + [ + -0.03381773084402085, + 0.9886576005427317, + 0.14633017542966376, + -0.14139705896377563 + ], + [ + -0.837892532348633, + -0.10785630950490803, + 0.5350731172747669, + 1.3887362480163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + -0.09764966526035194, + 0.8235133571071703, + -0.504864513874054 + ], + [ + -0.03878560662269592, + 0.9888787107080806, + 0.14357777022163734, + -0.14158302545547485 + ], + [ + -0.8283751010894775, + -0.11217595705635805, + 0.5488271416792697, + 1.3901749849319458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + -0.09742980534919599, + 0.8168321576817504, + -0.5085488557815552 + ], + [ + -0.03442546725273132, + 0.9892734056065683, + 0.14196139775807748, + -0.14262758195400238 + ], + [ + -0.8219016194343567, + -0.10883742902338414, + 0.559135286408512, + 1.3922282457351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + -0.09985378334847728, + 0.8018495409747225, + -0.510456383228302 + ], + [ + -0.02457161247730255, + 0.9896625817958563, + 0.14129492265078208, + -0.1447235345840454 + ], + [ + -0.8076692819595337, + -0.10294289192148343, + 0.5805799122544628, + 1.3930469751358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + -0.11028457884925798, + 0.7908827393065435, + -0.5074138045310974 + ], + [ + -0.01131240651011467, + 0.9891399677129987, + 0.14654051551745642, + -0.145826056599617 + ], + [ + -0.7984549403190613, + -0.0971566275980893, + 0.5941636703233494, + 1.3911269903182983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544313, + -0.12335983959411356, + 0.7859564108448103, + -0.506000280380249 + ], + [ + 0.004881802946329118, + 0.9884634021694438, + 0.15138120324171922, + -0.14801616966724396 + ], + [ + -0.7955635190010073, + -0.08787749499828962, + 0.599463319648432, + 1.3903915882110596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + -0.13110684739514517, + 0.7844923899262698, + -0.5038326978683472 + ], + [ + 0.01660158857703209, + 0.9881913329307868, + 0.15232278585825948, + -0.15028144419193268 + ], + [ + -0.7951991558074951, + -0.07930223049396375, + 0.6011402121014242, + 1.3893773555755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + -0.13531940064189305, + 0.787468337913432, + -0.5009617209434509 + ], + [ + 0.02113236114382744, + 0.987903163195723, + 0.15362548995815556, + -0.15303683280944824 + ], + [ + -0.7987309098243713, + -0.07573658857552078, + 0.5969027759821205, + 1.3904569149017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + -0.1360652805796245, + 0.7908925303375984, + -0.49943405389785767 + ], + [ + 0.019521823152899742, + 0.9876908703061633, + 0.15519553208164252, + -0.15394072234630585 + ], + [ + -0.8022741079330444, + -0.07715568549349854, + 0.5919488725018761, + 1.3931527137756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + -0.13549602961146542, + 0.7919444204339726, + -0.49825209379196167 + ], + [ + 0.0153118334710598, + 0.9874117644232002, + 0.157427935495474, + -0.1538240909576416 + ], + [ + -0.8033061027526855, + -0.08160167076253778, + 0.589949541030164, + 1.3962113857269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + -0.13461495866054307, + 0.7916455609771854, + -0.496537983417511 + ], + [ + 0.009839741513133049, + 0.986998773730061, + 0.16042612745774285, + -0.15310031175613403 + ], + [ + -0.8029489517211914, + -0.08781902035685735, + 0.5895428879290113, + 1.4009476900100708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + -0.13236099159474063, + 0.7893228453942434, + -0.49499815702438354 + ], + [ + 0.003971986472606659, + 0.9867098349142744, + 0.16244368316584276, + -0.15156805515289307 + ], + [ + -0.8003337979316711, + -0.09425655509988347, + 0.5920993066394933, + 1.4074130058288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + -0.13015524564627745, + 0.7841727427308322, + -0.4933413863182068 + ], + [ + -0.0028383247554302216, + 0.9861428914776981, + 0.16587389620294868, + -0.14995543658733368 + ], + [ + -0.7948957681655884, + -0.1028679685246506, + 0.5979623705791725, + 1.4150639772415161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + -0.12926033166696047, + 0.7771141742590221, + -0.4919145107269287 + ], + [ + -0.010078910738229752, + 0.9850733784558364, + 0.17183954391000236, + -0.14777469635009766 + ], + [ + -0.7877265214920044, + -0.1136757779584656, + 0.6054459184814995, + 1.4240484237670898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852784, + -0.12970911667139798, + 0.7674324961027305, + -0.4905250668525696 + ], + [ + -0.017392281442880634, + 0.9834310978935573, + 0.18044596574996932, + -0.1455572545528412 + ], + [ + -0.7781224250793459, + -0.126644331091287, + 0.6152126871964073, + 1.4344483613967896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + -0.13213231828412914, + 0.7551138078330483, + -0.489010214805603 + ], + [ + -0.022726111114025116, + 0.9813190346220217, + 0.19104048181329716, + -0.1437673568725586 + ], + [ + -0.7662501931190491, + -0.1398356034669954, + 0.6271417135088466, + 1.445556879043579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/tilt_up/transforms.json b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7532e11d0434ccb6bb3a085f984aac0851d622a8 --- /dev/null +++ b/dynpose_eval/camera_controls/a2e404ab-cfcf-418d-b5c7-cb919ce05495/tilt_up/transforms.json @@ -0,0 +1,6173 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 176, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.373741340823472e-05, + 1.99828118638834e-05, + -1.6904767107916996e-05 + ], + [ + 9.373640932608396e-05, + 1.0, + 5.044434146839194e-05, + 5.050246272730874e-06 + ], + [ + -1.9987541236332618e-05, + -5.0442471547285095e-05, + 1.0, + 3.795515658566728e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996739625930786, + -0.014128604018464719, + -0.021267377386829035, + 0.016476616263389587 + ], + [ + 0.013991974294185638, + 0.9998806199341773, + -0.00655958292349672, + -0.015261497348546982 + ], + [ + 0.021357515826821327, + 0.006259871727184672, + 0.9997523221246309, + 0.029272407293319702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.99933397769928, + -0.0067837108670106205, + -0.03585480415617193, + 0.022934691980481148 + ], + [ + 0.007027733605355026, + 0.9999529493510734, + 0.0066842260298089285, + -0.02934691309928894 + ], + [ + 0.03580777347087861, + -0.006931752576763138, + 0.9993346333394406, + 0.07337836176156998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990352392196655, + 0.0032273580464910814, + -0.04379707016598907, + 0.019070623442530632 + ], + [ + -0.0026892416644841433, + 0.9999202546429884, + 0.012339943895893582, + -0.03812531381845474 + ], + [ + 0.043833404779434204, + -0.012210256728451127, + 0.9989642601313626, + 0.11271954327821732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999796986579895, + 0.020078158450286803, + 0.0016977617974260654, + 0.004086937289685011 + ], + [ + -0.02001941204071045, + 0.999364746648079, + -0.02948353706116659, + -0.04895574599504471 + ], + [ + -0.00228865840472281, + 0.029443563195605447, + 0.9995638305090698, + 0.16481588780879974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9974649548530581, + 0.0532316883825087, + 0.04722398562313088, + -0.01343616098165512 + ], + [ + -0.05093449726700784, + 0.9975196367652923, + -0.04858287188047856, + -0.056990936398506165 + ], + [ + -0.049693003296852126, + 0.04605438143807445, + 0.9977021695094611, + 0.19699420034885406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9918530583381653, + 0.08110772546112925, + 0.09822960245131115, + -0.035366568714380264 + ], + [ + -0.07482220977544785, + 0.9950057284416771, + -0.06606981428869228, + -0.06174508109688759 + ], + [ + -0.10309778898954391, + 0.05818179219264744, + 0.9929681126337441, + 0.23405401408672333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9902247786521914, + 0.09121227622453523, + 0.10552353265682468, + -0.045155543833971024 + ], + [ + -0.08542878925800325, + 0.9946490666872908, + -0.05809607269994749, + -0.05381311848759651 + ], + [ + -0.11025796085596087, + 0.048513424720875074, + 0.9927182799712074, + 0.25584477186203003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.987888038158417, + 0.11041594092660524, + 0.10902076567315926, + -0.05518924817442894 + ], + [ + -0.10897366702556613, + 0.9938607506780198, + -0.019118219465755447, + -0.030508851632475853 + ], + [ + -0.11046241223812106, + 0.007006270361751368, + 0.9938556178224314, + 0.2974699139595032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9881694912910461, + 0.11652874041643763, + 0.09971020288983325, + -0.06189251318573952 + ], + [ + -0.1155034601688385, + 0.9931779489923392, + -0.01601417957045814, + -0.01828647404909134 + ], + [ + -0.10089608281850815, + 0.004307851471427809, + 0.9948876389619943, + 0.33294394612312317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.991203844547272, + 0.11808080770390632, + 0.05976504361627294, + -0.07011875510215759 + ], + [ + -0.11816620081663134, + 0.9929915745604679, + -0.0021159305072335323, + -0.0008792128646746278 + ], + [ + -0.05959603562951089, + -0.004964887551439308, + 0.9982102545337461, + 0.3813560903072357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993312656879425, + 0.1095978208416055, + 0.03630873963221553, + -0.06983964890241623 + ], + [ + -0.11007972061634064, + 0.9938556933936217, + 0.011544150551561772, + 0.013522675260901451 + ], + [ + -0.03482043370604515, + -0.015463806345177996, + 0.9992739593430879, + 0.4213736057281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9921506643295288, + 0.12304736699142704, + -0.02228122585715914, + -0.06452428549528122 + ], + [ + -0.12239201366901398, + 0.9920663386508978, + 0.028716060022676407, + 0.034134842455387115 + ], + [ + 0.02563788741827011, + -0.025763612345439, + 0.9993392663746634, + 0.4848649501800537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9904153943061829, + 0.1360949061167333, + -0.023569700965624468, + -0.05960742384195328 + ], + [ + -0.1353638619184494, + 0.9903340519709762, + 0.030249633603557365, + 0.04406995698809624 + ], + [ + 0.02745869942009449, + -0.026769218055494946, + 0.9992644255117378, + 0.5370721220970154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894290566444397, + 0.14286929795285622, + -0.02486973725904731, + -0.05508244410157204 + ], + [ + -0.14277836680412292, + 0.9897399114479387, + 0.0054033867860467984, + 0.05552780628204346 + ], + [ + 0.025386551395058632, + -0.001795407140386825, + 0.9996761176085428, + 0.591282844543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9874085187911987, + 0.14946636064501503, + -0.05180968731051452, + -0.05351156368851662 + ], + [ + -0.1487281173467636, + 0.9887170733397254, + 0.017844799855194386, + 0.06411067396402359 + ], + [ + 0.05389232188463211, + -0.009914553210957648, + 0.9984975389658989, + 0.6198179721832275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9904999136924744, + 0.12210190274031524, + -0.06325377855093922, + -0.05090383067727089 + ], + [ + -0.1207491084933281, + 0.9923732442532139, + 0.024799695560941207, + 0.06767889112234116 + ], + [ + 0.06579944491386414, + -0.016926259720027963, + 0.9976893257545583, + 0.6525580883026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9920479655265808, + 0.10783413153614142, + -0.064904758662482, + -0.04701489955186844 + ], + [ + -0.10524313896894455, + 0.9935547108846028, + 0.04210578097146686, + 0.0724567323923111 + ], + [ + 0.06902686506509781, + -0.0349401749377225, + 0.9970027582785176, + 0.680548369884491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934638142585754, + 0.10910923868662424, + -0.03353865714382554, + -0.04789375513792038 + ], + [ + -0.1078801304101944, + 0.9934934700361413, + 0.03650434757636219, + 0.08022056519985199 + ], + [ + 0.03730339929461479, + -0.03264758909271064, + 0.9987705623355103, + 0.7301307320594788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9902296066284182, + 0.1394427199751083, + -0.0010278768679795472, + -0.05608886852860451 + ], + [ + -0.13941024243831637, + 0.990113264009428, + 0.015509791981643603, + 0.0826391875743866 + ], + [ + 0.0031804428435862073, + -0.01521495885357676, + 0.9998791633546104, + 0.7687783241271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.982023298740387, + 0.1854294386606827, + 0.03530171111015385, + -0.0868130698800087 + ], + [ + -0.18587321043014526, + 0.9825258123675394, + 0.009705258310882604, + 0.08146833628416061 + ], + [ + -0.03288520500063896, + -0.016092429222366898, + 0.9993295471507522, + 0.8204553127288818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9814868569374084, + 0.17840480801511874, + 0.06967999339555096, + -0.10563313961029053 + ], + [ + -0.1787332147359848, + 0.9838963621507817, + -0.001543571651864011, + 0.07246136665344238 + ], + [ + -0.06883326917886734, + -0.010939131974474037, + 0.997568200291007, + 0.8585543036460876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9822339415550234, + 0.15925383185235423, + 0.09927080171685475, + -0.11362996697425842 + ], + [ + -0.16058278083801272, + 0.9870071216794415, + 0.005492135912775902, + 0.06245231628417969 + ], + [ + -0.09710634499788287, + -0.021335747614019736, + 0.9950452745434247, + 0.9076935648918152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9816229939460754, + 0.16389932662648465, + 0.0977411794082466, + -0.12043405324220657 + ], + [ + -0.1622307002544403, + 0.9864402691289799, + -0.024835981099259868, + 0.05433478206396103 + ], + [ + -0.10048643499612808, + 0.008522947734350346, + 0.9949019339959154, + 0.9492305517196655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9857338070869446, + 0.1603324488097921, + 0.05120942245158805, + -0.13558989763259888 + ], + [ + -0.1557570844888687, + 0.9842627657036169, + -0.083465855890276, + 0.04224226251244545 + ], + [ + -0.06378581374883652, + 0.07429888130448298, + 0.9951939534096159, + 0.9871453642845154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908483028411865, + 0.13114680269310885, + 0.03193918238456966, + -0.14896899461746216 + ], + [ + -0.12779107689857483, + 0.9876283777306841, + -0.09088255791694783, + 0.03795913606882095 + ], + [ + -0.043462999165058136, + 0.08596928618136296, + 0.9953493117686363, + 1.0178450345993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9913999438285828, + 0.13071623417933195, + 0.006277627660667461, + -0.16758976876735687 + ], + [ + -0.12995941936969757, + 0.9890311777578393, + -0.07019854351387571, + 0.023938853293657303 + ], + [ + -0.015384859405457973, + 0.06877899646382347, + 0.9975132612143855, + 1.062429428100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9922829866409302, + 0.12301477301892322, + 0.015552772226588367, + -0.18175108730793 + ], + [ + -0.12112308293581009, + 0.9884876086989075, + -0.0906721815854907, + 0.008638017810881138 + ], + [ + -0.02652774006128311, + 0.0880886621101504, + 0.9957593628190134, + 1.0991408824920654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9856029748916626, + 0.12964084606578266, + 0.10853586765425537, + -0.20718562602996826 + ], + [ + -0.11320650577545166, + 0.9828018761497979, + -0.14589282898122102, + -0.014874313026666641 + ], + [ + -0.12558293342590332, + 0.13150543618828048, + 0.9833286449581816, + 1.1592530012130737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9673857092857363, + 0.14801137649397803, + 0.20556632868982194, + -0.23593991994857788 + ], + [ + -0.10959387570619586, + 0.976201037803428, + -0.18713820213944637, + -0.03423618525266647 + ], + [ + -0.2283726334571839, + 0.15850601469474887, + 0.9605840953897703, + 1.2012484073638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9303672909736636, + 0.17551662060612155, + 0.3218861052834218, + -0.2741018533706665 + ], + [ + -0.10751975327730182, + 0.9699778078089782, + -0.21813424506863252, + -0.07862882316112518 + ], + [ + -0.3505085408687592, + 0.16833584376448874, + 0.9213071214774324, + 1.236546277999878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8887860178947449, + 0.1815490532978457, + 0.42083179826246364, + -0.3030375838279724 + ], + [ + -0.07678793370723724, + 0.9642065924144706, + -0.25378969603410195, + -0.1146497130393982 + ], + [ + -0.45184409618377686, + 0.1932499127295456, + 0.8709141033330366, + 1.253143310546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8568937182426453, + 0.19144660293179647, + 0.4786244640264443, + -0.3358263075351715 + ], + [ + -0.06372948735952377, + 0.9606992462724362, + -0.2701767757878065, + -0.12021313607692719 + ], + [ + -0.511538565158844, + 0.2010102906244521, + 0.8354179328070181, + 1.270646333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8535104990005493, + 0.19432721151285026, + 0.4834839936502987, + -0.36291345953941345 + ], + [ + -0.09409771859645844, + 0.9700836867740524, + -0.2237928453148016, + -0.08737263828516006 + ], + [ + -0.5125089883804321, + 0.1455147822372404, + 0.8462623657359606, + 1.2906107902526855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8310806155204775, + 0.19806733005255467, + 0.5196867768443197, + -0.3977862596511841 + ], + [ + -0.11018028855323794, + 0.9745491925389069, + -0.19522848672228257, + -0.06633828580379486 + ], + [ + -0.5451287031173707, + 0.10499137831526989, + 0.8317520590126214, + 1.316657543182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8261213302612307, + 0.1940952418088354, + 0.529009082546341, + -0.4251311421394348 + ], + [ + -0.1125932186841965, + 0.9767309771549404, + -0.18253595909226353, + -0.059079233556985855 + ], + [ + -0.5521289110183717, + 0.09123402674247115, + 0.8287520987621199, + 1.3227379322052002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8504176139831543, + 0.16923604258069785, + 0.4981456249771408, + -0.4619409441947937 + ], + [ + -0.1269027143716812, + 0.9848773691017391, + -0.11795031675832478, + -0.039761386811733246 + ], + [ + -0.5105738043785095, + 0.037090999709532856, + 0.8590335530876424, + 1.3405649662017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8641147613525393, + 0.15441967676768167, + 0.47902006606279823, + -0.4819948375225067 + ], + [ + -0.13259503245353702, + 0.9879926533266504, + -0.07930394128660945, + -0.023159150034189224 + ], + [ + -0.4855143725872041, + 0.005012019969431544, + 0.8742143297755888, + 1.3510833978652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8718386888504028, + 0.1354098637722546, + 0.47070318642642267, + -0.4988918900489807 + ], + [ + -0.13851292431354523, + 0.9899581395571286, + -0.028232591866816058, + -0.004846540279686451 + ], + [ + -0.4697994291782379, + -0.040584195105784884, + 0.8818398063160255, + 1.3492989540100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.874065637588501, + 0.08091462926688928, + 0.4790220482032447, + -0.5018128156661987 + ], + [ + -0.09855006635189056, + 0.9950628122081558, + 0.011740762717081393, + 0.001099546905606985 + ], + [ + -0.4757070541381836, + -0.05746984960123447, + 0.8777243205743628, + 1.3462598323822021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8406092524528503, + 0.10053247006086242, + 0.5322304604247835, + -0.4939384460449219 + ], + [ + -0.10477883368730545, + 0.9942451805465751, + -0.022313389244462932, + -0.008217792958021164 + ], + [ + -0.531410813331604, + -0.037009647045519664, + 0.8463053860613223, + 1.3406133651733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8206580281257629, + 0.17828985792865387, + 0.5428933124175254, + -0.49150362610816956 + ], + [ + -0.19230146706104279, + 0.9808327391860343, + -0.03142197592123291, + -0.004312257282435894 + ], + [ + -0.5380897521972656, + -0.07861247646310614, + 0.839213623064608, + 1.3333133459091187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7760635614395142, + 0.21217630130781012, + 0.5938910371642857, + -0.489070326089859 + ], + [ + -0.238027885556221, + 0.9706012874415456, + -0.035720040185495, + -0.017419753596186638 + ], + [ + -0.5840103626251221, + -0.11364160300973641, + 0.8037521111475504, + 1.310387134552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7654837369918823, + 0.19135239744180849, + 0.6143443578411821, + -0.48633721470832825 + ], + [ + -0.17656175792217255, + 0.9805756223419168, + -0.08542494564936627, + -0.033548906445503235 + ], + [ + -0.6187573075294495, + -0.043078290951514976, + 0.7844001701826318, + 1.3034495115280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7561209201812744, + 0.21363613517098348, + 0.6185796250243494, + -0.4973098039627075 + ], + [ + -0.12414335459470749, + 0.9748767725391281, + -0.18494228929074003, + -0.05760672315955162 + ], + [ + -0.6425492763519287, + 0.06304618042396096, + 0.763646259646228, + 1.2913655042648315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7603315711021423, + 0.21364663874955753, + 0.6133930517496482, + -0.4973185360431671 + ], + [ + -0.09708493202924728, + 0.9711290636292479, + -0.21790552060403948, + -0.07506633549928665 + ], + [ + -0.6422386169433594, + 0.10612921998943535, + 0.7591219248963569, + 1.2904930114746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7724302411079407, + 0.21093452618538983, + 0.5990477284754679, + -0.5068268179893494 + ], + [ + -0.06050634756684303, + 0.9633851326076864, + -0.2612049791095126, + -0.09592901915311813 + ], + [ + -0.6322107911109924, + 0.16551644147228825, + 0.7569107022470059, + 1.2834620475769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7703495025634768, + 0.2261028496429804, + 0.5961871074157532, + -0.5132465362548828 + ], + [ + -0.05755493044853212, + 0.9558574578925949, + -0.28813884509658716, + -0.10591231286525726 + ], + [ + -0.6350188851356507, + 0.18765411055716366, + 0.7493576776103034, + 1.276651382446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.759488046169281, + 0.22741525146899505, + 0.6094753458606262, + -0.5163651704788208 + ], + [ + -0.041914306581020355, + 0.9520634969001158, + -0.3030152740870954, + -0.11586642265319824 + ], + [ + -0.6491695642471313, + 0.20459075702327637, + 0.732612810529519, + 1.2728655338287354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7358398437500001, + 0.21543285500057574, + 0.6419723018945728, + -0.5112895369529724 + ], + [ + -0.030435018241405494, + 0.9576062401600457, + -0.2864680694479164, + -0.12142118066549301 + ], + [ + -0.6764712929725648, + 0.19125618463333532, + 0.7112015972152368, + 1.270522117614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.709147334098816, + 0.2044314212079552, + 0.6747724847395619, + -0.5081328749656677 + ], + [ + -0.024598143994808204, + 0.9636330696701778, + -0.26609439049440153, + -0.1342877596616745 + ], + [ + -0.7046311497688295, + 0.17210198591757256, + 0.6883864904407563, + 1.2663253545761108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7109142541885376, + 0.19339985810782248, + 0.6761637698469665, + -0.506118655204773 + ], + [ + -0.010299809277057648, + 0.9642049946563055, + -0.2649577673151733, + -0.14181441068649292 + ], + [ + -0.7032033205032349, + 0.18139788220672184, + 0.6874590463327644, + 1.2620618343353271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7175018787384033, + 0.1952719310858231, + 0.6686254037412239, + -0.5036013126373291 + ], + [ + -0.005622163414955139, + 0.9614933002581454, + -0.2747708021634956, + -0.14741122722625732 + ], + [ + -0.6965339183807373, + 0.19338942823049904, + 0.6909710791404355, + 1.2608124017715454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.716551184654236, + 0.20632424476595854, + 0.6663217789401341, + -0.5007312297821045 + ], + [ + -0.026668570935726173, + 0.96265769276197, + -0.2694047349943853, + -0.14934852719306946 + ], + [ + -0.6970245242118837, + 0.1752724392354608, + 0.6952958890372389, + 1.2676340341567993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7336618900299072, + 0.2012742956430208, + 0.6490215013348726, + -0.49598053097724915 + ], + [ + -0.037848759442567825, + 0.9657464931089452, + -0.25671222319367565, + -0.1521517038345337 + ], + [ + -0.6784598231315613, + 0.16377531609357343, + 0.7161493251651506, + 1.2807989120483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7465951442718506, + 0.21309005730120556, + 0.6302287933442077, + -0.49185752868652344 + ], + [ + -0.058937277644872665, + 0.9647759493164229, + -0.2563860601041645, + -0.15786990523338318 + ], + [ + -0.662662923336029, + 0.15427262963590435, + 0.7328559814934001, + 1.28353750705719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.753611147403717, + 0.1870459387385208, + 0.6301461188476751, + -0.4768844246864319 + ], + [ + -0.029247593134641647, + 0.9672511057640883, + -0.2521305722493998, + -0.1671411395072937 + ], + [ + -0.6566694974899292, + 0.1715781580007088, + 0.7344018751140541, + 1.27056086063385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7446807622909546, + 0.1770532386090051, + 0.6435080725637297, + -0.4687903821468353 + ], + [ + -0.009480360895395279, + 0.966880294370936, + -0.2550542037529807, + -0.16919440031051636 + ], + [ + -0.6673533916473389, + 0.18383327066786373, + 0.7216956761230442, + 1.266076922416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7376878261566162, + 0.18308817350934306, + 0.6498426085848046, + -0.46414241194725037 + ], + [ + -0.02282728999853134, + 0.968740918883245, + -0.2470222610350069, + -0.1712256371974945 + ], + [ + -0.6747559309005737, + 0.16739118452498233, + 0.7188077782759081, + 1.2694326639175415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7369911670684814, + 0.18475501045783319, + 0.6501611726540203, + -0.4615344703197479 + ], + [ + -0.028620939701795578, + 0.9695835625482804, + -0.24308133588533146, + -0.17372383177280426 + ], + [ + -0.6752961277961731, + 0.1605405936459503, + 0.7198624743528277, + 1.272552490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.739993691444397, + 0.18941697910433622, + 0.6453917038717257, + -0.4595617949962616 + ], + [ + -0.035178475081920624, + 0.969113886756488, + -0.24409173260666908, + -0.17572975158691406 + ], + [ + -0.6716932058334351, + 0.15792245460199014, + 0.7238015763804587, + 1.2755602598190308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7451405525207521, + 0.1950883959993478, + 0.6377350663850958, + -0.4559358060359955 + ], + [ + -0.04192494601011277, + 0.968068704746664, + -0.24715436535547103, + -0.17629161477088928 + ], + [ + -0.6655883193016053, + 0.15742774242516028, + 0.7295263368841127, + 1.2793976068496704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7491204738616943, + 0.20046726712406124, + 0.6313725584933958, + -0.4508799910545349 + ], + [ + -0.04933154955506325, + 0.9673464237791669, + -0.24861074885505427, + -0.17586231231689453 + ], + [ + -0.6605943441390991, + 0.1550928212599132, + 0.7345483904828394, + 1.28389310836792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7520866990089417, + 0.20402990282539543, + 0.6266877068453165, + -0.4454721212387085 + ], + [ + -0.055480580776929855, + 0.9670994604021833, + -0.24827520184760135, + -0.17566537857055664 + ], + [ + -0.6567248702049255, + 0.1519554785983311, + 0.7386623291787846, + 1.2892428636550903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7574709057807922, + 0.20574139493490395, + 0.6196033855904418, + -0.43857887387275696 + ], + [ + -0.061389338225126266, + 0.9672876749109758, + -0.24614211470652922, + -0.1757778823375702 + ], + [ + -0.6499763131141663, + 0.14840846122767265, + 0.7453225834636094, + 1.29604971408844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7656160593032839, + 0.20558081822445753, + 0.6095642534522666, + -0.43099191784858704 + ], + [ + -0.06544648110866548, + 0.9675368341621668, + -0.2441090197557807, + -0.1767120361328125 + ], + [ + -0.6399600505828859, + 0.1469999394385055, + 0.7542162431234388, + 1.3022432327270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7740213871002197, + 0.2041670196169083, + 0.5993385579528719, + -0.42199185490608215 + ], + [ + -0.06753703206777573, + 0.9678063705923774, + -0.24246570551305738, + -0.17819994688034058 + ], + [ + -0.6295471787452698, + 0.14719610402945743, + 0.7628916745596487, + 1.3079445362091064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7813971042633057, + 0.20013202962327586, + 0.5910717432384017, + -0.41207796335220337 + ], + [ + -0.06584182381629944, + 0.9683323428578212, + -0.24082643868503842, + -0.18034213781356812 + ], + [ + -0.6205509901046753, + 0.1492638290103796, + 0.7698290859150949, + 1.3127350807189941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7848775386810303, + 0.19357170382684782, + 0.5886401361221822, + -0.402025043964386 + ], + [ + -0.06041157245635986, + 0.9693330801066171, + -0.2382096556001305, + -0.18363390862941742 + ], + [ + -0.6166989803314209, + 0.15140474187223188, + 0.7725017429380209, + 1.3155121803283691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7824026942253113, + 0.18795881450437785, + 0.5937318825524518, + -0.3925572633743286 + ], + [ + -0.05348119139671326, + 0.970124786355306, + -0.23663825353758028, + -0.18745476007461548 + ], + [ + -0.620472252368927, + 0.15339292146702238, + 0.7690804793437934, + 1.317570447921753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7787840366363525, + 0.18472241867884573, + 0.5994773083234441, + -0.3836248517036438 + ], + [ + -0.04740018770098686, + 0.9702557995990417, + -0.23739597120505881, + -0.19205284118652344 + ], + [ + -0.6254987120628357, + 0.15646487770322032, + 0.7643756755368145, + 1.319107174873352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7750811576843262, + 0.18371603607970016, + 0.6045640503908105, + -0.37516093254089355 + ], + [ + -0.04306604340672493, + 0.9699328189268629, + -0.23953217498908344, + -0.195920929312706 + ], + [ + -0.6303924322128296, + 0.15962068803468482, + 0.7596885526095004, + 1.3200311660766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.770000159740448, + 0.1822655338888981, + 0.6114565268137725, + -0.36600619554519653 + ], + [ + -0.037941500544548035, + 0.9697142330481043, + -0.24127722838818616, + -0.19920217990875244 + ], + [ + -0.6369146704673767, + 0.1625839310535594, + 0.7535955443844845, + 1.3197484016418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7655187249183655, + 0.18139907796765437, + 0.6173131130870441, + -0.35687071084976196 + ], + [ + -0.03384670615196228, + 0.9694592774777878, + -0.24290549687788235, + -0.20218244194984436 + ], + [ + -0.6425227522850037, + 0.16505470151482696, + 0.7482790145373477, + 1.320493221282959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7625893950462341, + 0.18059853652952113, + 0.6211615382702639, + -0.3473951518535614 + ], + [ + -0.030093934386968613, + 0.9691028192827816, + -0.24481433718603257, + -0.20488014817237854 + ], + [ + -0.6461824774742126, + 0.167999619295536, + 0.74446246188299, + 1.3201351165771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7582182884216309, + 0.17836619838289078, + 0.6271288667820565, + -0.33688050508499146 + ], + [ + -0.02442311868071556, + 0.9689476192217309, + -0.24605701795742949, + -0.20609521865844727 + ], + [ + -0.6515432596206665, + 0.17124848703811474, + 0.7390300257266254, + 1.3198174238204956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7530173659324646, + 0.17468788776952562, + 0.6343886798912544, + -0.32696789503097534 + ], + [ + -0.017815619707107544, + 0.9691748763101109, + -0.24572891771913855, + -0.2066211700439453 + ], + [ + -0.657759428024292, + 0.17373611227417612, + 0.7329176792176205, + 1.3203794956207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7494389414787292, + 0.17037206433809665, + 0.639777053578264, + -0.3168022632598877 + ], + [ + -0.013322986662387848, + 0.9700084427749524, + -0.2427057793874016, + -0.20717382431030273 + ], + [ + -0.6619393825531006, + 0.1733694216278885, + 0.729231960858458, + 1.320702314376831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7433703541755676, + 0.16237470438859627, + 0.6488721672196873, + -0.3064883053302765 + ], + [ + -0.006847213953733444, + 0.9718838661750089, + -0.23536123568619777, + -0.20808151364326477 + ], + [ + -0.6688450574874878, + 0.1705176035215389, + 0.7235814284948948, + 1.3199254274368286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7356522083282471, + 0.15282435056935312, + 0.659894383072826, + -0.29920196533203125 + ], + [ + 0.003801446408033371, + 0.9732690408139574, + -0.22963638022461713, + -0.2107727825641632 + ], + [ + -0.677348792552948, + 0.17144106866003084, + 0.7154065960075936, + 1.3175063133239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7294861078262329, + 0.15295963146565056, + 0.6666734059705502, + -0.29717668890953064 + ], + [ + 0.012050924822688103, + 0.9716494741461237, + -0.23611882230276907, + -0.21251046657562256 + ], + [ + -0.6838894486427307, + 0.18027943480762554, + 0.7069614695513524, + 1.3158520460128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7302755117416383, + 0.1643094502532065, + 0.6630988868470661, + -0.29855674505233765 + ], + [ + 0.011849276721477512, + 0.9674525343395102, + -0.25277501626535054, + -0.21181026101112366 + ], + [ + -0.6830499768257142, + 0.1924526447557144, + 0.7045599224923942, + 1.3132686614990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7319488525390626, + 0.18198133228566843, + 0.6566077777578762, + -0.2996962368488312 + ], + [ + 0.004307657480239869, + 0.9624175936786735, + -0.27153963099510575, + -0.20924820005893707 + ], + [ + -0.6813459992408754, + 0.20158157319500727, + 0.7036565721787764, + 1.3118743896484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7269036173820496, + 0.19440677805333662, + 0.6586480147041911, + -0.30091407895088196 + ], + [ + 0.0013496428728103638, + 0.9586880664498852, + -0.28445622166874773, + -0.2060355842113495 + ], + [ + -0.6867381930351257, + 0.207661196470725, + 0.696611407113988, + 1.3098139762878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7202807664871216, + 0.19994790632477064, + 0.6642412963966592, + -0.3008272349834442 + ], + [ + 0.002270229160785675, + 0.9568732290833752, + -0.29049684289777705, + -0.20330575108528137 + ], + [ + -0.6936789751052856, + 0.21074727021561218, + 0.6887634720104467, + 1.3116024732589722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7196909189224243, + 0.1994858570758022, + 0.6650190728338727, + -0.29970425367355347 + ], + [ + 0.0035201720893383026, + 0.9567734362238492, + -0.2908130053160117, + -0.20065101981163025 + ], + [ + -0.6942856907844543, + 0.21163645297283423, + 0.6878789104345475, + 1.3155673742294312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7210636138916016, + 0.1956092348572231, + 0.6646836314803568, + -0.29772457480430603 + ], + [ + 0.005068447440862656, + 0.95780610682929, + -0.28737038234760515, + -0.1981298327445984 + ], + [ + -0.6928503513336182, + 0.2105812319656787, + 0.6896477111318021, + 1.3205946683883667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.724956750869751, + 0.1898495872275464, + 0.662113947554493, + -0.2954096496105194 + ], + [ + 0.005377601832151413, + 0.9596756328684837, + -0.2810581876900753, + -0.19546407461166382 + ], + [ + -0.6887734532356262, + 0.2073156248590878, + 0.6947024463120556, + 1.3279328346252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7315672636032106, + 0.18141166940610515, + 0.6571902461389949, + -0.2919084429740906 + ], + [ + 0.005032200366258622, + 0.962485232118184, + -0.2712874006186996, + -0.19364547729492188 + ], + [ + -0.6817506551742555, + 0.20177211739357592, + 0.7032098531607276, + 1.3346487283706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7383438348770142, + 0.17514567086575572, + 0.6512851431239641, + -0.28905606269836426 + ], + [ + 0.0022234320640563965, + 0.9650528672820867, + -0.2620457361625025, + -0.19263334572315216 + ], + [ + -0.6744208335876465, + 0.1949279542205149, + 0.7121514418201856, + 1.3432965278625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7458862066268922, + 0.16990885475910247, + 0.6440378590317426, + -0.28414052724838257 + ], + [ + -0.0022028386592864995, + 0.9675411750021664, + -0.2527037103997092, + -0.19054478406906128 + ], + [ + -0.6660697460174562, + 0.18706951101968525, + 0.7220499288021296, + 1.3553714752197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7520650625228882, + 0.16332846026230805, + 0.638531083356916, + -0.2801705300807953 + ], + [ + -0.005974471569061279, + 0.9704583683230013, + -0.24119464701563118, + -0.1920093595981598 + ], + [ + -0.6590617299079895, + 0.17757918470504772, + 0.7308236462452803, + 1.360337257385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7567424178123474, + 0.15540834738922576, + 0.6349718335932157, + -0.2758221924304962 + ], + [ + -0.006495116278529167, + 0.9730703985803348, + -0.23041673302307372, + -0.19286338984966278 + ], + [ + -0.6536809802055359, + 0.1702418951619131, + 0.7373729838950798, + 1.3653277158737183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7630036473274231, + 0.146069037403899, + 0.6296739663795599, + -0.2721450626850128 + ], + [ + -0.004429847002029419, + 0.9752917899519802, + -0.22087612406673435, + -0.1945473551750183 + ], + [ + -0.6463789939880371, + 0.1657399356753158, + 0.7447982961773281, + 1.3696112632751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7696703672409058, + 0.1381618659982685, + 0.6233128599532951, + -0.26793235540390015 + ], + [ + -0.0010506212711334229, + 0.9765764855249792, + -0.2151680320220002, + -0.19522309303283691 + ], + [ + -0.6384406685829163, + 0.16495358541041086, + 0.7517870928094412, + 1.37478768825531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.7747352123260498, + 0.13022934626451088, + 0.6187291657161271, + -0.26475799083709717 + ], + [ + 0.005434446036815643, + 0.9771515195865624, + -0.21247434205206495, + -0.19613529741764069 + ], + [ + -0.6322625279426575, + 0.1679738052208977, + 0.7563259544674708, + 1.3791463375091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7818320393562317, + 0.12343121966377361, + 0.6111493173076529, + -0.2617291212081909 + ], + [ + 0.010678560473024845, + 0.9774137162028184, + -0.2110649693239603, + -0.1964550018310547 + ], + [ + -0.623397707939148, + 0.1715435442617364, + 0.7628552829147065, + 1.3820416927337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7876195907592773, + 0.1166749505495156, + 0.6050143982905456, + -0.2573997378349304 + ], + [ + 0.015199368819594383, + 0.9779303818842358, + -0.20837735692953374, + -0.1956966072320938 + ], + [ + -0.6159743666648865, + 0.17331792372018254, + 0.7684637228425729, + 1.3856799602508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7918933033943176, + 0.10892624404312944, + 0.6008660446501312, + -0.25268325209617615 + ], + [ + 0.019530203193426132, + 0.9789416701213406, + -0.203203823939324, + -0.19522835314273834 + ], + [ + -0.6103470921516418, + 0.17265078689398766, + 0.7730900051831944, + 1.3910398483276367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7955716252326965, + 0.10165492535077714, + 0.5972705818649622, + -0.2482387125492096 + ], + [ + 0.02223769947886467, + 0.9802595744706957, + -0.19646020716142334, + -0.19524496793746948 + ], + [ + -0.6054513454437256, + 0.16958008838422944, + 0.7776061361777811, + 1.3967280387878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8004943132400515, + 0.09605910895117822, + 0.5915923668836885, + -0.24376866221427917 + ], + [ + 0.0220843218266964, + 0.9816746103982112, + -0.1892809452990366, + -0.1956263929605484 + ], + [ + -0.5989333987236024, + 0.16458323747613093, + 0.7837035429759805, + 1.402874231338501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8036973476409914, + 0.09306128141950747, + 0.5877161460508414, + -0.2388565093278885 + ], + [ + 0.020301572978496555, + 0.9828310643206158, + -0.18338757763973468, + -0.1956292688846588 + ], + [ + -0.5946919322013856, + 0.15931965470879295, + 0.7880093407536675, + 1.4084111452102661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8055956959724426, + 0.09024361805869181, + 0.5855524394931221, + -0.23422718048095703 + ], + [ + 0.01952366530895233, + 0.983751064579956, + -0.17847323732595322, + -0.1957719326019287 + ], + [ + -0.5921438932418823, + 0.15520940274774395, + 0.7907437457995768, + 1.41310453414917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8062294125556946, + 0.08918698302030259, + 0.58484170345133, + -0.2303488552570343 + ], + [ + 0.019058510661125183, + 0.9841425623331912, + -0.17635239994714638, + -0.19630323350429535 + ], + [ + -0.5912959575653076, + 0.15332671031113113, + 0.7917449466711026, + 1.416853904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8058389425277712, + 0.09110613748241349, + 0.5850839855070955, + -0.22749507427215576 + ], + [ + 0.017718434333801273, + 0.9839400805081017, + -0.17761755242376048, + -0.19725081324577332 + ], + [ + -0.5918696522712709, + 0.15349791421794814, + 0.7912829877616425, + 1.419241189956665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.805218517780304, + 0.09462472736537762, + 0.5853796855330371, + -0.22443802654743195 + ], + [ + 0.015192830935120583, + 0.983569550815548, + -0.17988931403554637, + -0.19844256341457367 + ], + [ + -0.5927835702896118, + 0.15374377309649884, + 0.7905507455344908, + 1.4215939044952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.802891731262207, + 0.0993735974814244, + 0.5877838136945244, + -0.22133734822273254 + ], + [ + 0.011914195492863655, + 0.9831358565207142, + -0.1824881105501759, + -0.20024487376213074 + ], + [ + -0.5960057973861694, + 0.15352116362807877, + 0.7881676875529234, + 1.423167109489441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7992979884147644, + 0.10582758323993115, + 0.591543116431969, + -0.21760083734989166 + ], + [ + 0.006486645899713039, + 0.9827946809624586, + -0.18458764282357554, + -0.2023068219423294 + ], + [ + -0.600899875164032, + 0.15137765361108407, + 0.7848592969183887, + 1.4241665601730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.792696475982666, + 0.1094500496739577, + 0.5997107763549856, + -0.2147032618522644 + ], + [ + 0.003120924811810255, + 0.983009349331053, + -0.18352908391191128, + -0.206202432513237 + ], + [ + -0.60960853099823, + 0.14735450443236772, + 0.778886428168648, + 1.4246821403503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7856534719467163, + 0.11189291509381331, + 0.6084642040136886, + -0.21377822756767273 + ], + [ + 0.00494848657399416, + 0.9823405694101449, + -0.187036060101554, + -0.20848514139652252 + ], + [ + -0.6186470985412598, + 0.1499565002635203, + 0.7712255328405977, + 1.4230633974075317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7824150919914248, + 0.11796429783105011, + 0.6114826562312715, + -0.21588075160980225 + ], + [ + 0.006624943576753141, + 0.9802634581592109, + -0.19758458787125133, + -0.2117891013622284 + ], + [ + -0.6227220296859742, + 0.15864420694132145, + 0.7661914454819634, + 1.4219534397125244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7836593389511111, + 0.12887139909510553, + 0.6076760918090556, + -0.2187867909669876 + ], + [ + 0.0020551187917590146, + 0.9777005840158485, + -0.20999370967204825, + -0.20999103784561157 + ], + [ + -0.6211875081062318, + 0.16581237534071314, + 0.7659193312426386, + 1.4166737794876099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7817560434341431, + 0.14036914374814233, + 0.6075805161609481, + -0.22097325325012207 + ], + [ + -0.005708340555429459, + 0.9759056385021798, + -0.218118436613094, + -0.20882847905158997 + ], + [ + -0.6235583424568176, + 0.1670471278464645, + 0.7637213902016037, + 1.4156574010849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7775114178657532, + 0.14716494992496182, + 0.6114069514911353, + -0.22345253825187683 + ], + [ + -0.00994909554719925, + 0.9749897827476011, + -0.22202689081854662, + -0.2065870761871338 + ], + [ + -0.6287901401519775, + 0.16654548973533023, + 0.7595298087362101, + 1.4125821590423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7730574011802673, + 0.1494840234633265, + 0.6164713123516994, + -0.22542953491210938 + ], + [ + -0.010104116052389145, + 0.9746154547711817, + -0.22365741638940664, + -0.2046322375535965 + ], + [ + -0.6342556476593018, + 0.1666711182812378, + 0.754944035878876, + 1.4120757579803467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7681524753570557, + 0.14895520778991997, + 0.6226990258718688, + -0.22729842364788055 + ], + [ + -0.007285444065928459, + 0.9745320889824381, + -0.22412962555238228, + -0.201866015791893 + ], + [ + -0.6402255296707153, + 0.1676290928578414, + 0.7496744637828398, + 1.4121723175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7627326846122742, + 0.1469621506040736, + 0.629794464475282, + -0.22890955209732056 + ], + [ + -0.0027196016162633896, + 0.9745580409418868, + -0.22411886954049945, + -0.1995084434747696 + ], + [ + -0.6467082500457764, + 0.1692299874743169, + 0.7437268801750243, + 1.4123883247375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7563961744308472, + 0.1463116937940131, + 0.6375404002223863, + -0.23230066895484924 + ], + [ + 0.0010118745267391205, + 0.9743999248148952, + -0.22481944936705753, + -0.19759172201156616 + ], + [ + -0.6541129946708679, + 0.17069767829707017, + 0.736884311651414, + 1.4122205972671509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7485988140106201, + 0.14967671791361992, + 0.6459076329992438, + -0.238056480884552 + ], + [ + 0.002848452888429165, + 0.973450512055355, + -0.22887983025311323, + -0.19549721479415894 + ], + [ + -0.6630171537399292, + 0.17317902786303802, + 0.7282976359397131, + 1.4109843969345093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7384865283966066, + 0.15835505474593825, + 0.655409341764453, + -0.24568846821784973 + ], + [ + 0.0022311527281999592, + 0.9714512884601378, + -0.2372286861269246, + -0.19348883628845215 + ], + [ + -0.6742646098136903, + 0.17665249346274361, + 0.7170503102518272, + 1.4093530178070068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7264817953109742, + 0.1711404445125536, + 0.6655337663757073, + -0.25500890612602234 + ], + [ + -0.0011422727257013323, + 0.9687912320262609, + -0.24787551264484878, + -0.19152840971946716 + ], + [ + -0.6871848106384278, + 0.17931682475328667, + 0.7040046615105017, + 1.407266616821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7128541469573975, + 0.18470768594385778, + 0.67655156948504, + -0.2686733603477478 + ], + [ + -0.006626000627875328, + 0.966424482357914, + -0.2568653576182932, + -0.1899534910917282 + ], + [ + -0.7012810111045837, + 0.1786247048693959, + 0.6901435565711086, + 1.4048006534576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6979447603225708, + 0.19777473728804001, + 0.6883010729140813, + -0.2816961705684662 + ], + [ + -0.012291919440031052, + 0.964277447358922, + -0.2646089805035281, + -0.18671748042106628 + ], + [ + -0.716046154499054, + 0.1762219066846121, + 0.6754433928328343, + 1.4047935009002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6830867528915405, + 0.20938472513915413, + 0.6996789005885676, + -0.2923305332660675 + ], + [ + -0.0173418577760458, + 0.9624016724249274, + -0.2710760906120272, + -0.18351563811302185 + ], + [ + -0.7301313281059265, + 0.17303475354242828, + 0.6610349468593488, + 1.4017661809921265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6666159629821778, + 0.22242626777250768, + 0.71144206675854, + -0.304244726896286 + ], + [ + -0.025170691311359412, + 0.9606142535870771, + -0.2767430725146774, + -0.18145066499710083 + ], + [ + -0.7449762821197511, + 0.1665738437027454, + 0.6459593380264513, + 1.400631308555603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6505550146102905, + 0.2316106614813644, + 0.7232805170300411, + -0.3160116374492645 + ], + [ + -0.029684361070394516, + 0.9593894955276249, + -0.28051844484402744, + -0.17858117818832397 + ], + [ + -0.7588788270950317, + 0.16102254731579485, + 0.6310108173683502, + 1.400037407875061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6364597678184509, + 0.2360371792107, + 0.7343061234006862, + -0.32669153809547424 + ], + [ + -0.030780717730522156, + 0.9590390509162968, + -0.28159670466573267, + -0.1749831736087799 + ], + [ + -0.7706955075263977, + 0.15662251292117588, + 0.6176551586906666, + 1.399641990661621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6242235898971558, + 0.2362156420828047, + 0.7446792188218205, + -0.33626028895378113 + ], + [ + -0.02819773182272911, + 0.9593856600294707, + -0.28068489964115206, + -0.17118850350379944 + ], + [ + -0.7807366847991943, + 0.1542118635139492, + 0.6055318930299904, + 1.3997312784194946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6135404109954835, + 0.23325402455571573, + 0.754427444614004, + -0.34515345096588135 + ], + [ + -0.023606853559613235, + 0.9603693989745719, + -0.2777288638897967, + -0.16710315644741058 + ], + [ + -0.7893104553222658, + 0.15258823467803864, + 0.5947318572337157, + 1.3997712135314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6035931706428528, + 0.23050369264841103, + 0.7632452375947768, + -0.353069007396698 + ], + [ + -0.020423011854290962, + 0.9614523447628845, + -0.2742121545307854, + -0.1623539924621582 + ], + [ + -0.7970308661460876, + 0.14992481469885374, + 0.5850336556073525, + 1.4003854990005493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.5941917896270752, + 0.22911220405551738, + 0.7710017545355419, + -0.3603188395500183 + ], + [ + -0.0202743262052536, + 0.9625336799696261, + -0.2704032431132928, + -0.1570979505777359 + ], + [ + -0.804067850112915, + 0.14503985116616844, + 0.5765747143489228, + 1.4006271362304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5849499702453613, + 0.2297956025292653, + 0.7778352295127001, + -0.36692214012145996 + ], + [ + -0.023839903995394707, + 0.9634811783406204, + -0.26671277128089527, + -0.15134960412979126 + ], + [ + -0.8107190132141113, + 0.13747011841731085, + 0.5690665921376575, + 1.4013136625289917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5741654634475708, + 0.22938698126425952, + 0.7859489112980497, + -0.3735644221305847 + ], + [ + -0.02774665132164955, + 0.9648503395572127, + -0.26133115914665267, + -0.1455441564321518 + ], + [ + -0.8182690739631653, + 0.1282398748816552, + 0.560348458655612, + 1.4015419483184814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5626134872436525, + 0.2287274627112063, + 0.7944494695347937, + -0.3816370368003845 + ], + [ + -0.030379461124539382, + 0.9660363103586999, + -0.256614360649718, + -0.13799956440925598 + ], + [ + -0.8261617422103884, + 0.12023976492792555, + 0.5504536871580593, + 1.4025119543075562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5568115711212158, + 0.22434330692488982, + 0.7997693541883145, + -0.38778507709503174 + ], + [ + -0.027788326144218445, + 0.9673285095498856, + -0.2519986777285576, + -0.13381430506706238 + ], + [ + -0.8301739692687988, + 0.11809151732357175, + 0.5448537913797483, + 1.4027496576309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5539014339447023, + 0.21850960565812683, + 0.8033970710066441, + -0.39353394508361816 + ], + [ + -0.023772975429892547, + 0.96870351373103, + -0.24707974005584066, + -0.1308468133211136 + ], + [ + -0.8322427868843081, + 0.11775869965964635, + 0.5417609255293598, + 1.4025671482086182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5488423109054565, + 0.21240308743123484, + 0.8084906866416062, + -0.3985440135002136 + ], + [ + -0.018322572112083435, + 0.9700041302468234, + -0.2423969481496393, + -0.12886370718479156 + ], + [ + -0.8357251286506653, + 0.11822406580337419, + 0.5362710465773399, + 1.401404619216919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5423934459686279, + 0.20898185988705048, + 0.8137174018244112, + -0.40493762493133545 + ], + [ + -0.014011972583830357, + 0.9706830122306035, + -0.23995448207665845, + -0.1283230185508728 + ], + [ + -0.8400078415870667, + 0.11874794455667657, + 0.5294202994596692, + 1.3999288082122803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5384706258773804, + 0.20927203178409012, + 0.8162441714828501, + -0.4127935767173767 + ], + [ + -0.011795873753726482, + 0.9704471004932648, + -0.2410255541070934, + -0.12874361872673035 + ], + [ + -0.8425617218017578, + 0.1201568790041554, + 0.5250258569736687, + 1.3984380960464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5373040437698364, + 0.21328887532402552, + 0.8159731815844052, + -0.4209015965461731 + ], + [ + -0.010700724087655544, + 0.9691398813319022, + -0.2462791888821449, + -0.1298377513885498 + ], + [ + -0.8433207273483276, + 0.12359530220316298, + 0.5230051280034819, + 1.39622163772583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.5357205867767335, + 0.2198265267849541, + 0.815278959077171, + -0.4290285110473633 + ], + [ + -0.010955527424812319, + 0.9672462940807518, + -0.2536031238396468, + -0.13153153657913208 + ], + [ + -0.8443242311477663, + 0.12692859860751465, + 0.5205820401108481, + 1.3938169479370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.5330965518951416, + 0.2265187835546986, + 0.8151670662608286, + -0.43695032596588135 + ], + [ + -0.011070739477872849, + 0.9652775796085938, + -0.26099157343051144, + -0.13337111473083496 + ], + [ + -0.845982015132904, + 0.13010921049891305, + 0.5170939034127116, + 1.3919914960861206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.5297936201095582, + 0.23291110333166842, + 0.8155189517418984, + -0.4451313018798828 + ], + [ + -0.010763686150312425, + 0.9633223338055801, + -0.2681310322339879, + -0.13561052083969116 + ], + [ + -0.8480582833290102, + 0.13327611529186034, + 0.5128689847282546, + 1.389902949333191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.5288639068603516, + 0.23870012581253702, + 0.8144478018328491, + -0.4527174234390259 + ], + [ + -0.009884199127554893, + 0.9613012875559008, + -0.2753219382887478, + -0.13772326707839966 + ], + [ + -0.8486491441726685, + 0.13755767534603744, + 0.5107569098327857, + 1.3887261152267456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.5286736488342285, + 0.24408194067592545, + 0.8129749159417912, + -0.45922672748565674 + ], + [ + -0.009668562561273575, + 0.9594342985790667, + -0.28176647482043243, + -0.13917675614356995 + ], + [ + -0.8487701416015625, + 0.1411022140710077, + 0.5095875462294167, + 1.3883514404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.5285731554031372, + 0.24969335906803025, + 0.811334550411794, + -0.46463656425476074 + ], + [ + -0.011588459834456444, + 0.9577951885258789, + -0.28721783871928214, + -0.1400730311870575 + ], + [ + -0.8488087058067322, + 0.14241351900784172, + 0.5091583719495183, + 1.388035774230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.5291382074356079, + 0.2535505255134409, + 0.8097684443275821, + -0.46914100646972656 + ], + [ + -0.013987669721245766, + 0.9567895118832574, + -0.29044485230970907, + -0.14077651500701904 + ], + [ + -0.8484203815460205, + 0.14235870973316267, + 0.5098205097568875, + 1.3879804611206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.5293494462966919, + 0.2559332598037077, + 0.8088803300055981, + -0.47216111421585083 + ], + [ + -0.01589363068342209, + 0.956238366316457, + -0.2921568375209018, + -0.14124637842178345 + ], + [ + -0.8482550382614136, + 0.14179702114012008, + 0.5102519548090895, + 1.387619972229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.5288003087043762, + 0.2576925224150577, + 0.8086809121262754, + -0.4751153588294983 + ], + [ + -0.016490193083882332, + 0.9557341230641875, + -0.29376917042071693, + -0.14169718325138092 + ], + [ + -0.8485860824584961, + 0.14200992189124018, + 0.5096419115117847, + 1.387144923210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.5289849042892456, + 0.2598843327831784, + 0.8078584192613281, + -0.47739291191101074 + ], + [ + -0.015686916187405586, + 0.9547863825641068, + -0.2968786094290881, + -0.1416957825422287 + ], + [ + -0.8484863042831421, + 0.14437147824801158, + 0.5091443068531587, + 1.386672019958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.5283324718475342, + 0.2619199281951821, + 0.8076278293814846, + -0.4795306921005249 + ], + [ + -0.012755099684000015, + 0.9535686244415564, + -0.3009055388568652, + -0.14140933752059937 + ], + [ + -0.8489417433738708, + 0.14867680765081795, + 0.5071421120843878, + 1.3854131698608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.5284620523452759, + 0.26296317849510614, + 0.8072040118038316, + -0.4816204309463501 + ], + [ + -0.00785839557647705, + 0.9522930016369606, + -0.30508412543926544, + -0.14075231552124023 + ], + [ + -0.8489205837249756, + 0.1548820578602858, + 0.5053171742441366, + 1.3831379413604736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.5286940336227417, + 0.2629737125457789, + 0.807048643349052, + -0.48319947719573975 + ], + [ + -0.001545831561088562, + 0.9510939930478542, + -0.30889767666416335, + -0.1398201435804367 + ], + [ + -0.8488110899925232, + 0.16206480291688763, + 0.5032442523496311, + 1.3806791305541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.5278652310371399, + 0.2635899087580852, + 0.8073900374815656, + -0.48496073484420776 + ], + [ + 0.005914658308029175, + 0.9494581257526622, + -0.3138380598826954, + -0.1392829865217209 + ], + [ + -0.8493075966835022, + 0.1704396330646373, + 0.4996268792076422, + 1.378443956375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.5267598628997803, + 0.26466640176012163, + 0.8077597832956909, + -0.4870064854621887 + ], + [ + 0.011033521965146065, + 0.948080700934379, + -0.3178384633330609, + -0.13891255855560303 + ], + [ + -0.8499425649642944, + 0.17633697528440972, + 0.496490625439572, + 1.3765555620193481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.5251492261886597, + 0.26366264238950715, + 0.8091355734587831, + -0.48861485719680786 + ], + [ + 0.012927105650305748, + 0.948212998555678, + -0.31737204077260667, + -0.13834676146507263 + ], + [ + -0.8509119749069214, + 0.17712745242602793, + 0.49454489763385934, + 1.376590371131897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.5235251188278199, + 0.2640708072557965, + 0.8100543576279282, + -0.49005943536758423 + ], + [ + 0.00859670713543892, + 0.9490709820505965, + -0.31494496203914785, + -0.13875794410705566 + ], + [ + -0.8519668579101565, + 0.17184541564676845, + 0.4945924150474854, + 1.377956509590149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.524187445640564, + 0.2692342311800396, + 0.807923568361876, + -0.4917299747467041 + ], + [ + -0.002200312912464142, + 0.9491342378251364, + -0.31486401369745154, + -0.13966023921966553 + ], + [ + -0.8516001105308533, + 0.16327008082314684, + 0.4981166579215263, + 1.379563808441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.5256053209304811, + 0.27790822052192965, + 0.8040560510263858, + -0.4952676296234131 + ], + [ + -0.015343535691499714, + 0.9480811621057819, + -0.3176580856177382, + -0.14029698073863983 + ], + [ + -0.850590229034424, + 0.1546257307692084, + 0.502580624161475, + 1.3817003965377808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.5306415557861328, + 0.28500320018276337, + 0.7982435952057038, + -0.4996887445449829 + ], + [ + -0.02570650726556778, + 0.9467514363821924, + -0.32093743977696215, + -0.141079381108284 + ], + [ + -0.8472064733505249, + 0.14978269337814898, + 0.5097120719908217, + 1.3851007223129272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.5447866916656495, + 0.290506078375168, + 0.7866471558518466, + -0.5039430260658264 + ], + [ + -0.03381773084402085, + 0.9449243270178609, + -0.3255370755567332, + -0.14139705896377563 + ], + [ + -0.837892532348633, + 0.150745664340674, + 0.524606489678353, + 1.3887362480163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.5588294267654419, + 0.2949929903515449, + 0.7750411873589906, + -0.504864513874054 + ], + [ + -0.03878560662269592, + 0.9428668645300852, + -0.33090445201704255, + -0.14158302545547485 + ], + [ + -0.8283751010894775, + 0.1548587040591407, + 0.5383432534753924, + 1.3901749849319458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.568588376045227, + 0.2943920446920285, + 0.7681410448709618, + -0.5085488557815552 + ], + [ + -0.03442546725273132, + 0.9414686718409823, + -0.33533811211346365, + -0.14262758195400238 + ], + [ + -0.8219016194343567, + 0.1642257355805397, + 0.5454427213159779, + 1.3922282457351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.589123547077179, + 0.2875269013408531, + 0.7551567687677209, + -0.510456383228302 + ], + [ + -0.02457161247730255, + 0.9404926301971125, + -0.3389246133266923, + -0.1447235345840454 + ], + [ + -0.8076692819595337, + 0.18111303662452005, + 0.5611313050215637, + 1.3930469751358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6019483804702759, + 0.275417069288895, + 0.7495356119687019, + -0.5074138045310974 + ], + [ + -0.01131240651011467, + 0.9414853016719279, + -0.33686410487185026, + -0.145826056599617 + ], + [ + -0.7984549403190613, + 0.194295762815722, + 0.5698412357579998, + 1.3911269903182983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6058505773544313, + 0.2638099896119685, + 0.7505660658154449, + -0.506000280380249 + ], + [ + 0.004881802946329118, + 0.9421712636580288, + -0.33509621910778936, + -0.14801616966724396 + ], + [ + -0.7955635190010073, + 0.20668235203716942, + 0.5695271118107339, + 1.3903915882110596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6061210632324219, + 0.25854591989420805, + 0.7521777200849425, + -0.5038326978683472 + ], + [ + 0.01660158857703209, + 0.9413739116194371, + -0.33695622875006553, + -0.15028144419193268 + ], + [ + -0.7951991558074951, + 0.21672363462032435, + 0.566294326798017, + 1.3893773555755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6013171672821045, + 0.2585235905741884, + 0.7560312668949967, + -0.5009617209434509 + ], + [ + 0.02113236114382744, + 0.940732753664094, + -0.3384897889162535, + -0.15303683280944824 + ], + [ + -0.7987309098243713, + 0.2195164509168186, + 0.5602155679745996, + 1.3904569149017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.5966366529464722, + 0.26178046801577276, + 0.7586143563685465, + -0.49943405389785767 + ], + [ + 0.019521823152899742, + 0.9402861252521302, + -0.3398248241706098, + -0.15394072234630585 + ], + [ + -0.8022741079330444, + 0.2175615016068304, + 0.5558987861821567, + 1.3931527137756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.5953695178031921, + 0.26505658501906987, + 0.7584722446042442, + -0.49825209379196167 + ], + [ + 0.0153118334710598, + 0.9401023024639404, + -0.34054839347397087, + -0.1538240909576416 + ], + [ + -0.8033061027526855, + 0.21436572687768302, + 0.5556497356906969, + 1.3962113857269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.5959665775299072, + 0.26794873226536103, + 0.7569857054049621, + -0.496537983417511 + ], + [ + 0.009839741513133049, + 0.9401785541892775, + -0.3405398771925129, + -0.15310031175613403 + ], + [ + -0.8029489517211914, + 0.21039894537866294, + 0.5576784744166331, + 1.4009476900100708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.5995415449142456, + 0.27104056455886744, + 0.7530517901982692, + -0.49499815702438354 + ], + [ + 0.003971986472606659, + 0.9398913101504363, + -0.3414506898817689, + -0.15156805515289307 + ], + [ + -0.8003337979316711, + 0.20770500294570443, + 0.5624273453999112, + 1.4074130058288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6067394614219666, + 0.2726776138157677, + 0.7466687333315745, + -0.4933413863182068 + ], + [ + -0.0028383247554302216, + 0.9400603478758934, + -0.3409963257939823, + -0.14995543658733368 + ], + [ + -0.7948957681655884, + 0.20477663804627022, + 0.5711456417478111, + 1.4150639772415161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6159425973892212, + 0.272195457766035, + 0.7392728224062298, + -0.4919145107269287 + ], + [ + -0.010078910738229752, + 0.941058329193443, + -0.3380940857945291, + -0.14777469635009766 + ], + [ + -0.7877265214920044, + 0.20079550135128232, + 0.5823814122527059, + 1.4240484237670898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6278717517852784, + 0.26920107552879063, + 0.7302793109189689, + -0.4905250668525696 + ], + [ + -0.017392281442880634, + 0.9428987274472059, + -0.33262510524313416, + -0.1455572545528412 + ], + [ + -0.7781224250793459, + 0.19614468947903474, + 0.59670151489179, + 1.4344483613967896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6421403884887695, + 0.26312695962153726, + 0.7200138994738852, + -0.489010214805603 + ], + [ + -0.022726111114025116, + 0.9453674541065404, + -0.32521360690947654, + -0.1437673568725586 + ], + [ + -0.7662501931190491, + 0.192469671798478, + 0.6130384574050614, + 1.445556879043579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 365.71073404947913, + "fy": 365.76566569010413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_059/rgb_video/00041.png b/spatialvid_eval/source/scene_059/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..fae67c3195b48e63d65e21ce8a124914a403f1ac --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5496bd6a745489d40d046ebf207d9a97547c967de0bf3d7141c9825daefa4f0 +size 940938 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00049.png b/spatialvid_eval/source/scene_059/rgb_video/00049.png new file mode 100644 index 0000000000000000000000000000000000000000..0ce5934920f8de60c20e8dfcd73dddb9127c57a0 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00049.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3120f1a386264fdfecadd3d90149baa704883f0d2b48d085319e3808104eef4c +size 951473 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00065.png b/spatialvid_eval/source/scene_059/rgb_video/00065.png new file mode 100644 index 0000000000000000000000000000000000000000..c6a93224a1f99d63fa5ae8bc765fbddc5d52d4a9 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:870a56820ebba5c0b1a52da39f14f698dfc883291742462e3532164d318dc035 +size 954586 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00066.png b/spatialvid_eval/source/scene_059/rgb_video/00066.png new file mode 100644 index 0000000000000000000000000000000000000000..8ed00cb6d1934f3e8fff55e83ae24ef1fb50a899 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eae43db5230fe895e6b89af26f7e4d56bd9446be23f822ad50ec7f7dca23e499 +size 951755 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00072.png b/spatialvid_eval/source/scene_059/rgb_video/00072.png new file mode 100644 index 0000000000000000000000000000000000000000..d928d4ef849ec1349d290b082e61e3e4f2247036 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47b080b29cd7e1ed8dcf989fea9d841651620c55d552aaac0b88bb24b4253c52 +size 954038