Add files using upload-large-folder tool

blenderobj_eval/target/scene_000003__traj000__forward/caption.txt

@@ -0,0 +1 @@
+In a stark, minimalist room with gray tiled floors and barred windows, various objects—including a blue bottle, a green can, a cardboard box, a roll of tape, and a small toy car—tumble through the air and scatter across the floor, eventually settling in a disorganized pile. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward at normal speed.

blenderobj_eval/target/scene_000025__traj000__bullettime_mid/extras/temporal_mapping.json

@@ -0,0 +1,350 @@
+{
+  "pattern": "bullettime_mid",
+  "original_pattern": "bullettime_40",
+  "trajectory": {
+    "dir": "traj000",
+    "index": 0,
+    "id": "T0",
+    "name": "low_elevation_arc"
+  },
+  "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": [
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40,
+    40
+  ],
+  "timestamps_seconds": [
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333,
+    1.333333333
+  ],
+  "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": [
+    1.333333333,
+    1.333333333
+  ],
+  "metric_reference": "extras/rgb_lossless.mkv"
+}

blenderobj_eval/target/scene_000025__traj000__bullettime_mid/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.

blenderobj_eval/target/scene_000031__traj000__bullettime_early/extras/blender_meta.json

@@ -0,0 +1,377 @@
+{
+  "format_version": "blender6d-eval-video-v1",
+  "scene_name": "scene_000031",
+  "trajectory_index": 0,
+  "trajectory_id": "T0",
+  "trajectory_name": "low_elevation_arc",
+  "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": "2026-09-17T14:34:26"
+}

blenderobj_eval/target/scene_000031__traj000__bullettime_early/extras/temporal_mapping.json

@@ -0,0 +1,350 @@
+{
+  "pattern": "bullettime_early",
+  "original_pattern": "bullettime_10",
+  "trajectory": {
+    "dir": "traj000",
+    "index": 0,
+    "id": "T0",
+    "name": "low_elevation_arc"
+  },
+  "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"
+}

blenderobj_eval/target/scene_000031__traj000__bullettime_early/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.

blenderobj_eval/target/scene_000038__traj002__bullettime_mid/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,
+          -14.555113792419434
+        ],
+        [
+          0.30901697278022766,
+          -0.503983199596405,
+          0.8065416812896729,
+          0.12084166705608368
+        ],
+        [
+          2.0369292030864017e-08,
+          -0.8480480909347534,
+          -0.5299192667007446,
+          -1.2789791822433472
+        ],
+        [
+          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,
+          -14.54543399810791
+        ],
+        [
+          0.31908586621284485,
+          -0.5098596215248108,
+          0.7988913059234619,
+          0.13155211508274078
+        ],
+        [
+          -1.4949772975114684e-08,
+          -0.8429561853408813,
+          -0.537982165813446,
+          -1.2676911354064941
+        ],
+        [
+          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,
+          -14.535906791687012
+        ],
+        [
+          0.3291776776313782,
+          -0.5155683755874634,
+          0.791094958782196,
+          0.1424669474363327
+        ],
+        [
+          7.036483395950199e-09,
+          -0.8377864360809326,
+          -0.5459979772567749,
+          -1.2564691305160522
+        ],
+        [
+          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,
+          -14.526493072509766
+        ],
+        [
+          0.3393230736255646,
+          -0.5210784077644348,
+          0.7831584215164185,
+          0.1535782366991043
+        ],
+        [
+          4.841236744823618e-09,
+          -0.8325539827346802,
+          -0.5539439916610718,
+          -1.2453445196151733
+        ],
+        [
+          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,
+          -14.517149925231934
+        ],
+        [
+          0.3495553135871887,
+          -0.5263561010360718,
+          0.775087296962738,
+          0.1648777574300766
+        ],
+        [
+          -7.87029641458048e-09,
+          -0.8272753953933716,
+          -0.5617966055870056,
+          -1.2343508005142212
+        ],
+        [
+          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,
+          -14.507827758789062
+        ],
+        [
+          0.35991165041923523,
+          -0.5313623547554016,
+          0.7668883204460144,
+          0.17635643482208252
+        ],
+        [
+          -3.630988842928673e-09,
+          -0.821971595287323,
+          -0.5695285201072693,
+          -1.223526120185852
+        ],
+        [
+          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,
+          -14.498468399047852
+        ],
+        [
+          0.3704349100589752,
+          -0.5360512137413025,
+          0.7585691213607788,
+          0.1880033165216446
+        ],
+        [
+          2.8451800915263448e-09,
+          -0.8166681528091431,
+          -0.5771075487136841,
+          -1.2129154205322266
+        ],
+        [
+          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,
+          -14.48900032043457
+        ],
+        [
+          0.3811759948730469,
+          -0.5403655767440796,
+          0.7501398921012878,
+          0.19980409741401672
+        ],
+        [
+          -3.4909986013076377e-09,
+          -0.8113985061645508,
+          -0.5844933390617371,
+          -1.202575445175171
+        ],
+        [
+          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,
+          -14.479331016540527
+        ],
+        [
+          0.3921970725059509,
+          -0.544231653213501,
+          0.7416154742240906,
+          0.2117384672164917
+        ],
+        [
+          -3.2372618363751826e-08,
+          -0.8062078356742859,
+          -0.5916324853897095,
+          -1.1925805807113647
+        ],
+        [
+          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,
+          -14.469340324401855
+        ],
+        [
+          0.4035751223564148,
+          -0.5475507974624634,
+          0.7330178618431091,
+          0.2237749695777893
+        ],
+        [
+          -7.229772336359019e-10,
+          -0.8011592626571655,
+          -0.5984511375427246,
+          -1.1830345392227173
+        ],
+        [
+          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,
+          -14.458867073059082
+        ],
+        [
+          0.41540849208831787,
+          -0.5501835942268372,
+          0.7243852019309998,
+          0.23586086928844452
+        ],
+        [
+          2.3795623249611708e-08,
+          -0.7963470816612244,
+          -0.6048399209976196,
+          -1.174090027809143
+        ],
+        [
+          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,
+          -14.447683334350586
+        ],
+        [
+          0.4278196096420288,
+          -0.5519251823425293,
+          0.7157855033874512,
+          0.24790018796920776
+        ],
+        [
+          -3.686740157604618e-08,
+          -0.7919172048568726,
+          -0.6106284260749817,
+          -1.1659862995147705
+        ],
+        [
+          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,
+          -14.435473442077637
+        ],
+        [
+          0.4409511685371399,
+          -0.5524592995643616,
+          0.707354724407196,
+          0.25970321893692017
+        ],
+        [
+          4.0106645116111395e-08,
+          -0.788111686706543,
+          -0.6155322194099426,
+          -1.1591211557388306
+        ],
+        [
+          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,
+          -14.421833992004395
+        ],
+        [
+          0.45490962266921997,
+          -0.5512939691543579,
+          0.6993798613548279,
+          0.2708682417869568
+        ],
+        [
+          -2.828596201709388e-08,
+          -0.7853456735610962,
+          -0.6190574765205383,
+          -1.1541855335235596
+        ],
+        [
+          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,
+          -14.406442642211914
+        ],
+        [
+          0.4695347845554352,
+          -0.5477466583251953,
+          0.6924670934677124,
+          0.28054603934288025
+        ],
+        [
+          -5.178458550858522e-09,
+          -0.7842973470687866,
+          -0.6203850507736206,
+          -1.152327060699463
+        ],
+        [
+          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,
+          -14.389704704284668
+        ],
+        [
+          0.4838888943195343,
+          -0.5413168668746948,
+          0.6876245737075806,
+          0.28732556104660034
+        ],
+        [
+          6.256375684188242e-08,
+          -0.7857404351234436,
+          -0.6185563802719116,
+          -1.154887318611145
+        ],
+        [
+          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,
+          -14.373173713684082
+        ],
+        [
+          0.49638041853904724,
+          -0.5325157642364502,
+          0.6855897903442383,
+          0.2901742458343506
+        ],
+        [
+          8.955965569157343e-08,
+          -0.789754331111908,
+          -0.613423228263855,
+          -1.1620736122131348
+        ],
+        [
+          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,
+          -14.358199119567871
+        ],
+        [
+          0.5062365531921387,
+          -0.5225620865821838,
+          0.6860418319702148,
+          0.2895413935184479
+        ],
+        [
+          1.9533818118588897e-08,
+          -0.7955079674720764,
+          -0.6059431433677673,
+          -1.1725457906723022
+        ],
+        [
+          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,
+          -14.345043182373047
+        ],
+        [
+          0.5137534737586975,
+          -0.5122838020324707,
+          0.6882025003433228,
+          0.2865164577960968
+        ],
+        [
+          -1.5631247407554838e-09,
+          -0.8021588921546936,
+          -0.5971105694770813,
+          -1.1849113702774048
+        ],
+        [
+          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,
+          -14.333494186401367
+        ],
+        [
+          0.5194618701934814,
+          -0.5020143985748291,
+          0.6914772391319275,
+          0.28193166851997375
+        ],
+        [
+          -2.4280662813680465e-08,
+          -0.8092246055603027,
+          -0.5874992609024048,
+          -1.1983672380447388
+        ],
+        [
+          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,
+          -14.323301315307617
+        ],
+        [
+          0.5237752199172974,
+          -0.49186229705810547,
+          0.6955077648162842,
+          0.2762892544269562
+        ],
+        [
+          3.7252064544190944e-08,
+          -0.8164611458778381,
+          -0.5774004459381104,
+          -1.2125054597854614
+        ],
+        [
+          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,
+          -14.314279556274414
+        ],
+        [
+          0.5269701480865479,
+          -0.48185768723487854,
+          0.7000826597213745,
+          0.2698843479156494
+        ],
+        [
+          9.663965272466157e-08,
+          -0.823739230632782,
+          -0.5669689178466797,
+          -1.227109670639038
+        ],
+        [
+          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,
+          -14.306309700012207
+        ],
+        [
+          0.5292253494262695,
+          -0.47200512886047363,
+          0.7050756812095642,
+          0.26289406418800354
+        ],
+        [
+          3.170163864751885e-08,
+          -0.8309854865074158,
+          -0.5562940835952759,
+          -1.2420543432235718
+        ],
+        [
+          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,
+          -14.299323081970215
+        ],
+        [
+          0.5306532382965088,
+          -0.46230408549308777,
+          0.7104098796844482,
+          0.2554261386394501
+        ],
+        [
+          6.765414184428664e-08,
+          -0.8381536602973938,
+          -0.5454342365264893,
+          -1.257258415222168
+        ],
+        [
+          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,
+          -14.293292045593262
+        ],
+        [
+          0.5313188433647156,
+          -0.4527556002140045,
+          0.7160395383834839,
+          0.24754466116428375
+        ],
+        [
+          2.6708237399475365e-08,
+          -0.8452116250991821,
+          -0.5344318151473999,
+          -1.272661566734314
+        ],
+        [
+          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,
+          -14.288224220275879
+        ],
+        [
+          0.5312511324882507,
+          -0.44336774945259094,
+          0.7219399213790894,
+          0.23928412795066833
+        ],
+        [
+          2.4485498073545386e-08,
+          -0.8521336913108826,
+          -0.523324191570282,
+          -1.2882122993469238
+        ],
+        [
+          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,
+          -14.284160614013672
+        ],
+        [
+          0.5304473042488098,
+          -0.43415746092796326,
+          0.7281022667884827,
+          0.23065677285194397
+        ],
+        [
+          3.646053414740891e-08,
+          -0.8588968515396118,
+          -0.5121485590934753,
+          -1.3038582801818848
+        ],
+        [
+          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,
+          -14.281181335449219
+        ],
+        [
+          0.5288731455802917,
+          -0.42515575885772705,
+          0.7345309257507324,
+          0.2216566503047943
+        ],
+        [
+          8.871932521969939e-09,
+          -0.8654768466949463,
+          -0.5009489059448242,
+          -1.31953763961792
+        ],
+        [
+          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,
+          -14.279414176940918
+        ],
+        [
+          0.5264593958854675,
+          -0.41641485691070557,
+          0.7412416934967041,
+          0.21226176619529724
+        ],
+        [
+          8.621207570058687e-08,
+          -0.8718435764312744,
+          -0.48978444933891296,
+          -1.335167646408081
+        ],
+        [
+          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,
+          -14.279047012329102
+        ],
+        [
+          0.5230926871299744,
+          -0.40802133083343506,
+          0.7482597231864929,
+          0.20243628323078156
+        ],
+        [
+          1.0579508824548611e-08,
+          -0.87795490026474,
+          -0.478743314743042,
+          -1.35062575340271
+        ],
+        [
+          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,
+          -14.280359268188477
+        ],
+        [
+          0.5186039805412292,
+          -0.40011662244796753,
+          0.7556167244911194,
+          0.19213654100894928
+        ],
+        [
+          -3.8110488986831115e-08,
+          -0.8837472200393677,
+          -0.46796467900276184,
+          -1.365715742111206
+        ],
+        [
+          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,
+          -14.283744812011719
+        ],
+        [
+          0.5127541422843933,
+          -0.392939954996109,
+          0.7633355855941772,
+          0.1813300997018814
+        ],
+        [
+          2.8563675869008875e-08,
+          -0.8891136646270752,
+          -0.4576863646507263,
+          -1.3801053762435913
+        ],
+        [
+          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,
+          -14.289727210998535
+        ],
+        [
+          0.5052437782287598,
+          -0.38689056038856506,
+          0.7713911533355713,
+          0.17005221545696259
+        ],
+        [
+          -4.5315054819639045e-08,
+          -0.8938725590705872,
+          -0.44832098484039307,
+          -1.3932169675827026
+        ],
+        [
+          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,
+          -14.298853874206543
+        ],
+        [
+          0.49581149220466614,
+          -0.3825862407684326,
+          0.7796144485473633,
+          0.15853968262672424
+        ],
+        [
+          -4.713741574846608e-08,
+          -0.897728443145752,
+          -0.44054919481277466,
+          -1.404097318649292
+        ],
+        [
+          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,
+          -14.311291694641113
+        ],
+        [
+          0.48452383279800415,
+          -0.3807530701160431,
+          0.787568211555481,
+          0.14740443229675293
+        ],
+        [
+          -3.3708289493006305e-08,
+          -0.9003063440322876,
+          -0.4352567493915558,
+          -1.4115066528320312
+        ],
+        [
+          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,
+          -14.32633113861084
+        ],
+        [
+          0.47203195095062256,
+          -0.38176003098487854,
+          0.7946352362632751,
+          0.1375107616186142
+        ],
+        [
+          -2.578942925879346e-08,
+          -0.9013746976852417,
+          -0.43303999304771423,
+          -1.4146101474761963
+        ],
+        [
+          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,
+          -14.342700004577637
+        ],
+        [
+          0.4592266082763672,
+          -0.38527774810791016,
+          0.8004199266433716,
+          0.1294122040271759
+        ],
+        [
+          2.206634874823976e-08,
+          -0.9010499119758606,
+          -0.43371546268463135,
+          -1.4136643409729004
+        ],
+        [
+          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,
+          -14.359404563903809
+        ],
+        [
+          0.4466756582260132,
+          -0.39062654972076416,
+          0.8049173355102539,
+          0.1231158971786499
+        ],
+        [
+          -1.3537544418795733e-09,
+          -0.8996545672416687,
+          -0.4366025924682617,
+          -1.4096224308013916
+        ],
+        [
+          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,
+          -14.375967025756836
+        ],
+        [
+          0.43457138538360596,
+          -0.39721232652664185,
+          0.8083130121231079,
+          0.11836167424917221
+        ],
+        [
+          6.14769390949732e-08,
+          -0.8974899649620056,
+          -0.4410347044467926,
+          -1.4034175872802734
+        ],
+        [
+          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,
+          -14.392219543457031
+        ],
+        [
+          0.4229191839694977,
+          -0.4046326279640198,
+          0.8108093738555908,
+          0.11486691236495972
+        ],
+        [
+          -2.2758882778362022e-08,
+          -0.8947677612304688,
+          -0.44653186202049255,
+          -1.395721435546875
+        ],
+        [
+          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,
+          -14.408132553100586
+        ],
+        [
+          0.4116628170013428,
+          -0.41263115406036377,
+          0.8125696182250977,
+          0.11240267753601074
+        ],
+        [
+          -2.3705524654360488e-08,
+          -0.891624391078949,
+          -0.4527759850025177,
+          -1.386979579925537
+        ],
+        [
+          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,
+          -14.423723220825195
+        ],
+        [
+          0.4007348418235779,
+          -0.42104265093803406,
+          0.8137165307998657,
+          0.11079668998718262
+        ],
+        [
+          -5.753129528329737e-08,
+          -0.8881486654281616,
+          -0.45955613255500793,
+          -1.3774877786636353
+        ],
+        [
+          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,
+          -14.439026832580566
+        ],
+        [
+          0.3900727331638336,
+          -0.4297552704811096,
+          0.8143423795700073,
+          0.1099204570055008
+        ],
+        [
+          -1.3024280320905746e-08,
+          -0.8844010829925537,
+          -0.46672752499580383,
+          -1.3674477338790894
+        ],
+        [
+          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,
+          -14.454081535339355
+        ],
+        [
+          0.3796215355396271,
+          -0.4386913776397705,
+          0.8145166039466858,
+          0.10967674851417542
+        ],
+        [
+          -6.083723746996839e-09,
+          -0.8804234862327576,
+          -0.4741882085800171,
+          -1.3570024967193604
+        ],
+        [
+          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,
+          -14.468921661376953
+        ],
+        [
+          0.369333952665329,
+          -0.4477945864200592,
+          0.8142926096916199,
+          0.10999031364917755
+        ],
+        [
+          -6.988106804328709e-08,
+          -0.8762460350990295,
+          -0.48186391592025757,
+          -1.3462567329406738
+        ],
+        [
+          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,
+          -14.483580589294434
+        ],
+        [
+          0.35916903614997864,
+          -0.4570211172103882,
+          0.8137133121490479,
+          0.11080140620470047
+        ],
+        [
+          -1.033925123294921e-08,
+          -0.8718924522399902,
+          -0.4896973967552185,
+          -1.335289716720581
+        ],
+        [
+          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,
+          -14.498087882995605
+        ],
+        [
+          0.34909048676490784,
+          -0.4663369953632355,
+          0.812813401222229,
+          0.11206125468015671
+        ],
+        [
+          -6.05187899793691e-09,
+          -0.8673811554908752,
+          -0.4976442754268646,
+          -1.3241641521453857
+        ],
+        [
+          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,
+          -14.512470245361328
+        ],
+        [
+          0.3390657901763916,
+          -0.4757139980792999,
+          0.811622142791748,
+          0.11372891068458557
+        ],
+        [
+          -2.686093303339021e-08,
+          -0.8627278208732605,
+          -0.5056684613227844,
+          -1.3129303455352783
+        ],
+        [
+          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,
+          -14.526752471923828
+        ],
+        [
+          0.32906457781791687,
+          -0.48512789607048035,
+          0.8101650476455688,
+          0.1157689243555069
+        ],
+        [
+          1.8763300246860126e-08,
+          -0.8579462766647339,
+          -0.5137393474578857,
+          -1.301630973815918
+        ],
+        [
+          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,
+          -14.540959358215332
+        ],
+        [
+          0.31905779242515564,
+          -0.49455755949020386,
+          0.8084645867347717,
+          0.11814961582422256
+        ],
+        [
+          -3.3957881839796755e-08,
+          -0.8530489802360535,
+          -0.5218309164047241,
+          -1.2903028726577759
+        ],
+        [
+          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,
+          -14.555113792419434
+        ],
+        [
+          0.30901697278022766,
+          -0.503983199596405,
+          0.8065416812896729,
+          0.12084166705608368
+        ],
+        [
+          2.0369292030864017e-08,
+          -0.8480480909347534,
+          -0.5299192667007446,
+          -1.2789791822433472
+        ],
+        [
+          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,
+          -14.56924057006836
+        ],
+        [
+          0.29891327023506165,
+          -0.5133858323097229,
+          0.8044164180755615,
+          0.12381690740585327
+        ],
+        [
+          -2.464853210426554e-08,
+          -0.8429561853408813,
+          -0.5379822254180908,
+          -1.2676911354064941
+        ],
+        [
+          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,
+          -14.583364486694336
+        ],
+        [
+          0.2887163758277893,
+          -0.5227463245391846,
+          0.8021091222763062,
+          0.12704719603061676
+        ],
+        [
+          -1.7238527050267294e-08,
+          -0.8377865552902222,
+          -0.5459977984428406,
+          -1.2564691305160522
+        ],
+        [
+          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,
+          -14.597511291503906
+        ],
+        [
+          0.2783937454223633,
+          -0.5320450067520142,
+          0.7996405363082886,
+          0.13050316274166107
+        ],
+        [
+          -6.718281042594754e-09,
+          -0.8325538635253906,
+          -0.5539440512657166,
+          -1.2453445196151733
+        ],
+        [
+          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,
+          -14.611711502075195
+        ],
+        [
+          0.26790907979011536,
+          -0.5412597060203552,
+          0.7970336675643921,
+          0.1341528743505478
+        ],
+        [
+          2.9905864451507114e-09,
+          -0.8272753357887268,
+          -0.5617966651916504,
+          -1.2343508005142212
+        ],
+        [
+          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,
+          -14.62600040435791
+        ],
+        [
+          0.2572210431098938,
+          -0.5503653883934021,
+          0.7943143248558044,
+          0.13795997202396393
+        ],
+        [
+          5.822423432277901e-09,
+          -0.8219715356826782,
+          -0.5695285201072693,
+          -1.223526120185852
+        ],
+        [
+          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,
+          -14.64041805267334
+        ],
+        [
+          0.2462811917066574,
+          -0.5593317747116089,
+          0.7915135025978088,
+          0.14188118278980255
+        ],
+        [
+          -3.763903677622693e-08,
+          -0.8166681528091431,
+          -0.5771075487136841,
+          -1.2129154205322266
+        ],
+        [
+          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,
+          -14.655014991760254
+        ],
+        [
+          0.23503106832504272,
+          -0.5681204199790955,
+          0.7886695265769958,
+          0.14586271345615387
+        ],
+        [
+          7.902385412705826e-10,
+          -0.8113985061645508,
+          -0.5844933390617371,
+          -1.202575445175171
+        ],
+        [
+          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,
+          -14.669852256774902
+        ],
+        [
+          0.2233986109495163,
+          -0.5766803026199341,
+          0.7858327031135559,
+          0.14983436465263367
+        ],
+        [
+          -1.227705492823361e-09,
+          -0.8062078356742859,
+          -0.5916324853897095,
+          -1.1925805807113647
+        ],
+        [
+          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,
+          -14.685009002685547
+        ],
+        [
+          0.21129286289215088,
+          -0.5849397778511047,
+          0.7830713987350464,
+          0.1537001132965088
+        ],
+        [
+          -2.407281307625908e-08,
+          -0.8011593222618103,
+          -0.5984511375427246,
+          -1.1830345392227173
+        ],
+        [
+          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,
+          -14.700586318969727
+        ],
+        [
+          0.19859756529331207,
+          -0.5927922129631042,
+          0.7804847359657288,
+          0.157321497797966
+        ],
+        [
+          -4.821076871053265e-09,
+          -0.7963470816612244,
+          -0.6048399806022644,
+          -1.174090027809143
+        ],
+        [
+          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,
+          -14.716711044311523
+        ],
+        [
+          0.18516463041305542,
+          -0.6000691056251526,
+          0.7782230377197266,
+          0.16048777103424072
+        ],
+        [
+          -7.954930048015285e-10,
+          -0.7919172644615173,
+          -0.6106283664703369,
+          -1.1659862995147705
+        ],
+        [
+          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,
+          -14.733526229858398
+        ],
+        [
+          0.1708185374736786,
+          -0.6064854264259338,
+          0.7765284776687622,
+          0.16286008059978485
+        ],
+        [
+          -7.122274325865874e-09,
+          -0.7881117463111877,
+          -0.6155322194099426,
+          -1.1591211557388306
+        ],
+        [
+          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,
+          -14.751123428344727
+        ],
+        [
+          0.15541525185108185,
+          -0.6115355491638184,
+          0.7758030891418457,
+          0.16387568414211273
+        ],
+        [
+          1.6053848028718676e-08,
+          -0.7853456139564514,
+          -0.6190575957298279,
+          -1.1541855335235596
+        ],
+        [
+          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,
+          -14.76926326751709
+        ],
+        [
+          0.13910214602947235,
+          -0.6143537163734436,
+          0.7766724228858948,
+          0.16265851259231567
+        ],
+        [
+          -1.441265773394207e-09,
+          -0.7842973470687866,
+          -0.6203850507736206,
+          -1.152327060699463
+        ],
+        [
+          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,
+          -14.786789894104004
+        ],
+        [
+          0.12291380763053894,
+          -0.6138660311698914,
+          0.7797824740409851,
+          0.15830455720424652
+        ],
+        [
+          2.334163085038199e-09,
+          -0.7857404947280884,
+          -0.6185563206672668,
+          -1.154887318611145
+        ],
+        [
+          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,
+          -14.801837921142578
+        ],
+        [
+          0.10867919772863388,
+          -0.6097899079322815,
+          0.7850764989852905,
+          0.15089280903339386
+        ],
+        [
+          6.226858140223612e-09,
+          -0.789754331111908,
+          -0.6134232878684998,
+          -1.1620736122131348
+        ],
+        [
+          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,
+          -14.813581466674805
+        ],
+        [
+          0.09734894335269928,
+          -0.6030651330947876,
+          0.7917295098304749,
+          0.1415785849094391
+        ],
+        [
+          -6.014003517407218e-09,
+          -0.7955079674720764,
+          -0.6059431433677673,
+          -1.1725457906723022
+        ],
+        [
+          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,
+          -14.822446823120117
+        ],
+        [
+          0.08864793926477432,
+          -0.5947598814964294,
+          0.7990007400512695,
+          0.13139879703521729
+        ],
+        [
+          -3.863376285551112e-09,
+          -0.8021588325500488,
+          -0.5971106886863708,
+          -1.1849113702774048
+        ],
+        [
+          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,
+          -14.829094886779785
+        ],
+        [
+          0.08200520277023315,
+          -0.5855205059051514,
+          0.8064991235733032,
+          0.12090111523866653
+        ],
+        [
+          4.0457739380883595e-09,
+          -0.8092246651649475,
+          -0.5874992609024048,
+          -1.1983672380447388
+        ],
+        [
+          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,
+          -14.834024429321289
+        ],
+        [
+          0.07696565240621567,
+          -0.5756877660751343,
+          0.8140392303466797,
+          0.11034506559371948
+        ],
+        [
+          -1.0694765073537837e-09,
+          -0.8164610862731934,
+          -0.5774005055427551,
+          -1.2125054597854614
+        ],
+        [
+          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,
+          -14.83755874633789
+        ],
+        [
+          0.07322142273187637,
+          -0.5654470324516296,
+          0.8215280175209045,
+          0.09986075758934021
+        ],
+        [
+          3.3627514106626677e-09,
+          -0.8237391710281372,
+          -0.5669689178466797,
+          -1.227109670639038
+        ],
+        [
+          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,
+          -14.839897155761719
+        ],
+        [
+          0.07057254016399384,
+          -0.5549070239067078,
+          0.8289135694503784,
+          0.08952102810144424
+        ],
+        [
+          9.860521288374002e-09,
+          -0.8309855461120605,
+          -0.5562940835952759,
+          -1.2420543432235718
+        ],
+        [
+          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,
+          -14.84115982055664
+        ],
+        [
+          0.06889290362596512,
+          -0.5441382527351379,
+          0.8361623287200928,
+          0.07937276363372803
+        ],
+        [
+          -5.52147527699276e-09,
+          -0.8381537199020386,
+          -0.5454341769218445,
+          -1.257258415222168
+        ],
+        [
+          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,
+          -14.84140682220459
+        ],
+        [
+          0.0681091770529747,
+          -0.5331908464431763,
+          0.8432488441467285,
+          0.06945153325796127
+        ],
+        [
+          1.5800107888708226e-08,
+          -0.8452115058898926,
+          -0.5344318747520447,
+          -1.272661566734314
+        ],
+        [
+          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,
+          -14.840651512145996
+        ],
+        [
+          0.06818888336420059,
+          -0.5221061706542969,
+          0.8501502871513367,
+          0.059789594262838364
+        ],
+        [
+          1.05448876297487e-08,
+          -0.8521336913108826,
+          -0.5233242511749268,
+          -1.2882122993469238
+        ],
+        [
+          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,
+          -14.838868141174316
+        ],
+        [
+          0.06913518160581589,
+          -0.5109230875968933,
+          0.8568418622016907,
+          0.05042140930891037
+        ],
+        [
+          1.3306964419257383e-09,
+          -0.8588969111442566,
+          -0.5121484994888306,
+          -1.3038582801818848
+        ],
+        [
+          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,
+          -14.83598804473877
+        ],
+        [
+          0.07098645716905594,
+          -0.4996851682662964,
+          0.8632935285568237,
+          0.0413890965282917
+        ],
+        [
+          9.05822883368046e-09,
+          -0.8654768466949463,
+          -0.5009489059448242,
+          -1.31953763961792
+        ],
+        [
+          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,
+          -14.83189582824707
+        ],
+        [
+          0.07382066547870636,
+          -0.4884481728076935,
+          0.8694647550582886,
+          0.03274945169687271
+        ],
+        [
+          3.6272753689559067e-09,
+          -0.8718435764312744,
+          -0.4897845387458801,
+          -1.335167646408081
+        ],
+        [
+          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,
+          -14.826416969299316
+        ],
+        [
+          0.07776423543691635,
+          -0.4772934913635254,
+          0.8752963542938232,
+          0.02458508312702179
+        ],
+        [
+          8.85149198381896e-09,
+          -0.8779550194740295,
+          -0.47874322533607483,
+          -1.35062575340271
+        ],
+        [
+          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,
+          -14.81930160522461
+        ],
+        [
+          0.08300553262233734,
+          -0.46634969115257263,
+          0.88069748878479,
+          0.017023522406816483
+        ],
+        [
+          -3.3546276867468805e-09,
+          -0.8837472796440125,
+          -0.4679645895957947,
+          -1.365715742111206
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 416.0,
+        "fy": 416.0,
+        "cx": 415.5,
+        "cy": 239.5
+      }
+    }
+  ]
+}

blenderobj_eval/target/scene_000041__traj001__backward/caption.txt

@@ -0,0 +1 @@
+Various household items, including cups, boxes, and electronic devices, are suspended in mid-air against a dark background, gradually falling and scattering across the floor in a chaotic, disorganized manner. A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera. The motion of the scene is reversed, playing backward so the objects rise back up from where they landed.

blenderobj_eval/target/scene_000041__traj001__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": [
+        [
+          -0.9609764814376831,
+          0.23459479212760925,
+          -0.14659109711647034,
+          -11.753772735595703
+        ],
+        [
+          0.27662912011146545,
+          0.8149542212486267,
+          -0.5092400312423706,
+          -13.587063789367676
+        ],
+        [
+          3.36789796051562e-09,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9675166606903076,
+          0.21439403295516968,
+          -0.1339682936668396,
+          -11.771444320678711
+        ],
+        [
+          0.2528088390827179,
+          0.8205007314682007,
+          -0.5127055644989014,
+          -13.582212448120117
+        ],
+        [
+          3.84417226939604e-08,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9734651446342468,
+          0.19406238198280334,
+          -0.12126368284225464,
+          -11.789230346679688
+        ],
+        [
+          0.22883419692516327,
+          0.8255452513694763,
+          -0.515857994556427,
+          -13.577798843383789
+        ],
+        [
+          3.8334672325390784e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9788205623626709,
+          0.17361260950565338,
+          -0.10848511010408401,
+          -11.807121276855469
+        ],
+        [
+          0.20472018420696259,
+          0.830086886882782,
+          -0.5186958312988281,
+          -13.57382583618164
+        ],
+        [
+          -7.160296888741868e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9835784435272217,
+          0.15305665135383606,
+          -0.09564036875963211,
+          -11.825103759765625
+        ],
+        [
+          0.18048107624053955,
+          0.8341218829154968,
+          -0.5212171673774719,
+          -13.570296287536621
+        ],
+        [
+          -3.262145398252869e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9877363443374634,
+          0.1324073076248169,
+          -0.0827372670173645,
+          -11.843168258666992
+        ],
+        [
+          0.1561318337917328,
+          0.8376479148864746,
+          -0.523420512676239,
+          -13.567211151123047
+        ],
+        [
+          -9.782699983418297e-09,
+          -0.5299193263053894,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9912911057472229,
+          0.11167716979980469,
+          -0.06978365778923035,
+          -11.861303329467773
+        ],
+        [
+          0.13168731331825256,
+          0.8406624794006348,
+          -0.52530437707901,
+          -13.564574241638184
+        ],
+        [
+          5.004282765952439e-09,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9942417144775391,
+          0.09087889641523361,
+          -0.05678747594356537,
+          -11.879497528076172
+        ],
+        [
+          0.10716245323419571,
+          0.8431648015975952,
+          -0.5268678069114685,
+          -13.562385559082031
+        ],
+        [
+          3.166061901538342e-08,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.996584951877594,
+          0.07002516835927963,
+          -0.043756648898124695,
+          -11.897740364074707
+        ],
+        [
+          0.08257219940423965,
+          0.8451519012451172,
+          -0.5281096696853638,
+          -13.560646057128906
+        ],
+        [
+          4.870696557190968e-08,
+          -0.5299193263053894,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9983204007148743,
+          0.049128953367471695,
+          -0.0306991096585989,
+          -11.916021347045898
+        ],
+        [
+          0.05793176591396332,
+          0.8466237187385559,
+          -0.5290291905403137,
+          -13.559358596801758
+        ],
+        [
+          -5.350313259100403e-08,
+          -0.5299191474914551,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9994468688964844,
+          0.028202522546052933,
+          -0.01762285642325878,
+          -11.934328079223633
+        ],
+        [
+          0.03325578570365906,
+          0.8475790619850159,
+          -0.5296260714530945,
+          -13.558523178100586
+        ],
+        [
+          -2.572702584302533e-08,
+          -0.5299191474914551,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9999632239341736,
+          0.007258879952132702,
+          -0.004535840358585119,
+          -11.95265007019043
+        ],
+        [
+          0.008559508249163628,
+          0.8480169177055359,
+          -0.5298997163772583,
+          -13.55813980102539
+        ],
+        [
+          -8.417668340143791e-09,
+          -0.5299191474914551,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9998700618743896,
+          -0.0136892544105649,
+          0.008553942665457726,
+          -11.970975875854492
+        ],
+        [
+          -0.016142044216394424,
+          0.8479378819465637,
+          -0.529850423336029,
+          -13.558209419250488
+        ],
+        [
+          4.582499713023935e-08,
+          -0.529919445514679,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9991658926010132,
+          -0.0346287377178669,
+          0.021638499572873116,
+          -11.989294052124023
+        ],
+        [
+          -0.0408334918320179,
+          0.8473407626152039,
+          -0.5294771790504456,
+          -13.558732032775879
+        ],
+        [
+          -5.862118968025243e-08,
+          -0.5299191474914551,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9978528022766113,
+          -0.0555473230779171,
+          0.034709855914115906,
+          -12.007594108581543
+        ],
+        [
+          -0.06550022214651108,
+          0.8462272882461548,
+          -0.5287812352180481,
+          -13.55970573425293
+        ],
+        [
+          -4.3863547460887276e-08,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9959301948547363,
+          -0.0764320120215416,
+          0.04776003956794739,
+          -12.025863647460938
+        ],
+        [
+          -0.09012699127197266,
+          0.8445966839790344,
+          -0.5277626514434814,
+          -13.561132431030273
+        ],
+        [
+          -1.1681868805624163e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9934003949165344,
+          -0.09727008640766144,
+          0.06078106164932251,
+          -12.044093132019043
+        ],
+        [
+          -0.11469876766204834,
+          0.8424513936042786,
+          -0.526421844959259,
+          -13.563009262084961
+        ],
+        [
+          1.0194749933134517e-08,
+          -0.5299191474914551,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.990264356136322,
+          -0.11804879456758499,
+          0.07376502454280853,
+          -12.062271118164062
+        ],
+        [
+          -0.13920056819915771,
+          0.8397918343544006,
+          -0.5247600674629211,
+          -13.565336227416992
+        ],
+        [
+          3.861600106347396e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9865238666534424,
+          -0.1387554407119751,
+          0.08670395612716675,
+          -12.080385208129883
+        ],
+        [
+          -0.16361738741397858,
+          0.8366197347640991,
+          -0.5227779746055603,
+          -13.568110466003418
+        ],
+        [
+          5.629031463172396e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9821814298629761,
+          -0.15937721729278564,
+          0.0995900109410286,
+          -12.09842586517334
+        ],
+        [
+          -0.18793420493602753,
+          0.8329370617866516,
+          -0.5204768776893616,
+          -13.571331977844238
+        ],
+        [
+          -6.907774263709143e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9772402048110962,
+          -0.17990203201770782,
+          0.11241527646780014,
+          -12.116381645202637
+        ],
+        [
+          -0.21213659644126892,
+          0.8287466764450073,
+          -0.5178583860397339,
+          -13.574997901916504
+        ],
+        [
+          -1.2286229811309113e-08,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9717020392417908,
+          -0.20031696557998657,
+          0.125171959400177,
+          -12.134241104125977
+        ],
+        [
+          -0.2362094521522522,
+          0.8240500092506409,
+          -0.5149236917495728,
+          -13.579107284545898
+        ],
+        [
+          -5.7747815418451864e-09,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9655712842941284,
+          -0.22060976922512054,
+          0.1378522664308548,
+          -12.151992797851562
+        ],
+        [
+          -0.26013827323913574,
+          0.8188508749008179,
+          -0.5116748213768005,
+          -13.58365535736084
+        ],
+        [
+          -4.6331525282994335e-09,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.958851158618927,
+          -0.24076789617538452,
+          0.15044844150543213,
+          -12.169628143310547
+        ],
+        [
+          -0.28390827775001526,
+          0.8131518959999084,
+          -0.5081138014793396,
+          -13.588640213012695
+        ],
+        [
+          3.46863657796348e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9515461325645447,
+          -0.26077914237976074,
+          0.16295282542705536,
+          -12.1871337890625
+        ],
+        [
+          -0.3075051009654999,
+          0.8069568872451782,
+          -0.5042427182197571,
+          -13.594059944152832
+        ],
+        [
+          5.3966122237625314e-08,
+          -0.5299191474914551,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9436606168746948,
+          -0.2806312143802643,
+          0.17535777390003204,
+          -12.204501152038574
+        ],
+        [
+          -0.3309142291545868,
+          0.8002695441246033,
+          -0.5000640153884888,
+          -13.599910736083984
+        ],
+        [
+          7.075548325019554e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9351993203163147,
+          -0.30031195282936096,
+          0.1876557320356369,
+          -12.221717834472656
+        ],
+        [
+          -0.3541213572025299,
+          0.7930940389633179,
+          -0.49558016657829285,
+          -13.60618782043457
+        ],
+        [
+          -5.070465824985604e-09,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9261674284934998,
+          -0.31980958580970764,
+          0.199839249253273,
+          -12.238775253295898
+        ],
+        [
+          -0.37711256742477417,
+          0.7854345440864563,
+          -0.49079397320747375,
+          -13.61288833618164
+        ],
+        [
+          -2.682788036167949e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.916570246219635,
+          -0.33911213278770447,
+          0.2119007408618927,
+          -12.255661010742188
+        ],
+        [
+          -0.39987367391586304,
+          0.7772956490516663,
+          -0.4857082664966583,
+          -13.62000846862793
+        ],
+        [
+          3.727609865222803e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.9064138531684875,
+          -0.35820767283439636,
+          0.22383294999599457,
+          -12.272366523742676
+        ],
+        [
+          -0.42239072918891907,
+          0.768682599067688,
+          -0.4803261458873749,
+          -13.627543449401855
+        ],
+        [
+          3.45857138484007e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.895704448223114,
+          -0.3770847022533417,
+          0.2356286346912384,
+          -12.288880348205566
+        ],
+        [
+          -0.4446501135826111,
+          0.7596004605293274,
+          -0.474651038646698,
+          -13.635488510131836
+        ],
+        [
+          3.938302839401331e-08,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8844482898712158,
+          -0.3957314193248749,
+          0.2472805231809616,
+          -12.305192947387695
+        ],
+        [
+          -0.4666379988193512,
+          0.750054657459259,
+          -0.4686862528324127,
+          -13.643838882446289
+        ],
+        [
+          -4.603305114869727e-08,
+          -0.5299193263053894,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8726524710655212,
+          -0.41413694620132446,
+          0.2587814927101135,
+          -12.321293830871582
+        ],
+        [
+          -0.4883413314819336,
+          0.7400512099266052,
+          -0.46243542432785034,
+          -13.65259075164795
+        ],
+        [
+          4.941899334198752e-09,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8603247404098511,
+          -0.43228965997695923,
+          0.27012455463409424,
+          -12.337174415588379
+        ],
+        [
+          -0.5097466111183167,
+          0.7295967936515808,
+          -0.4559025466442108,
+          -13.661736488342285
+        ],
+        [
+          -2.5172370854420478e-08,
+          -0.5299192667007446,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8474715948104858,
+          -0.45017874240875244,
+          0.2813028395175934,
+          -12.352824211120605
+        ],
+        [
+          -0.5308409929275513,
+          0.7186967134475708,
+          -0.44909143447875977,
+          -13.671272277832031
+        ],
+        [
+          6.981099254232959e-09,
+          -0.5299192667007446,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8341012597084045,
+          -0.4677930474281311,
+          0.2923094630241394,
+          -12.368233680725098
+        ],
+        [
+          -0.5516114234924316,
+          0.7073580026626587,
+          -0.44200628995895386,
+          -13.681191444396973
+        ],
+        [
+          3.187490449363395e-08,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8202223181724548,
+          -0.4851217567920685,
+          0.30313774943351746,
+          -12.383393287658691
+        ],
+        [
+          -0.572045087814331,
+          0.6955881118774414,
+          -0.4346514344215393,
+          -13.691488265991211
+        ],
+        [
+          -1.2558339790302853e-07,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.8058425784111023,
+          -0.5021546483039856,
+          0.3137810528278351,
+          -12.398293495178223
+        ],
+        [
+          -0.5921298861503601,
+          0.6833932995796204,
+          -0.4270314574241638,
+          -13.702156066894531
+        ],
+        [
+          -5.415583714807326e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.7909712791442871,
+          -0.5188810229301453,
+          0.3242328464984894,
+          -12.412925720214844
+        ],
+        [
+          -0.611853301525116,
+          0.670781672000885,
+          -0.41915085911750793,
+          -13.713189125061035
+        ],
+        [
+          -2.177709745865286e-08,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.7756171226501465,
+          -0.5352909564971924,
+          0.3344869017601013,
+          -12.427281379699707
+        ],
+        [
+          -0.6312035322189331,
+          0.6577606201171875,
+          -0.41101446747779846,
+          -13.724579811096191
+        ],
+        [
+          -2.325034031969153e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.7597899436950684,
+          -0.5513741970062256,
+          0.3445369005203247,
+          -12.441351890563965
+        ],
+        [
+          -0.6501685380935669,
+          0.6443384289741516,
+          -0.4026273787021637,
+          -13.736321449279785
+        ],
+        [
+          -2.6980673695220503e-08,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.7434993386268616,
+          -0.5671208500862122,
+          0.35437649488449097,
+          -12.455126762390137
+        ],
+        [
+          -0.6687366962432861,
+          0.6305232048034668,
+          -0.39399453997612,
+          -13.748407363891602
+        ],
+        [
+          -9.200478245929844e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.7267546057701111,
+          -0.5825217962265015,
+          0.3639999330043793,
+          -12.468600273132324
+        ],
+        [
+          -0.6868970990180969,
+          0.6163228750228882,
+          -0.38512131571769714,
+          -13.76082992553711
+        ],
+        [
+          6.668759056083218e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.7095670700073242,
+          -0.5975670218467712,
+          0.3734012544155121,
+          -12.481761932373047
+        ],
+        [
+          -0.7046381235122681,
+          0.6017470955848694,
+          -0.3760131895542145,
+          -13.773581504821777
+        ],
+        [
+          -3.149525085177629e-09,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.6919459104537964,
+          -0.61224764585495,
+          0.38257482647895813,
+          -12.49460506439209
+        ],
+        [
+          -0.7219492197036743,
+          0.5868033766746521,
+          -0.3666754961013794,
+          -13.786654472351074
+        ],
+        [
+          -3.4659890957300377e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.6739031076431274,
+          -0.6265548467636108,
+          0.39151495695114136,
+          -12.507121086120605
+        ],
+        [
+          -0.73881995677948,
+          0.5715022683143616,
+          -0.35711416602134705,
+          -13.800040245056152
+        ],
+        [
+          -5.113593104510983e-08,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.6554486155509949,
+          -0.6404796838760376,
+          0.40021607279777527,
+          -12.519302368164062
+        ],
+        [
+          -0.7552397847175598,
+          0.555851936340332,
+          -0.3473348915576935,
+          -13.81373119354248
+        ],
+        [
+          7.40288399470046e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.6365944147109985,
+          -0.6540136933326721,
+          0.4086730480194092,
+          -12.531142234802246
+        ],
+        [
+          -0.7711988091468811,
+          0.5398626923561096,
+          -0.33734366297721863,
+          -13.827718734741211
+        ],
+        [
+          5.154747029223472e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.6173519492149353,
+          -0.6671485304832458,
+          0.41688069701194763,
+          -12.542633056640625
+        ],
+        [
+          -0.7866871356964111,
+          0.523544192314148,
+          -0.32714661955833435,
+          -13.841995239257812
+        ],
+        [
+          -5.682181125621355e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.5977320075035095,
+          -0.6798765063285828,
+          0.42483392357826233,
+          -12.553767204284668
+        ],
+        [
+          -0.8016956448554993,
+          0.5069054365158081,
+          -0.3167498707771301,
+          -13.856550216674805
+        ],
+        [
+          1.0997625565778435e-07,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.5777483582496643,
+          -0.6921894550323486,
+          0.432528018951416,
+          -12.564538955688477
+        ],
+        [
+          -0.8162148594856262,
+          0.48995840549468994,
+          -0.306160032749176,
+          -13.871376037597656
+        ],
+        [
+          -5.663068236572144e-09,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.5574116110801697,
+          -0.7040801048278809,
+          0.4399580955505371,
+          -12.574941635131836
+        ],
+        [
+          -0.83023601770401,
+          0.47271180152893066,
+          -0.2953832447528839,
+          -13.886463165283203
+        ],
+        [
+          1.8160401182854002e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.536734938621521,
+          -0.7155411839485168,
+          0.44711968302726746,
+          -12.584967613220215
+        ],
+        [
+          -0.8437506556510925,
+          0.45517697930336,
+          -0.28442633152008057,
+          -13.901803016662598
+        ],
+        [
+          8.735769085888023e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.5157310366630554,
+          -0.7265656590461731,
+          0.4540086090564728,
+          -12.594612121582031
+        ],
+        [
+          -0.8567505478858948,
+          0.43736475706100464,
+          -0.2732957601547241,
+          -13.917386054992676
+        ],
+        [
+          -5.502901245790781e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.49441206455230713,
+          -0.7371470332145691,
+          0.4606204628944397,
+          -12.60386848449707
+        ],
+        [
+          -0.8692277669906616,
+          0.4192851781845093,
+          -0.2619985044002533,
+          -13.933201789855957
+        ],
+        [
+          1.3816489286000433e-07,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.4727916717529297,
+          -0.747278094291687,
+          0.4669512212276459,
+          -12.61273193359375
+        ],
+        [
+          -0.8811742067337036,
+          0.4009501338005066,
+          -0.2505413293838501,
+          -13.94924259185791
+        ],
+        [
+          -9.980628590255947e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.45088231563568115,
+          -0.7569537162780762,
+          0.47299709916114807,
+          -12.621195793151855
+        ],
+        [
+          -0.892583429813385,
+          0.3823698163032532,
+          -0.2389313280582428,
+          -13.965496063232422
+        ],
+        [
+          1.5110390449990518e-07,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.42869842052459717,
+          -0.7661670446395874,
+          0.47875434160232544,
+          -12.629256248474121
+        ],
+        [
+          -0.903447687625885,
+          0.3635569214820862,
+          -0.2271755039691925,
+          -13.981954574584961
+        ],
+        [
+          -6.162409249554912e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.40625250339508057,
+          -0.7749131321907043,
+          0.48421937227249146,
+          -12.636907577514648
+        ],
+        [
+          -0.913760781288147,
+          0.3445216119289398,
+          -0.21528111398220062,
+          -13.99860668182373
+        ],
+        [
+          8.779080928889016e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.3835590183734894,
+          -0.7831863760948181,
+          0.4893890917301178,
+          -12.644145011901855
+        ],
+        [
+          -0.9235163927078247,
+          0.3252764940261841,
+          -0.2032553106546402,
+          -14.015442848205566
+        ],
+        [
+          2.6520728724221954e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.36063140630722046,
+          -0.790981650352478,
+          0.4942602217197418,
+          -12.65096378326416
+        ],
+        [
+          -0.9327085018157959,
+          0.30583280324935913,
+          -0.19110547006130219,
+          -14.032452583312988
+        ],
+        [
+          -4.699517219819427e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.3374837338924408,
+          -0.7982942461967468,
+          0.49882957339286804,
+          -12.657361030578613
+        ],
+        [
+          -0.9413313269615173,
+          0.28620246052742004,
+          -0.17883913218975067,
+          -14.049625396728516
+        ],
+        [
+          -5.472038822063041e-09,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.31413018703460693,
+          -0.8051199913024902,
+          0.5030947923660278,
+          -12.66333293914795
+        ],
+        [
+          -0.949380099773407,
+          0.26639747619628906,
+          -0.1664636731147766,
+          -14.066950798034668
+        ],
+        [
+          1.212966651564784e-07,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.290584534406662,
+          -0.8114541172981262,
+          0.5070527791976929,
+          -12.66887378692627
+        ],
+        [
+          -0.9568491578102112,
+          0.24642963707447052,
+          -0.15398643910884857,
+          -14.084419250488281
+        ],
+        [
+          3.265495962523346e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.2668619155883789,
+          -0.8172933459281921,
+          0.5107016563415527,
+          -12.673982620239258
+        ],
+        [
+          -0.9637346863746643,
+          0.22631168365478516,
+          -0.14141535758972168,
+          -14.102018356323242
+        ],
+        [
+          4.058686542407486e-08,
+          -0.5299193263053894,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.24297676980495453,
+          -0.8226339221000671,
+          0.5140387415885925,
+          -12.678653717041016
+        ],
+        [
+          -0.9700321555137634,
+          0.20605598390102386,
+          -0.12875807285308838,
+          -14.119738578796387
+        ],
+        [
+          1.8077304986263698e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.21894294023513794,
+          -0.827472448348999,
+          0.5170621871948242,
+          -12.682887077331543
+        ],
+        [
+          -0.9757376909255981,
+          0.18567410111427307,
+          -0.11602213233709335,
+          -14.137569427490234
+        ],
+        [
+          6.762331850040937e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.19477558135986328,
+          -0.8318060636520386,
+          0.519770085811615,
+          -12.686677932739258
+        ],
+        [
+          -0.9808477163314819,
+          0.1651790291070938,
+          -0.10321540385484695,
+          -14.155498504638672
+        ],
+        [
+          4.4084409012157266e-08,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.17048950493335724,
+          -0.8356321454048157,
+          0.5221608877182007,
+          -12.690025329589844
+        ],
+        [
+          -0.9853593707084656,
+          0.14458328485488892,
+          -0.09034570306539536,
+          -14.173516273498535
+        ],
+        [
+          -8.399062778607913e-09,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.14609943330287933,
+          -0.8389484286308289,
+          0.5242331027984619,
+          -12.692926406860352
+        ],
+        [
+          -0.9892698526382446,
+          0.12389932572841644,
+          -0.07742094993591309,
+          -14.191610336303711
+        ],
+        [
+          1.7063834789610155e-08,
+          -0.5299192070960999,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.12162009626626968,
+          -0.8417527675628662,
+          0.5259854793548584,
+          -12.695379257202148
+        ],
+        [
+          -0.9925766587257385,
+          0.10313965380191803,
+          -0.06444890797138214,
+          -14.209771156311035
+        ],
+        [
+          5.414685944060693e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.09706674516201019,
+          -0.8440435528755188,
+          0.5274168848991394,
+          -12.697383880615234
+        ],
+        [
+          -0.9952778816223145,
+          0.0823173001408577,
+          -0.051437485963106155,
+          -14.227987289428711
+        ],
+        [
+          -4.876741499515447e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.07245390862226486,
+          -0.8458192944526672,
+          0.5285264253616333,
+          -12.69893741607666
+        ],
+        [
+          -0.9973717927932739,
+          0.06144433841109276,
+          -0.038394808769226074,
+          -14.246247291564941
+        ],
+        [
+          1.1521817100401677e-07,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.04779692739248276,
+          -0.8470788598060608,
+          0.5293135643005371,
+          -12.70003890991211
+        ],
+        [
+          -0.9988570809364319,
+          0.04053403064608574,
+          -0.025328608229756355,
+          -14.26453971862793
+        ],
+        [
+          1.2267574334146047e-07,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          -0.023110870271921158,
+          -0.8478215932846069,
+          0.5297776460647583,
+          -12.700688362121582
+        ],
+        [
+          -0.9997328519821167,
+          0.01959909498691559,
+          -0.012246966361999512,
+          -14.282854080200195
+        ],
+        [
+          4.861670532818607e-08,
+          -0.5299192070960999,
+          -0.8480481505393982,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          0.001589314779266715,
+          -0.8480469584465027,
+          0.5299186706542969,
+          -12.700885772705078
+        ],
+        [
+          -0.9999987483024597,
+          -0.0013478038599714637,
+          0.0008422260289080441,
+          -14.301178932189941
+        ],
+        [
+          -2.23591634096465e-08,
+          -0.5299193263053894,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          0.02628851868212223,
+          -0.8477550745010376,
+          0.5297361612319946,
+          -12.700630187988281
+        ],
+        [
+          -0.9996544718742371,
+          -0.02229391410946846,
+          0.013930846005678177,
+          -14.319502830505371
+        ],
+        [
+          2.473285576343187e-09,
+          -0.5299193263053894,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          0.05097174644470215,
+          -0.8469457626342773,
+          0.5292304158210754,
+          -12.699922561645508
+        ],
+        [
+          -0.9987001419067383,
+          -0.043226465582847595,
+          0.0270109660923481,
+          -14.337815284729004
+        ],
+        [
+          -3.152493732727635e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          0.07562388479709625,
+          -0.8456196188926697,
+          0.5284018516540527,
+          -12.698762893676758
+        ],
+        [
+          -0.9971364736557007,
+          -0.0641326829791069,
+          0.04007457569241524,
+          -14.356104850769043
+        ],
+        [
+          -9.76358549564793e-10,
+          -0.5299193263053894,
+          -0.8480480313301086,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          0.10022982954978943,
+          -0.8437775373458862,
+          0.5272507667541504,
+          -12.697151184082031
+        ],
+        [
+          -0.9949643015861511,
+          -0.0849997028708458,
+          0.05311372131109238,
+          -14.374359130859375
+        ],
+        [
+          -2.4413829180502944e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          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": [
+        [
+          0.12477458268404007,
+          -0.8414207696914673,
+          0.5257779955863953,
+          -12.695089340209961
+        ],
+        [
+          -0.9921851754188538,
+          -0.1058148667216301,
+          0.0661204382777214,
+          -14.392568588256836
+        ],
+        [
+          3.978462359555124e-08,
+          -0.5299192667007446,
+          -0.8480480909347534,
+          1.3920649290084839
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 416.0,
+        "fy": 416.0,
+        "cx": 415.5,
+        "cy": 239.5
+      }
+    }
+  ]
+}

blenderobj_eval/target/scene_000043__traj002__slowmo/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": [
+        [
+          0.7431448698043823,
+          -0.3545852303504944,
+          0.5674548745155334,
+          -3.394436836242676
+        ],
+        [
+          -0.6691305637359619,
+          -0.3938067555427551,
+          0.6302225589752197,
+          0.04168842360377312
+        ],
+        [
+          -5.5218464467543527e-08,
+          -0.8480480909347534,
+          -0.5299193263053894,
+          0.5630179643630981
+        ],
+        [
+          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": [
+        [
+          0.7501994967460632,
+          -0.35572001338005066,
+          0.5573723912239075,
+          -3.380321502685547
+        ],
+        [
+          -0.6612115502357483,
+          -0.4035939872264862,
+          0.63238525390625,
+          0.038660626858472824
+        ],
+        [
+          4.8484068315701734e-08,
+          -0.8429561853408813,
+          -0.5379822254180908,
+          0.574306070804596
+        ],
+        [
+          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": [
+        [
+          0.7572101950645447,
+          -0.3566300570964813,
+          0.5472181439399719,
+          -3.366105318069458
+        ],
+        [
+          -0.6531713008880615,
+          -0.41343507170677185,
+          0.634380578994751,
+          0.03586716577410698
+        ],
+        [
+          1.5488565097143692e-08,
+          -0.8377866148948669,
+          -0.5459977388381958,
+          0.5855280160903931
+        ],
+        [
+          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": [
+        [
+          0.7641974091529846,
+          -0.3572841286659241,
+          0.5369826555252075,
+          -3.351775646209717
+        ],
+        [
+          -0.6449824571609497,
+          -0.42332255840301514,
+          0.6362355351448059,
+          0.03327028825879097
+        ],
+        [
+          1.245784453374199e-08,
+          -0.8325539231300354,
+          -0.5539439916610718,
+          0.596652626991272
+        ],
+        [
+          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": [
+        [
+          0.7711816430091858,
+          -0.35764819383621216,
+          0.5266560912132263,
+          -3.3373184204101562
+        ],
+        [
+          -0.6366152167320251,
+          -0.4332472085952759,
+          0.6379796266555786,
+          0.03082859329879284
+        ],
+        [
+          5.247597201218923e-08,
+          -0.8272754549980164,
+          -0.5617965459823608,
+          0.6076462864875793
+        ],
+        [
+          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": [
+        [
+          0.7781858444213867,
+          -0.3576832711696625,
+          0.5162262320518494,
+          -3.32271671295166
+        ],
+        [
+          -0.6280341148376465,
+          -0.4431990087032318,
+          0.6396466493606567,
+          0.028494814410805702
+        ],
+        [
+          4.7992195106871804e-08,
+          -0.821971595287323,
+          -0.5695284605026245,
+          0.6184710264205933
+        ],
+        [
+          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": [
+        [
+          0.7852352261543274,
+          -0.3573436141014099,
+          0.5056788921356201,
+          -3.307950496673584
+        ],
+        [
+          -0.6191975474357605,
+          -0.453165203332901,
+          0.6412765979766846,
+          0.026212802156805992
+        ],
+        [
+          -2.7222391452141892e-08,
+          -0.8166680932044983,
+          -0.5771076083183289,
+          0.629081666469574
+        ],
+        [
+          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": [
+        [
+          0.7923593521118164,
+          -0.3565729558467865,
+          0.49499741196632385,
+          -3.292996406555176
+        ],
+        [
+          -0.6100546717643738,
+          -0.46312883496284485,
+          0.64291912317276,
+          0.02391313761472702
+        ],
+        [
+          1.7032519394888368e-08,
+          -0.811398446559906,
+          -0.5844934582710266,
+          0.6394217014312744
+        ],
+        [
+          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": [
+        [
+          0.7995931506156921,
+          -0.3553002178668976,
+          0.4841616451740265,
+          -3.2778263092041016
+        ],
+        [
+          -0.6005420684814453,
+          -0.4730653464794159,
+          0.6446382403373718,
+          0.021506493911147118
+        ],
+        [
+          -7.032575410903519e-09,
+          -0.8062077760696411,
+          -0.5916325449943542,
+          0.6494166254997253
+        ],
+        [
+          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": [
+        [
+          0.8069795370101929,
+          -0.35343286395072937,
+          0.4731481969356537,
+          -3.2624073028564453
+        ],
+        [
+          -0.5905793905258179,
+          -0.48293784260749817,
+          0.6465191841125488,
+          0.018873116001486778
+        ],
+        [
+          3.775386758775312e-08,
+          -0.8011593222618103,
+          -0.5984511375427246,
+          0.6589626669883728
+        ],
+        [
+          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": [
+        [
+          0.814571738243103,
+          -0.35084521770477295,
+          0.4619312882423401,
+          -3.246703863143921
+        ],
+        [
+          -0.5800628066062927,
+          -0.49268555641174316,
+          0.6486817598342896,
+          0.01584555022418499
+        ],
+        [
+          -3.610009713383988e-08,
+          -0.7963470220565796,
+          -0.6048400402069092,
+          0.6679071187973022
+        ],
+        [
+          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": [
+        [
+          0.8224347829818726,
+          -0.34736168384552,
+          0.45048967003822327,
+          -3.2306854724884033
+        ],
+        [
+          -0.5688594579696655,
+          -0.5022019743919373,
+          0.6513003706932068,
+          0.012179654091596603
+        ],
+        [
+          5.601448194170189e-08,
+          -0.7919173240661621,
+          -0.6106283068656921,
+          0.6760108470916748
+        ],
+        [
+          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": [
+        [
+          0.830640435218811,
+          -0.3427339494228363,
+          0.43882784247398376,
+          -3.2143590450286865
+        ],
+        [
+          -0.55680912733078,
+          -0.5112859010696411,
+          0.6546374559402466,
+          0.007507454138249159
+        ],
+        [
+          -3.5135954590259644e-08,
+          -0.7881117463111877,
+          -0.6155321598052979,
+          0.6828759908676147
+        ],
+        [
+          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": [
+        [
+          0.8392320871353149,
+          -0.3366270661354065,
+          0.42705002427101135,
+          -3.1978700160980225
+        ],
+        [
+          -0.5437734127044678,
+          -0.5195329189300537,
+          0.6590873599052429,
+          0.0012778176460415125
+        ],
+        [
+          -5.6698940653632235e-08,
+          -0.7853456735610962,
+          -0.6190575361251831,
+          0.687811553478241
+        ],
+        [
+          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": [
+        [
+          0.8480860590934753,
+          -0.3287162780761719,
+          0.41556665301322937,
+          -3.181793212890625
+        ],
+        [
+          -0.5298584699630737,
+          -0.5261399745941162,
+          0.6651517152786255,
+          -0.007212365977466106
+        ],
+        [
+          4.089237037874227e-08,
+          -0.7842974066734314,
+          -0.6203850507736206,
+          0.6896700859069824
+        ],
+        [
+          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": [
+        [
+          0.8566248416900635,
+          -0.3191378712654114,
+          0.4053947925567627,
+          -3.1675527095794678
+        ],
+        [
+          -0.5159398317337036,
+          -0.5298707485198975,
+          0.6730847954750061,
+          -0.01831868290901184
+        ],
+        [
+          -3.0519160532094247e-09,
+          -0.7857404351234436,
+          -0.6185563206672668,
+          0.6871098875999451
+        ],
+        [
+          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": [
+        [
+          0.8639306426048279,
+          -0.3089265823364258,
+          0.397728830575943,
+          -3.15682053565979
+        ],
+        [
+          -0.5036108493804932,
+          -0.5299550890922546,
+          0.6822929382324219,
+          -0.031210169196128845
+        ],
+        [
+          -4.985362522802461e-08,
+          -0.789754331111908,
+          -0.613423228263855,
+          0.6799234747886658
+        ],
+        [
+          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": [
+        [
+          0.8696110248565674,
+          -0.29917678236961365,
+          0.39277201890945435,
+          -3.149880886077881
+        ],
+        [
+          -0.4937373697757721,
+          -0.526934802532196,
+          0.6917824149131775,
+          -0.044495537877082825
+        ],
+        [
+          -4.863620617356901e-08,
+          -0.7955079078674316,
+          -0.6059431433677673,
+          0.6694513559341431
+        ],
+        [
+          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": [
+        [
+          0.8738924860954285,
+          -0.2902669310569763,
+          0.3899448812007904,
+          -3.145922899246216
+        ],
+        [
+          -0.48611921072006226,
+          -0.5218104720115662,
+          0.7010005712509155,
+          -0.057400938123464584
+        ],
+        [
+          -2.3242627378294856e-08,
+          -0.8021588325500488,
+          -0.5971106290817261,
+          0.6570858359336853
+        ],
+        [
+          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": [
+        [
+          0.8771139979362488,
+          -0.28216540813446045,
+          0.38865628838539124,
+          -3.1441187858581543
+        ],
+        [
+          -0.4802822470664978,
+          -0.5153037309646606,
+          0.7097824215888977,
+          -0.06969533115625381
+        ],
+        [
+          -1.2062366216980536e-08,
+          -0.8092247843742371,
+          -0.5874991416931152,
+          0.6436299085617065
+        ],
+        [
+          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": [
+        [
+          0.8795309066772461,
+          -0.27475130558013916,
+          0.3885062634944916,
+          -3.143908739089966
+        ],
+        [
+          -0.475841760635376,
+          -0.5078415870666504,
+          0.718102753162384,
+          -0.08134383708238602
+        ],
+        [
+          -6.154090570476001e-09,
+          -0.8164610862731934,
+          -0.5774005055427551,
+          0.6294916868209839
+        ],
+        [
+          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": [
+        [
+          0.8813114166259766,
+          -0.26791316270828247,
+          0.3892463743686676,
+          -3.144944906234741
+        ],
+        [
+          -0.4725359380245209,
+          -0.4996761977672577,
+          0.7259706854820251,
+          -0.0923590287566185
+        ],
+        [
+          3.6424523841560585e-08,
+          -0.8237391710281372,
+          -0.5669689178466797,
+          0.6148874759674072
+        ],
+        [
+          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": [
+        [
+          0.8825632333755493,
+          -0.26156601309776306,
+          0.3907241225242615,
+          -3.1470139026641846
+        ],
+        [
+          -0.4701937139034271,
+          -0.49096477031707764,
+          0.7333971858024597,
+          -0.10275614261627197
+        ],
+        [
+          -1.0271744343981482e-08,
+          -0.830985426902771,
+          -0.5562941431999207,
+          0.5999427437782288
+        ],
+        [
+          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": [
+        [
+          0.8833536505699158,
+          -0.2556488811969757,
+          0.39284849166870117,
+          -3.1499879360198975
+        ],
+        [
+          -0.46870702505111694,
+          -0.4818112850189209,
+          0.7403860688209534,
+          -0.11254061758518219
+        ],
+        [
+          -4.9995847462014353e-08,
+          -0.838153600692749,
+          -0.5454341769218445,
+          0.5847387313842773
+        ],
+        [
+          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": [
+        [
+          0.8837215900421143,
+          -0.25012102723121643,
+          0.39556995034217834,
+          -3.1537981033325195
+        ],
+        [
+          -0.4680129587650299,
+          -0.47228890657424927,
+          0.7469317317008972,
+          -0.12170442938804626
+        ],
+        [
+          -6.675485764162659e-08,
+          -0.8452115654945374,
+          -0.5344318151473999,
+          0.5693355798721313
+        ],
+        [
+          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": [
+        [
+          0.8836842179298401,
+          -0.24495954811573029,
+          0.39886972308158875,
+          -3.1584177017211914
+        ],
+        [
+          -0.46808359026908875,
+          -0.46245336532592773,
+          0.7530170679092407,
+          -0.13022391498088837
+        ],
+        [
+          -5.090575427857402e-08,
+          -0.8521336317062378,
+          -0.5233242511749268,
+          0.5537848472595215
+        ],
+        [
+          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": [
+        [
+          0.8832398056983948,
+          -0.24015748500823975,
+          0.4027552902698517,
+          -3.1638574600219727
+        ],
+        [
+          -0.46892157196998596,
+          -0.452349990606308,
+          0.7586119174957275,
+          -0.13805674016475677
+        ],
+        [
+          2.1149919149365815e-08,
+          -0.8588969111442566,
+          -0.5121485590934753,
+          0.5381388664245605
+        ],
+        [
+          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": [
+        [
+          0.8823680281639099,
+          -0.2357264906167984,
+          0.40725868940353394,
+          -3.1701622009277344
+        ],
+        [
+          -0.47055989503860474,
+          -0.44202128052711487,
+          0.7636691331863403,
+          -0.1451367735862732
+        ],
+        [
+          -4.679642984228849e-08,
+          -0.8654768466949463,
+          -0.5009489059448242,
+          0.5224595069885254
+        ],
+        [
+          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": [
+        [
+          0.8810272812843323,
+          -0.23170015215873718,
+          0.4124390780925751,
+          -3.177414655685425
+        ],
+        [
+          -0.47306549549102783,
+          -0.4315134584903717,
+          0.7681180238723755,
+          -0.15136507153511047
+        ],
+        [
+          1.4549748073022784e-09,
+          -0.8718435764312744,
+          -0.48978447914123535,
+          0.5068294405937195
+        ],
+        [
+          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": [
+        [
+          0.8791494965553284,
+          -0.22814323008060455,
+          0.4183860421180725,
+          -3.1857404708862305
+        ],
+        [
+          -0.47654610872268677,
+          -0.4208867847919464,
+          0.7718538045883179,
+          -0.1565951555967331
+        ],
+        [
+          -1.7527774787140515e-08,
+          -0.8779550790786743,
+          -0.47874313592910767,
+          0.49137142300605774
+        ],
+        [
+          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": [
+        [
+          0.876631498336792,
+          -0.22516697645187378,
+          0.4252258837223053,
+          -3.1953163146972656
+        ],
+        [
+          -0.48116233944892883,
+          -0.4102325439453125,
+          0.7747206091880798,
+          -0.1606089025735855
+        ],
+        [
+          -1.2329810061828539e-08,
+          -0.8837471604347229,
+          -0.46796464920043945,
+          0.47628143429756165
+        ],
+        [
+          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": [
+        [
+          0.8733259439468384,
+          -0.22295571863651276,
+          0.433119535446167,
+          -3.2063674926757812
+        ],
+        [
+          -0.4871363043785095,
+          -0.3997093737125397,
+          0.7764860987663269,
+          -0.16308055818080902
+        ],
+        [
+          -7.875181040617463e-08,
+          -0.8891136646270752,
+          -0.4576863944530487,
+          0.4618918001651764
+        ],
+        [
+          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": [
+        [
+          0.8690422773361206,
+          -0.221801295876503,
+          0.442232608795166,
+          -3.219125747680664
+        ],
+        [
+          -0.49473780393600464,
+          -0.38960981369018555,
+          0.7768131494522095,
+          -0.16353844106197357
+        ],
+        [
+          -1.2021207140833212e-08,
+          -0.8938726782798767,
+          -0.4483208954334259,
+          0.44878023862838745
+        ],
+        [
+          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": [
+        [
+          0.8636004328727722,
+          -0.22211462259292603,
+          0.4526139199733734,
+          -3.233659505844116
+        ],
+        [
+          -0.5041767954826355,
+          -0.38045838475227356,
+          0.7752787470817566,
+          -0.16139021515846252
+        ],
+        [
+          1.6652728973554076e-08,
+          -0.8977285027503967,
+          -0.4405490756034851,
+          0.43789979815483093
+        ],
+        [
+          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": [
+        [
+          0.8569989800453186,
+          -0.22429567575454712,
+          0.46394413709640503,
+          -3.2495217323303223
+        ],
+        [
+          -0.5153180360794067,
+          -0.3730146884918213,
+          0.7715615630149841,
+          -0.1561863124370575
+        ],
+        [
+          1.1314773118442645e-08,
+          -0.9003062844276428,
+          -0.43525683879852295,
+          0.4304904639720917
+        ],
+        [
+          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": [
+        [
+          0.8495824337005615,
+          -0.22840946912765503,
+          0.475435346364975,
+          -3.2656095027923584
+        ],
+        [
+          -0.5274558067321777,
+          -0.36790329217910767,
+          0.7657920718193054,
+          -0.14810894429683685
+        ],
+        [
+          4.4145007649376566e-08,
+          -0.9013746380805969,
+          -0.4330400824546814,
+          0.4273870587348938
+        ],
+        [
+          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": [
+        [
+          0.8418614268302917,
+          -0.23407357931137085,
+          0.48629096150398254,
+          -3.2808072566986084
+        ],
+        [
+          -0.5396937727928162,
+          -0.3651284873485565,
+          0.7585590481758118,
+          -0.13798274099826813
+        ],
+        [
+          4.280354914953932e-08,
+          -0.901049792766571,
+          -0.4337156414985657,
+          0.4283328652381897
+        ],
+        [
+          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": [
+        [
+          0.8341804146766663,
+          -0.2407827228307724,
+          0.49615195393562317,
+          -3.2946126461029053
+        ],
+        [
+          -0.5514916777610779,
+          -0.3642052710056305,
+          0.750474214553833,
+          -0.12666377425193787
+        ],
+        [
+          -1.8845412341761403e-08,
+          -0.8996545672416687,
+          -0.43660256266593933,
+          0.4323747456073761
+        ],
+        [
+          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": [
+        [
+          0.8266686201095581,
+          -0.24816535413265228,
+          0.505007803440094,
+          -3.307011127471924
+        ],
+        [
+          -0.5626890063285828,
+          -0.36458954215049744,
+          0.7419268488883972,
+          -0.11469760537147522
+        ],
+        [
+          7.32049088014719e-10,
+          -0.8974900245666504,
+          -0.4410347044467926,
+          0.4385795295238495
+        ],
+        [
+          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": [
+        [
+          0.8193424344062805,
+          -0.25599879026412964,
+          0.5129743218421936,
+          -3.3181638717651367
+        ],
+        [
+          -0.5733044743537903,
+          -0.3658624589443207,
+          0.7331212162971497,
+          -0.10236965864896774
+        ],
+        [
+          -4.675931108977238e-08,
+          -0.8947677612304688,
+          -0.44653186202049255,
+          0.44627565145492554
+        ],
+        [
+          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": [
+        [
+          0.8121784925460815,
+          -0.2641535997390747,
+          0.5201815962791443,
+          -3.328254222869873
+        ],
+        [
+          -0.5834090113639832,
+          -0.36773496866226196,
+          0.7241581082344055,
+          -0.08982131630182266
+        ],
+        [
+          -2.109774754899263e-08,
+          -0.8916242718696594,
+          -0.4527760148048401,
+          0.4550175368785858
+        ],
+        [
+          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": [
+        [
+          0.8051436543464661,
+          -0.2725534439086914,
+          0.5267431139945984,
+          -3.3374404907226562
+        ],
+        [
+          -0.5930798053741455,
+          -0.37000858783721924,
+          0.715087354183197,
+          -0.0771222859621048
+        ],
+        [
+          -9.188775607071875e-08,
+          -0.8881487250328064,
+          -0.45955604314804077,
+          0.46450939774513245
+        ],
+        [
+          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": [
+        [
+          0.7982048988342285,
+          -0.28115010261535645,
+          0.5327509641647339,
+          -3.345851182937622
+        ],
+        [
+          -0.6023860573768616,
+          -0.37254390120506287,
+          0.7059335708618164,
+          -0.0643068253993988
+        ],
+        [
+          -9.558930003095156e-08,
+          -0.8844013810157776,
+          -0.46672725677490234,
+          0.4745493531227112
+        ],
+        [
+          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": [
+        [
+          0.7913328409194946,
+          -0.28991180658340454,
+          0.5382782816886902,
+          -3.3535895347595215
+        ],
+        [
+          -0.6113855838775635,
+          -0.375240683555603,
+          0.6967081427574158,
+          -0.05139120668172836
+        ],
+        [
+          3.90890022572421e-08,
+          -0.8804236054420471,
+          -0.4741881489753723,
+          0.4849946200847626
+        ],
+        [
+          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": [
+        [
+          0.7845009565353394,
+          -0.29881715774536133,
+          0.543384313583374,
+          -3.3607380390167236
+        ],
+        [
+          -0.6201275587081909,
+          -0.3780227303504944,
+          0.6874158382415771,
+          -0.03838225454092026
+        ],
+        [
+          -4.4067288484939127e-08,
+          -0.8762460350990295,
+          -0.48186397552490234,
+          0.49574044346809387
+        ],
+        [
+          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": [
+        [
+          0.7776857614517212,
+          -0.30784979462623596,
+          0.5481180548667908,
+          -3.3673651218414307
+        ],
+        [
+          -0.6286532282829285,
+          -0.38083070516586304,
+          0.6780583262443542,
+          -0.025281673297286034
+        ],
+        [
+          9.35836226290121e-08,
+          -0.871892511844635,
+          -0.4896973669528961,
+          0.5067073702812195
+        ],
+        [
+          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": [
+        [
+          0.7708657383918762,
+          -0.31699827313423157,
+          0.5525197982788086,
+          -3.373527765274048
+        ],
+        [
+          -0.6369976997375488,
+          -0.3836168646812439,
+          0.6686345338821411,
+          -0.012088259682059288
+        ],
+        [
+          -2.02803072113511e-08,
+          -0.8673812747001648,
+          -0.49764424562454224,
+          0.5178330540657043
+        ],
+        [
+          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": [
+        [
+          0.7640209197998047,
+          -0.32625293731689453,
+          0.556624710559845,
+          -3.379274606704712
+        ],
+        [
+          -0.645191490650177,
+          -0.38634103536605835,
+          0.6591423749923706,
+          0.0012009349884465337
+        ],
+        [
+          -1.0629900515368718e-07,
+          -0.8627281188964844,
+          -0.5056682229042053,
+          0.529066801071167
+        ],
+        [
+          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": [
+        [
+          0.7571319341659546,
+          -0.3356064260005951,
+          0.5604637265205383,
+          -3.3846490383148193
+        ],
+        [
+          -0.6532619595527649,
+          -0.38896843791007996,
+          0.6495786309242249,
+          0.0145900072529912
+        ],
+        [
+          -2.827615297462671e-08,
+          -0.8579463362693787,
+          -0.5137393474578857,
+          0.5403661727905273
+        ],
+        [
+          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": [
+        [
+          0.7501797676086426,
+          -0.3450523316860199,
+          0.5640649199485779,
+          -3.38969087600708
+        ],
+        [
+          -0.6612339615821838,
+          -0.3914669156074524,
+          0.6399402022361755,
+          0.02808392234146595
+        ],
+        [
+          -2.1858443943756356e-08,
+          -0.8530490398406982,
+          -0.5218308568000793,
+          0.5516943335533142
+        ],
+        [
+          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": [
+        [
+          0.7431448698043823,
+          -0.3545852303504944,
+          0.5674548745155334,
+          -3.394436836242676
+        ],
+        [
+          -0.6691305637359619,
+          -0.3938067555427551,
+          0.6302225589752197,
+          0.04168842360377312
+        ],
+        [
+          -5.5218464467543527e-08,
+          -0.8480480909347534,
+          -0.5299193263053894,
+          0.5630179643630981
+        ],
+        [
+          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": [
+        [
+          0.7360066771507263,
+          -0.36420026421546936,
+          0.5706596374511719,
+          -3.398923635482788
+        ],
+        [
+          -0.676974356174469,
+          -0.39595842361450195,
+          0.6204214692115784,
+          0.055410075932741165
+        ],
+        [
+          -1.1591723847459434e-07,
+          -0.8429561853408813,
+          -0.5379822254180908,
+          0.574306070804596
+        ],
+        [
+          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": [
+        [
+          0.7287430763244629,
+          -0.37389233708381653,
+          0.5737054944038391,
+          -3.4031877517700195
+        ],
+        [
+          -0.6847871541976929,
+          -0.3978922665119171,
+          0.6105310320854187,
+          0.06925636529922485
+        ],
+        [
+          3.11004200170828e-08,
+          -0.8377864360809326,
+          -0.5459979772567749,
+          0.5855280160903931
+        ],
+        [
+          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": [
+        [
+          0.7213296294212341,
+          -0.38365718722343445,
+          0.5766201019287109,
+          -3.4072682857513428
+        ],
+        [
+          -0.6925919651985168,
+          -0.39957624673843384,
+          0.6005457639694214,
+          0.08323593437671661
+        ],
+        [
+          -6.600046731364273e-09,
+          -0.8325539231300354,
+          -0.5539440512657166,
+          0.596652626991272
+        ],
+        [
+          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": [
+        [
+          0.7137381434440613,
+          -0.39348942041397095,
+          0.5794341564178467,
+          -3.411207675933838
+        ],
+        [
+          -0.7004126310348511,
+          -0.40097564458847046,
+          0.5904580950737,
+          0.09735880047082901
+        ],
+        [
+          1.294113083361026e-08,
+          -0.8272754549980164,
+          -0.5617965459823608,
+          0.6076462864875793
+        ],
+        [
+          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": [
+        [
+          0.7059362530708313,
+          -0.4033830165863037,
+          0.5821822285652161,
+          -3.4150550365448
+        ],
+        [
+          -0.7082753777503967,
+          -0.4020508825778961,
+          0.5802595019340515,
+          0.1116366982460022
+        ],
+        [
+          5.558637994340643e-08,
+          -0.821971595287323,
+          -0.5695285201072693,
+          0.6184710264205933
+        ],
+        [
+          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": [
+        [
+          0.6978849172592163,
+          -0.4133301079273224,
+          0.5849058032035828,
+          -3.418868064880371
+        ],
+        [
+          -0.716209888458252,
+          -0.4027547240257263,
+          0.5699403285980225,
+          0.12608344852924347
+        ],
+        [
+          5.361908606005272e-08,
+          -0.8166680932044983,
+          -0.5771076083183289,
+          0.629081666469574
+        ],
+        [
+          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": [
+        [
+          0.6895368099212646,
+          -0.4233197271823883,
+          0.5876559019088745,
+          -3.4227182865142822
+        ],
+        [
+          -0.7242506742477417,
+          -0.4030296802520752,
+          0.5594891309738159,
+          0.14071524143218994
+        ],
+        [
+          1.9861039035617978e-08,
+          -0.8113985657691956,
+          -0.5844933390617371,
+          0.6394217014312744
+        ],
+        [
+          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": [
+        [
+          0.6808323860168457,
+          -0.43333494663238525,
+          0.5904982089996338,
+          -3.4266974925994873
+        ],
+        [
+          -0.7324392795562744,
+          -0.40280258655548096,
+          0.5488924384117126,
+          0.15555065870285034
+        ],
+        [
+          7.11268910436047e-09,
+          -0.8062078356742859,
+          -0.5916325449943542,
+          0.6494166254997253
+        ],
+        [
+          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": [
+        [
+          0.6716964244842529,
+          -0.4433485269546509,
+          0.5935199856758118,
+          -3.4309279918670654
+        ],
+        [
+          -0.7408264875411987,
+          -0.4019775390625,
+          0.5381357669830322,
+          0.17060987651348114
+        ],
+        [
+          1.3267282383822021e-08,
+          -0.8011592030525208,
+          -0.5984512567520142,
+          0.6589626669883728
+        ],
+        [
+          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": [
+        [
+          0.6620310544967651,
+          -0.45331335067749023,
+          0.5968433022499084,
+          -3.4355804920196533
+        ],
+        [
+          -0.749476432800293,
+          -0.4004228711128235,
+          0.5272064805030823,
+          0.18591094017028809
+        ],
+        [
+          3.5819489596633503e-09,
+          -0.7963470220565796,
+          -0.6048400402069092,
+          0.6679071187973022
+        ],
+        [
+          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": [
+        [
+          0.6517109274864197,
+          -0.46314167976379395,
+          0.600643515586853,
+          -3.4409008026123047
+        ],
+        [
+          -0.758467435836792,
+          -0.3979531228542328,
+          0.5161011815071106,
+          0.20145830512046814
+        ],
+        [
+          -3.3908271745985985e-08,
+          -0.7919173240661621,
+          -0.6106283068656921,
+          0.6760108470916748
+        ],
+        [
+          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": [
+        [
+          0.6405844688415527,
+          -0.4726595878601074,
+          0.6051813364028931,
+          -3.447253942489624
+        ],
+        [
+          -0.7678877115249634,
+          -0.39430034160614014,
+          0.5048521161079407,
+          0.2172069549560547
+        ],
+        [
+          -3.498164602433462e-08,
+          -0.7881117463111877,
+          -0.6155321598052979,
+          0.6828759908676147
+        ],
+        [
+          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": [
+        [
+          0.6285181641578674,
+          -0.4814998209476471,
+          0.6108378171920776,
+          -3.4551730155944824
+        ],
+        [
+          -0.7777948975563049,
+          -0.3890889585018158,
+          0.49360397458076477,
+          0.23295439779758453
+        ],
+        [
+          -6.360984627917787e-09,
+          -0.7853456139564514,
+          -0.6190575957298279,
+          0.687811553478241
+        ],
+        [
+          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": [
+        [
+          0.6156051158905029,
+          -0.4888974726200104,
+          0.6180692911148071,
+          -3.465297222137451
+        ],
+        [
+          -0.7880548238754272,
+          -0.3819122016429901,
+          0.48281747102737427,
+          0.2480556219816208
+        ],
+        [
+          -2.3668121684750076e-08,
+          -0.7842973470687866,
+          -0.6203851103782654,
+          0.6896700859069824
+        ],
+        [
+          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": [
+        [
+          0.602655291557312,
+          -0.49360892176628113,
+          0.6270221471786499,
+          -3.4778311252593994
+        ],
+        [
+          -0.7980015873908997,
+          -0.3727762699127197,
+          0.4735305607318878,
+          0.2610572576522827
+        ],
+        [
+          1.0151399720825793e-09,
+          -0.7857403755187988,
+          -0.6185563206672668,
+          0.6871098875999451
+        ],
+        [
+          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": [
+        [
+          0.5911573767662048,
+          -0.49476027488708496,
+          0.6369813680648804,
+          -3.491773843765259
+        ],
+        [
+          -0.806556224822998,
+          -0.36262959241867065,
+          0.46686920523643494,
+          0.27038320899009705
+        ],
+        [
+          -1.663788218309037e-08,
+          -0.7897544503211975,
+          -0.6134231090545654,
+          0.6799234747886658
+        ],
+        [
+          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": [
+        [
+          0.5819318890571594,
+          -0.49277564883232117,
+          0.6469369530677795,
+          -3.505711793899536
+        ],
+        [
+          -0.8132375478744507,
+          -0.3526175618171692,
+          0.46293145418167114,
+          0.2758960425853729
+        ],
+        [
+          -1.5898860894481004e-08,
+          -0.7955080270767212,
+          -0.6059430837631226,
+          0.6694513559341431
+        ],
+        [
+          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": [
+        [
+          0.5748028755187988,
+          -0.48861074447631836,
+          0.6564001441001892,
+          -3.5189602375030518
+        ],
+        [
+          -0.8182918429374695,
+          -0.3432208299636841,
+          0.46108323335647583,
+          0.27848342061042786
+        ],
+        [
+          -1.0199060085369638e-07,
+          -0.8021588921546936,
+          -0.5971105694770813,
+          0.6570858359336853
+        ],
+        [
+          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": [
+        [
+          0.5693345665931702,
+          -0.48298656940460205,
+          0.6652684211730957,
+          -3.5313758850097656
+        ],
+        [
+          -0.822105884552002,
+          -0.33448362350463867,
+          0.46071958541870117,
+          0.27899253368377686
+        ],
+        [
+          -1.3520605079975212e-08,
+          -0.8092246651649475,
+          -0.5874992609024048,
+          0.6436299085617065
+        ],
+        [
+          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": [
+        [
+          0.5651710629463196,
+          -0.47634029388427734,
+          0.6735589504241943,
+          -3.542982578277588
+        ],
+        [
+          -0.8249737620353699,
+          -0.3263300359249115,
+          0.46144020557403564,
+          0.27798375487327576
+        ],
+        [
+          -2.318630976105851e-08,
+          -0.8164610862731934,
+          -0.5774005055427551,
+          0.6294916868209839
+        ],
+        [
+          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": [
+        [
+          0.5620695352554321,
+          -0.4689343273639679,
+          0.6813063621520996,
+          -3.5538289546966553
+        ],
+        [
+          -0.8270899653434753,
+          -0.3186759948730469,
+          0.462998628616333,
+          0.2758018970489502
+        ],
+        [
+          -1.719799058719218e-08,
+          -0.8237391114234924,
+          -0.5669689774513245,
+          0.6148874759674072
+        ],
+        [
+          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": [
+        [
+          0.5598708987236023,
+          -0.46093401312828064,
+          0.6885378360748291,
+          -3.563952922821045
+        ],
+        [
+          -0.828579843044281,
+          -0.31145280599594116,
+          0.4652446210384369,
+          0.2726575434207916
+        ],
+        [
+          -5.4477897748483883e-08,
+          -0.8309854865074158,
+          -0.5562940239906311,
+          0.5999427437782288
+        ],
+        [
+          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": [
+        [
+          0.5584750771522522,
+          -0.4524492025375366,
+          0.6952663660049438,
+          -3.5733728408813477
+        ],
+        [
+          -0.8295212984085083,
+          -0.3046114146709442,
+          0.46808791160583496,
+          0.26867690682411194
+        ],
+        [
+          8.163662812421535e-08,
+          -0.8381537199020386,
+          -0.5454341173171997,
+          0.5847387313842773
+        ],
+        [
+          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": [
+        [
+          0.5578232407569885,
+          -0.4435569643974304,
+          0.7014915943145752,
+          -3.5820882320404053
+        ],
+        [
+          -0.8299598097801208,
+          -0.2981184720993042,
+          0.471478670835495,
+          0.26392990350723267
+        ],
+        [
+          -1.6307740935417314e-08,
+          -0.8452115654945374,
+          -0.5344318747520447,
+          0.5693355798721313
+        ],
+        [
+          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": [
+        [
+          0.557889461517334,
+          -0.4343147277832031,
+          0.7071987986564636,
+          -3.590078115463257
+        ],
+        [
+          -0.8299152851104736,
+          -0.29195699095726013,
+          0.4753964841365814,
+          0.25844496488571167
+        ],
+        [
+          -6.249454287399203e-09,
+          -0.8521337509155273,
+          -0.5233241319656372,
+          0.5537848472595215
+        ],
+        [
+          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": [
+        [
+          0.5586763620376587,
+          -0.42476868629455566,
+          0.7123568654060364,
+          -3.597299575805664
+        ],
+        [
+          -0.8293857574462891,
+          -0.2861252427101135,
+          0.47984546422958374,
+          0.25221627950668335
+        ],
+        [
+          -1.0770561331696626e-08,
+          -0.8588969707489014,
+          -0.5121484994888306,
+          0.5381388664245605
+        ],
+        [
+          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": [
+        [
+          0.5602148771286011,
+          -0.41495969891548157,
+          0.7169153690338135,
+          -3.603681802749634
+        ],
+        [
+          -0.8283472657203674,
+          -0.2806391417980194,
+          0.4848528206348419,
+          0.24520596861839294
+        ],
+        [
+          3.782232482762993e-08,
+          -0.8654767274856567,
+          -0.5009490251541138,
+          0.5224595069885254
+        ],
+        [
+          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": [
+        [
+          0.5625661611557007,
+          -0.40493056178092957,
+          0.7207985520362854,
+          -3.6091177463531494
+        ],
+        [
+          -0.8267523050308228,
+          -0.2755361497402191,
+          0.49046972393989563,
+          0.23734228312969208
+        ],
+        [
+          -9.768298525614227e-08,
+          -0.8718435168266296,
+          -0.4897845387458801,
+          0.5068294405937195
+        ],
+        [
+          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": [
+        [
+          0.56583172082901,
+          -0.3947336971759796,
+          0.723892092704773,
+          -3.6134490966796875
+        ],
+        [
+          -0.8245207071304321,
+          -0.2708880603313446,
+          0.4967747926712036,
+          0.22851531207561493
+        ],
+        [
+          -5.480033848925814e-08,
+          -0.8779549598693848,
+          -0.47874319553375244,
+          0.49137142300605774
+        ],
+        [
+          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": [
+        [
+          0.5701594948768616,
+          -0.3844487965106964,
+          0.7260283827781677,
+          -3.6164398193359375
+        ],
+        [
+          -0.8215339779853821,
+          -0.2668144404888153,
+          0.5038768649101257,
+          0.2185724377632141
+        ],
+        [
+          -3.455814123753953e-08,
+          -0.8837471604347229,
+          -0.4679645895957947,
+          0.47628143429756165
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 416.0,
+        "fy": 416.0,
+        "cx": 415.5,
+        "cy": 239.5
+      }
+    }
+  ]
+}

camxtime_eval/target/eval_scene_005__bullettime_mid/caption.txt

@@ -0,0 +1 @@
+A person in a blue sweater and dark pants stands beside a white car with blue wheels, positioned on a paved area before a large, cylindrical, light-gray building with horizontal windows. The person looks down, then raises their hands in a gesturing motion before lowering them again, remaining stationary. Small green bushes grow in a planter bed between the pavement and the building's base. The scene is lit by bright, even daylight under a pale sky. The camera sweeps along an arc around the scene while scene time is frozen at a middle moment.

camxtime_eval/target/eval_scene_005__bullettime_mid/extras/temporal_mapping.json

@@ -0,0 +1,263 @@
+{
+  "pattern": "bullettime_mid",
+  "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": [
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60
+  ],
+  "timestamps_seconds": [
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0
+  ],
+  "preprocessed_latent": null,
+  "pattern_parameters": {
+    "fixed_motion_frame": 60
+  },
+  "rotation_projection": {
+    "method": "nearest_proper_rotation_svd",
+    "max_input_orthonormal_error": 0.00046182671366290506,
+    "max_input_determinant_error": 0.00045865026218661065,
+    "max_rotation_element_change": 0.00022074571104746532,
+    "translation_changed": false
+  }
+}

camxtime_eval/target/eval_scene_005__bullettime_mid/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": [
+        [
+          0.999999873340122,
+          0.00048827379942022094,
+          0.00012210010663739253,
+          -6.112719711381942e-05
+        ],
+        [
+          -0.0004882887005808211,
+          0.9999998733401219,
+          0.00012204050199268722,
+          -0.00018307830032426864
+        ],
+        [
+          -0.00012204050199282875,
+          -0.00012210010663715325,
+          0.9999999850988396,
+          -2.1666281099896878e-05
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 885.4857177734375,
+        "fy": 891.4285888671875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 1,
+      "c2w": [
+        [
+          0.9999991879052251,
+          0.0012220892978472883,
+          0.0003615060685772313,
+          6.75861956551671e-05
+        ],
+        [
+          -0.0012192730637049913,
+          0.999969684053401,
+          -0.007690536219097558,
+          0.004745033103972673
+        ],
+        [
+          -0.00037089363118662745,
+          0.007690089199041654,
+          0.9999703620438085,
+          0.0020506875589489937
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 2,
+      "c2w": [
+        [
+          0.9999988974832734,
+          0.0014617278728314691,
+          -0.0002615030837719747,
+          0.0009323665872216225
+        ],
+        [
+          -0.0014675376785038125,
+          0.9997156587534647,
+          -0.023800167568492746,
+          0.011796724051237106
+        ],
+        [
+          0.00022663935934624918,
+          0.023800525094038384,
+          0.9997167016909586,
+          0.001937138382345438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 885.4857177734375,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 3,
+      "c2w": [
+        [
+          0.9999995158559494,
+          0.0009781685451902681,
+          0.0001071175258286323,
+          0.00044223159784451127
+        ],
+        [
+          -0.0009745116718630081,
+          0.9995487461613349,
+          -0.030022564419198174,
+          0.01508685015141964
+        ],
+        [
+          -0.00013643631679476206,
+          0.030022445496672955,
+          0.9995492154724204,
+          0.0018728082068264484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 4,
+      "c2w": [
+        [
+          0.9999984529349858,
+          0.0010072399733886137,
+          0.0014420801888406145,
+          -0.00015699546202085912
+        ],
+        [
+          -0.0009411132823901687,
+          0.9989800605724065,
+          -0.04514369152540304,
+          0.02182646468281746
+        ],
+        [
+          -0.0014860798850490655,
+          0.04514226452435746,
+          0.9989794630122226,
+          0.0037359355483204126
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 5,
+      "c2w": [
+        [
+          0.9999994024908437,
+          0.0005139653878508398,
+          0.0009648095850293276,
+          -0.0009929378284141421
+        ],
+        [
+          -0.00046192451413270907,
+          0.9985845550039841,
+          -0.05318527176989251,
+          0.02541949413716793
+        ],
+        [
+          -0.0009907793389632002,
+          0.05318479432200718,
+          0.9985841957537817,
+          0.0024397247470915318
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 885.4857177734375,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 6,
+      "c2w": [
+        [
+          0.9999997841816513,
+          0.0006013836748724715,
+          -0.00026452660799618764,
+          -0.0005303728394210339
+        ],
+        [
+          -0.0006179331972786342,
+          0.9976992198506963,
+          -0.06779295588683908,
+          0.032457876950502396
+        ],
+        [
+          0.0002231484134855876,
+          0.06779310471564809,
+          0.9976993761438352,
+          0.0048970929346978664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 7,
+      "c2w": [
+        [
+          0.9999994568727285,
+          0.000402413519200188,
+          0.0009614143793900622,
+          -0.000897147401701659
+        ],
+        [
+          -0.0003290858144816584,
+          0.9971767711410114,
+          -0.07508913902365824,
+          0.035733044147491455
+        ],
+        [
+          -0.0009889169712570232,
+          0.0750887818528644,
+          0.9971763619756926,
+          0.006670117843896151
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 8,
+      "c2w": [
+        [
+          0.9999989198907465,
+          0.0011407872254164174,
+          0.0009267264142498933,
+          -0.0018057756824418902
+        ],
+        [
+          -0.0010520999812899388,
+          0.9958837444075376,
+          -0.09063366212645588,
+          0.04347825050354004
+        ],
+        [
+          -0.0010263054954112439,
+          0.09063258922335547,
+          0.9958838689665079,
+          0.0098420986905694
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 9,
+      "c2w": [
+        [
+          0.9999992118897405,
+          0.0011250846887200941,
+          0.0005571394266809166,
+          -0.0020195955876260996
+        ],
+        [
+          -0.0010673904871166895,
+          0.9955228861960462,
+          -0.09451478052369318,
+          0.046171195805072784
+        ],
+        [
+          -0.0006609821824882715,
+          0.09451411135030122,
+          0.9955233025189403,
+          0.009657220914959908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 10,
+      "c2w": [
+        [
+          0.999998988951594,
+          0.0007889017297447902,
+          0.0011831017924450315,
+          -0.0020602827426046133
+        ],
+        [
+          -0.000672938879320602,
+          0.9954769924226575,
+          -0.09500055110579844,
+          0.0459924191236496
+        ],
+        [
+          -0.001252696713167166,
+          0.094999658900449,
+          0.9954765168298767,
+          0.011503925547003746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 11,
+      "c2w": [
+        [
+          0.9999997621708719,
+          0.0005106551508425746,
+          0.00046356177216320764,
+          -0.0017733477288857102
+        ],
+        [
+          -0.00046356175620763734,
+          0.9953373156410668,
+          -0.09645420261934438,
+          0.04598593711853027
+        ],
+        [
+          -0.0005106551653266643,
+          0.0964539647902162,
+          0.9953373156410594,
+          0.011447709985077381
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 12,
+      "c2w": [
+        [
+          0.9999993905089708,
+          0.001090057193572043,
+          -0.00017537674549786424,
+          -0.001262328471057117
+        ],
+        [
+          -0.00110195763059504,
+          0.9952424088285754,
+          -0.0974234743707856,
+          0.04615193232893944
+        ],
+        [
+          6.83452155811493e-05,
+          0.09742360824979483,
+          0.9952430034340973,
+          0.014697741717100143
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 13,
+      "c2w": [
+        [
+          0.9999992270964306,
+          0.000302997654516851,
+          0.0012058187934156281,
+          -0.0014369644923135638
+        ],
+        [
+          -0.0001834813690553598,
+          0.9951953452613429,
+          -0.09790909612872088,
+          0.04654053971171379
+        ],
+        [
+          -0.0012296914769186807,
+          0.09790879920914797,
+          0.9951946316657331,
+          0.015681231394410133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 14,
+      "c2w": [
+        [
+          0.9999996655309852,
+          0.0007487315098154284,
+          0.0003291489693325516,
+          -0.0009048734209500253
+        ],
+        [
+          -0.0007125167023365568,
+          0.9950992709682567,
+          -0.0988783759898656,
+          0.046594876796007156
+        ],
+        [
+          -0.00040156925516579036,
+          0.09887810839397444,
+          0.9950994716220898,
+          0.019964154809713364
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 15,
+      "c2w": [
+        [
+          0.9999999851950147,
+          0.00012757766818286635,
+          0.00011547254765870077,
+          -0.0004192574415355921
+        ],
+        [
+          -0.00011547254765870023,
+          0.9950511885816347,
+          -0.09936356861731034,
+          0.04653660207986832
+        ],
+        [
+          -0.00012757766818286256,
+          0.09936355381232476,
+          0.9950511885816348,
+          0.020472686737775803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 16,
+      "c2w": [
+        [
+          0.9999998731930149,
+          0.0004818375343350713,
+          -0.00014644638797722367,
+          -0.001047172350808978
+        ],
+        [
+          -0.0004941467692803624,
+          0.9949049526337376,
+          -0.10081612491972745,
+          0.04678255319595337
+        ],
+        [
+          9.712324364133332e-05,
+          0.10081618450154803,
+          0.994905064571301,
+          0.022653764113783836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 17,
+      "c2w": [
+        [
+          0.9999998142241914,
+          0.00046826200525905073,
+          -0.00039023361650294085,
+          -0.0003205467073712498
+        ],
+        [
+          -0.0005057158872816964,
+          0.9947565773076957,
+          -0.10226972256987377,
+          0.046972762793302536
+        ],
+        [
+          0.0003402984313350109,
+          0.10226990091797343,
+          0.9947566293135245,
+          0.025322120636701584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 18,
+      "c2w": [
+        [
+          0.999999866250113,
+          0.0003462324819296168,
+          -0.00038421715764897467,
+          8.588504897488747e-06
+        ],
+        [
+          -0.00038421716180388026,
+          0.9946061494118887,
+          -0.10372299614467216,
+          0.04785851016640663
+        ],
+        [
+          0.0003462324773188818,
+          0.10372312989455862,
+          0.9946061494118905,
+          0.028309935703873634
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 19,
+      "c2w": [
+        [
+          0.9999997250896517,
+          0.0007240004250925221,
+          -0.00016013745688291166,
+          -0.000516447820700705
+        ],
+        [
+          -0.0007367869901568812,
+          0.9945043529397133,
+          -0.10469264123563449,
+          0.047793883830308914
+        ],
+        [
+          8.345988118008917e-05,
+          0.10469273044173892,
+          0.9945046129742694,
+          0.02872130461037159
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 20,
+      "c2w": [
+        [
+          0.9999999034245546,
+          0.00035212309606786886,
+          -0.0002629832833690473,
+          -0.0002634530246723443
+        ],
+        [
+          -0.0003781570650487719,
+          0.9942988951342068,
+          -0.10662815825161068,
+          0.04840809106826782
+        ],
+        [
+          0.000223937750881019,
+          0.10662824740293593,
+          0.994298932267184,
+          0.03170928731560707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 21,
+      "c2w": [
+        [
+          0.999999970283405,
+          0.00024343833964076325,
+          -1.3075289821072678e-05,
+          -0.00023190789215732366
+        ],
+        [
+          -0.0002434383397313322,
+          0.9942468487064582,
+          -0.1071127656960223,
+          0.04845269396901131
+        ],
+        [
+          -1.3075288134844635e-05,
+          0.10711276569602246,
+          0.9942468784230533,
+          0.03345850855112076
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 22,
+      "c2w": [
+        [
+          0.9999999035511983,
+          -0.00022307069025658888,
+          0.0003783345889868009,
+          -0.00021359299717005342
+        ],
+        [
+          0.000262825920395764,
+          0.9940893763551072,
+          -0.10856446352490454,
+          0.04904286190867424
+        ],
+        [
+          -0.00035188084580362744,
+          0.10856455249012895,
+          0.9940893391051377,
+          0.036668822169303894
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 23,
+      "c2w": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.000762939453125
+        ],
+        [
+          0.0,
+          0.9940363890507871,
+          -0.1090488754773392,
+          0.04893224313855171
+        ],
+        [
+          0.0,
+          0.1090488754773392,
+          0.9940363890507871,
+          0.03754232078790665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 24,
+      "c2w": [
+        [
+          0.9999994504330282,
+          -0.0006558976851385842,
+          -0.0008178825521988229,
+          2.74646718025906e-05
+        ],
+        [
+          0.000561073710034413,
+          0.9938219980961498,
+          -0.1109843290580657,
+          0.04947725683450699
+        ],
+        [
+          0.0008856240367500005,
+          0.11098380917234603,
+          0.9938218199313507,
+          0.04090007022023201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 25,
+      "c2w": [
+        [
+          0.9999987374231798,
+          -0.001386425118289347,
+          -0.0007765162189098595,
+          0.0005660289316438138
+        ],
+        [
+          0.001290776768882812,
+          0.9937126960682015,
+          -0.11195272023581421,
+          0.05010851472616196
+        ],
+        [
+          0.0009268480888295161,
+          0.1119515765778085,
+          0.9937132309949197,
+          0.04372729733586311
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 26,
+      "c2w": [
+        [
+          0.9999989232174328,
+          -0.00020547202001711102,
+          -0.0014530468759286386,
+          0.0007856519659981132
+        ],
+        [
+          3.793870287197198e-05,
+          0.9934382126151656,
+          -0.11437008471029202,
+          0.050290755927562714
+        ],
+        [
+          0.0014670121436035624,
+          0.11436990643186491,
+          0.9934371506935586,
+          0.045603249222040176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 27,
+      "c2w": [
+        [
+          0.9999996658433172,
+          -0.0004074838075778934,
+          -0.0007087102372918048,
+          0.000649878173135221
+        ],
+        [
+          0.0003226591447799663,
+          0.9932702199636132,
+          -0.11581954077145734,
+          0.05051058530807495
+        ],
+        [
+          0.0007511353607506833,
+          0.1158192733977448,
+          0.9932700195341083,
+          0.04742918536067009
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 28,
+      "c2w": [
+        [
+          0.9999997252841206,
+          -0.0007227253090848165,
+          0.0001646202026016606,
+          0.00036281932261772454
+        ],
+        [
+          0.0007370435661220366,
+          0.9930998017570051,
+          -0.11726994720294039,
+          0.05146719515323639
+        ],
+        [
+          -7.87303317302989e-05,
+          0.1172700363192846,
+          0.9931000616167582,
+          0.05131158232688904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 29,
+      "c2w": [
+        [
+          0.9999998737845689,
+          -0.000493757267297837,
+          -9.29225866649632e-05,
+          0.0007305459002964199
+        ],
+        [
+          0.00047938017550194664,
+          0.9930427440549388,
+          -0.11775346565806012,
+          0.05138497054576874
+        ],
+        [
+          0.00015041772986460695,
+          0.11775340625050944,
+          0.9930428554150665,
+          0.051821839064359665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 30,
+      "c2w": [
+        [
+          0.9999999629115941,
+          0.00023592418119184415,
+          -0.00013607568268119376,
+          0.0002818771463353187
+        ],
+        [
+          -0.0002505665064913404,
+          0.9927535515372985,
+          -0.120167895573261,
+          0.05233035236597061
+        ],
+        [
+          0.00010673910489093407,
+          0.1201679252124338,
+          0.9927535738323494,
+          0.05527251586318016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 31,
+      "c2w": [
+        [
+          0.9999999257338608,
+          0.0003574318020024599,
+          -0.00014413458753543195,
+          0.0005633849068544805
+        ],
+        [
+          -0.00037230783948851055,
+          0.9925770354159108,
+          -0.12161698134649675,
+          0.0530112162232399
+        ],
+        [
+          9.959490480002518e-05,
+          0.12161702597690945,
+          0.9925770947757089,
+          0.05716422572731972
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 32,
+      "c2w": [
+        [
+          0.9999999257751337,
+          -9.898331555591077e-05,
+          0.0003723600819879506,
+          0.0005633095279335976
+        ],
+        [
+          0.00014422941910768733,
+          0.9923385517165492,
+          -0.12354828195882182,
+          0.05344716086983681
+        ],
+        [
+          -0.0003572780458975178,
+          0.12354832649374563,
+          0.9923384923366584,
+          0.060779672116041183
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 33,
+      "c2w": [
+        [
+          0.9999998144829381,
+          -0.0005093118545864551,
+          -0.00033411902827637334,
+          0.0006217447808012366
+        ],
+        [
+          0.0004633615899698173,
+          0.9920961950916292,
+          -0.1254787829903891,
+          0.05387184023857117
+        ],
+        [
+          0.0003953860483367762,
+          0.12547860489400978,
+          0.9920962470364085,
+          0.06242915242910385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 34,
+      "c2w": [
+        [
+          0.9999999703209724,
+          -1.5670467047646154e-05,
+          -0.00024313060378265884,
+          0.0004729372449219227
+        ],
+        [
+          -1.5670465241912155e-05,
+          0.9917260257415705,
+          -0.12837246442000705,
+          0.05439795181155205
+        ],
+        [
+          0.00024313060389904369,
+          0.12837246442000735,
+          0.9917259960625427,
+          0.06661607325077057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 35,
+      "c2w": [
+        [
+          0.9999988353594655,
+          0.0006416784389968781,
+          -0.001384748530857938,
+          0.0008705785148777068
+        ],
+        [
+          -0.0008166410686836508,
+          0.9914743061491279,
+          -0.1302997825918039,
+          0.054885413497686386
+        ],
+        [
+          0.0012893320277282405,
+          0.13030076168191557,
+          0.9914736754589278,
+          0.06951193511486053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 36,
+      "c2w": [
+        [
+          0.9999987392785873,
+          -0.0009392891955025054,
+          -0.0012803034965502575,
+          0.0015020788414403796
+        ],
+        [
+          0.0007617506124464764,
+          0.991219062982355,
+          -0.13222779177006222,
+          0.055589914321899414
+        ],
+        [
+          0.0013932613683384216,
+          0.13222664979568055,
+          0.9912185288353773,
+          0.07441004365682602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 37,
+      "c2w": [
+        [
+          0.9999989224898989,
+          -0.0010479249349739316,
+          -0.0010280429812166369,
+          0.001143213827162981
+        ],
+        [
+          0.0009005322754200638,
+          0.9909595773513993,
+          -0.1341577619713372,
+          0.056283947080373764
+        ],
+        [
+          0.0011593363021553799,
+          0.13415669162910818,
+          0.9909594532726714,
+          0.07561936974525452
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 38,
+      "c2w": [
+        [
+          0.999998146362253,
+          -0.0016545417956940615,
+          -0.0009847657102357613,
+          0.0014672892866656184
+        ],
+        [
+          0.0015039745834235145,
+          0.990563681063534,
+          -0.13704499924591806,
+          0.05649473890662193
+        ],
+        [
+          0.0012022198260594518,
+          0.13704326415153603,
+          0.990564333306112,
+          0.07978417724370956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 39,
+      "c2w": [
+        [
+          0.9999981913084675,
+          -0.001316458297044628,
+          -0.0013727043914980948,
+          0.001121627283282578
+        ],
+        [
+          0.0011129166871975617,
+          0.990295611328481,
+          -0.1389725282204991,
+          0.05751952901482582
+        ],
+        [
+          0.001542334672389004,
+          0.13897074915644012,
+          0.9902952852976006,
+          0.08203442394733429
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 40,
+      "c2w": [
+        [
+          0.9999994051387999,
+          -0.0010080855439274985,
+          -0.00041651600496764215,
+          0.0008751152199693024
+        ],
+        [
+          0.000938804014704578,
+          0.9898863783289514,
+          -0.1418593551578917,
+          0.05783151090145111
+        ],
+        [
+          0.0005553098848789967,
+          0.14185887974436776,
+          0.9898867358787086,
+          0.08524037152528763
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 41,
+      "c2w": [
+        [
+          0.999998146807505,
+          -0.0018655107328612913,
+          -0.00047565876558141776,
+          0.0010826654033735394
+        ],
+        [
+          0.0017777374690377498,
+          0.9896080597744602,
+          -0.1437801365937556,
+          0.058280427008867264
+        ],
+        [
+          0.0007389391361096886,
+          0.14377902454507557,
+          0.9896095422285598,
+          0.087906114757061
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 42,
+      "c2w": [
+        [
+          0.9999966947715753,
+          -0.0022855484947066716,
+          -0.0011775882147988111,
+          0.0008414984913542867
+        ],
+        [
+          0.002089320526316565,
+          0.9893007546163598,
+          -0.14587546625542858,
+          0.058296844363212585
+        ],
+        [
+          0.0014983943618425398,
+          0.14587252374446244,
+          0.9893022599947692,
+          0.09004038572311401
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 43,
+      "c2w": [
+        [
+          0.9999976811273475,
+          -0.0015750279115741203,
+          -0.0014686820639557428,
+          0.0012557010632008314
+        ],
+        [
+          0.0013376848919316627,
+          0.9887540756801445,
+          -0.14954460346342754,
+          0.05971389636397362
+        ],
+        [
+          0.0016877023010946717,
+          0.14954229205472824,
+          0.9887538897763999,
+          0.09495897591114044
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 44,
+      "c2w": [
+        [
+          0.9999984724021109,
+          -0.001638311128072158,
+          -0.0006092044746703693,
+          0.0013518375344574451
+        ],
+        [
+          0.0015269509776869934,
+          0.9884283682934482,
+          -0.1516806816093039,
+          0.059699296951293945
+        ],
+        [
+          0.0008506551334495811,
+          0.1516795196768465,
+          0.9884293599931383,
+          0.09709791094064713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 45,
+      "c2w": [
+        [
+          0.9999968539920147,
+          -0.002280304931613993,
+          -0.001045091140983137,
+          0.0013820460299029946
+        ],
+        [
+          0.002091340950149672,
+          0.9879773151637363,
+          -0.15458476967310184,
+          0.06033572554588318
+        ],
+        [
+          0.0013850267522079135,
+          0.15458209770628217,
+          0.9879789758742952,
+          0.10088089108467102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 46,
+      "c2w": [
+        [
+          0.999995878825417,
+          -0.00284465755478831,
+          -0.0003876281440444177,
+          0.0010598780354484916
+        ],
+        [
+          0.0027497387263339438,
+          0.9878244566042886,
+          -0.1555483264820903,
+          0.06097232922911644
+        ],
+        [
+          0.000825390282817164,
+          0.15554661956416158,
+          0.9878282076722866,
+          0.10253464430570602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 47,
+      "c2w": [
+        [
+          0.9999974834626603,
+          -0.002222093239621877,
+          -0.00030882030448656445,
+          0.00046720614773221314
+        ],
+        [
+          0.002143991274068392,
+          0.9870992397340006,
+          -0.16009526606984706,
+          0.06204533949494362
+        ],
+        [
+          0.0006605828962023654,
+          0.16009420107609387,
+          0.9871015198104217,
+          0.10850255191326141
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 48,
+      "c2w": [
+        [
+          0.9999969102031616,
+          -0.0024690219928111454,
+          -0.0002889888038395978,
+          0.00032585408189333975
+        ],
+        [
+          0.002389378329138534,
+          0.9867372909217228,
+          -0.16230776190823307,
+          0.062127746641635895
+        ],
+        [
+          0.0006858974631627883,
+          0.16230656990663814,
+          0.9867401415316049,
+          0.10968896746635437
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 49,
+      "c2w": [
+        [
+          0.9999982031923369,
+          -0.0018658761929538,
+          -0.00033484045589094336,
+          -0.00021638859470840544
+        ],
+        [
+          0.001784299957239492,
+          0.9860968196806043,
+          -0.16616220535807577,
+          0.06289111077785492
+        ],
+        [
+          0.0006402232118008295,
+          0.1661613093407407,
+          0.9860983771370933,
+          0.11458474397659302
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 50,
+      "c2w": [
+        [
+          0.999996284500376,
+          -0.00263100468790709,
+          0.0007133020222294864,
+          -0.0005994953098706901
+        ],
+        [
+          0.0027134693204234005,
+          0.9857677334742502,
+          -0.16809108460976455,
+          0.063302181661129
+        ],
+        [
+          -0.00026090168613210194,
+          0.1680923955905566,
+          0.9857712100051097,
+          0.11680184304714203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 51,
+      "c2w": [
+        [
+          0.9999954023900067,
+          -0.002847281006864752,
+          0.0010431633215635344,
+          -0.00012713031901512295
+        ],
+        [
+          0.0029842411921426463,
+          0.9851025255760666,
+          -0.1719421658819068,
+          0.06386987119913101
+        ],
+        [
+          -0.0005380551594657584,
+          0.1719444884098409,
+          0.985106493432118,
+          0.11970565468072891
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 52,
+      "c2w": [
+        [
+          0.9999995161385922,
+          -0.0008078810908351647,
+          0.0005612937952823302,
+          -0.000251806020969525
+        ],
+        [
+          0.0008935688445198677,
+          0.984598600191059,
+          -0.1748279097756611,
+          0.06470390409231186
+        ],
+        [
+          -0.000411408922672918,
+          0.17482832673783064,
+          0.9845988456791674,
+          0.12158787250518799
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 53,
+      "c2w": [
+        [
+          0.9999977790557699,
+          -0.0018739799515521223,
+          0.0009644079366755319,
+          6.151296929601813e-06
+        ],
+        [
+          0.0020161368943201786,
+          0.9839070849908592,
+          -0.1786694805970336,
+          0.06553846597671509
+        ],
+        [
+          -0.0006140647771234343,
+          0.17867102816050395,
+          0.9839086779882159,
+          0.12554848194122314
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 54,
+      "c2w": [
+        [
+          0.9999996955596286,
+          -0.000430397353019367,
+          0.0006508753860143007,
+          0.000341319217113778
+        ],
+        [
+          0.0005419613711732303,
+          0.9832033256232302,
+          -0.18251281259487173,
+          0.06691478192806244
+        ],
+        [
+          -0.0005613898126625972,
+          0.18251310977992086,
+          0.9832032595551845,
+          0.1291322112083435
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 55,
+      "c2w": [
+        [
+          0.9999978559290996,
+          -0.0020695509952452246,
+          7.138544798976209e-05,
+          0.0007657998939976096
+        ],
+        [
+          0.0020466023215866243,
+          0.9824813626744978,
+          -0.1863496268206573,
+          0.06732999533414841
+        ],
+        [
+          0.00031552518343416997,
+          0.1863493733714686,
+          0.9824834917126691,
+          0.13503482937812805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 56,
+      "c2w": [
+        [
+          0.9999992518277607,
+          -0.0012232342132445563,
+          -6.479033232202005e-06,
+          0.0003144780348520726
+        ],
+        [
+          0.0012001406108979487,
+          0.9821173105703602,
+          -0.18826616249490014,
+          0.06745267659425735
+        ],
+        [
+          0.00023665678185312106,
+          0.18826601386363287,
+          0.9821180438305088,
+          0.135736882686615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 57,
+      "c2w": [
+        [
+          0.9999971842718658,
+          -0.002089126758604014,
+          0.0011256099353275423,
+          -0.0004543359100352973
+        ],
+        [
+          0.002267809309575242,
+          0.9809979284342383,
+          -0.19400495212408347,
+          0.06867572665214539
+        ],
+        [
+          -0.0006989200779971692,
+          0.1940069585275719,
+          0.9809999039518836,
+          0.14100444316864014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 58,
+      "c2w": [
+        [
+          0.9999975026244369,
+          -0.0019721933484528713,
+          0.0010512841124049241,
+          -0.0008504309225827456
+        ],
+        [
+          0.0021399374383205467,
+          0.9806184269702766,
+          -0.19591559752633536,
+          0.06916522979736328
+        ],
+        [
+          -0.0006445251343056384,
+          0.19591735793374032,
+          0.9806201983681623,
+          0.1422846019268036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 59,
+      "c2w": [
+        [
+          0.9999979775632084,
+          -0.0018912239437811273,
+          0.0006842086576534934,
+          -0.0004322440945543349
+        ],
+        [
+          0.001990344728740989,
+          0.9794555504760986,
+          -0.2016503487956914,
+          0.06974215805530548
+        ],
+        [
+          -0.00028878599950828035,
+          0.20165130278170215,
+          0.9794573337767647,
+          0.14796766638755798
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 60,
+      "c2w": [
+        [
+          0.9999962005086671,
+          -0.0024358391964704688,
+          0.0012906028202125126,
+          -0.0008664882043376565
+        ],
+        [
+          0.0026475501070876597,
+          0.9790602431942298,
+          -0.20355350813701478,
+          0.07040668278932571
+        ],
+        [
+          -0.0007677542973254359,
+          0.2035561516728591,
+          0.9790629722696464,
+          0.14829741418361664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 61,
+      "c2w": [
+        [
+          0.9999986802395278,
+          -0.0015353410368134876,
+          0.0005312693330909555,
+          -0.0008172953384928405
+        ],
+        [
+          0.0016127172720475386,
+          0.9776514104263107,
+          -0.21022635142732551,
+          0.071507029235363
+        ],
+        [
+          -0.00019662706844666186,
+          0.21022693076612625,
+          0.9776525962316321,
+          0.1552259474992752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 62,
+      "c2w": [
+        [
+          0.9999971293682948,
+          -0.00178424726345901,
+          0.0015992863635832246,
+          -0.0010609191376715899
+        ],
+        [
+          0.002084045277574806,
+          0.9770333017736146,
+          -0.2130764744889234,
+          0.07158977538347244
+        ],
+        [
+          -0.0011823749197790016,
+          0.2130791958100335,
+          0.9770342155229251,
+          0.15754884481430054
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 63,
+      "c2w": [
+        [
+          0.9999927839564277,
+          -0.0026339677578621178,
+          0.0027375625882364134,
+          -0.0013272331561893225
+        ],
+        [
+          0.003169087169645103,
+          0.975769472251266,
+          -0.21877818426204648,
+          0.07288842648267746
+        ],
+        [
+          -0.0020949753185083866,
+          0.21878528112361054,
+          0.9757707783296641,
+          0.16147558391094208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 64,
+      "c2w": [
+        [
+          0.9999934906546879,
+          -0.0026639979388233545,
+          0.0024334673277540387,
+          -0.001493616378866136
+        ],
+        [
+          0.0031370631452342906,
+          0.9751282404964692,
+          -0.22161920815011174,
+          0.07366970926523209
+        ],
+        [
+          -0.0017825495999029008,
+          0.22162539949482737,
+          0.9751302501797812,
+          0.16497007012367249
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 65,
+      "c2w": [
+        [
+          0.999994468866641,
+          -0.001108544557267561,
+          0.003135819683793855,
+          -0.0019821987953037024
+        ],
+        [
+          0.0017973790319746569,
+          0.9734098962854264,
+          -0.22906318613476837,
+          0.07386564463376999
+        ],
+        [
+          -0.0027985111649115085,
+          0.22906755541228596,
+          0.97340650470022,
+          0.16788730025291443
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 66,
+      "c2w": [
+        [
+          0.999996246078215,
+          -0.00105730839207062,
+          0.002527830778003713,
+          -0.0017571485368534923
+        ],
+        [
+          0.001616892783821013,
+          0.9725074293220074,
+          -0.232866239655357,
+          0.07465002685785294
+        ],
+        [
+          -0.002212122782259903,
+          0.23286945272505077,
+          0.9725054881594918,
+          0.17051737010478973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 67,
+      "c2w": [
+        [
+          0.9999975761848302,
+          -0.0012524472366130185,
+          0.001810801033973584,
+          -0.001943535404279828
+        ],
+        [
+          0.0016497059566622494,
+          0.9708916122174225,
+          -0.2395135816527141,
+          0.07538661360740662
+        ],
+        [
+          -0.0014581134118073576,
+          0.23951598840531324,
+          0.9708913251252711,
+          0.1755085438489914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 68,
+      "c2w": [
+        [
+          0.9999975292125212,
+          -0.0011194936377407136,
+          0.0019204954688464891,
+          -0.002427168656140566
+        ],
+        [
+          0.0015531290153541087,
+          0.9699474025005536,
+          -0.24330972889033828,
+          0.07588193565607071
+        ],
+        [
+          -0.0015903958980282872,
+          0.243312110500943,
+          0.9699467446847087,
+          0.17912334203720093
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 69,
+      "c2w": [
+        [
+          0.9999965916727688,
+          -0.0018596420514254103,
+          0.0018325867746447032,
+          -0.0022199826780706644
+        ],
+        [
+          0.0022586517019800773,
+          0.968260088222575,
+          -0.24993459153886669,
+          0.07651450484991074
+        ],
+        [
+          -0.0013096317555615162,
+          0.24993787885522933,
+          0.9682609883590338,
+          0.18415085971355438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 70,
+      "c2w": [
+        [
+          0.9999988476898883,
+          -0.0008207382600163971,
+          0.0012771090808923575,
+          -0.0017574497032910585
+        ],
+        [
+          0.0011199018574578137,
+          0.9667828395390632,
+          -0.25559672727289756,
+          0.07893539220094681
+        ],
+        [
+          -0.001024909130418424,
+          0.25559786298303583,
+          0.9667826446517229,
+          0.18854235112667084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 71,
+      "c2w": [
+        [
+          0.9999980888344797,
+          -0.0019177511891957538,
+          0.00038020752846412064,
+          -0.00021417983225546777
+        ],
+        [
+          0.0019502162161209459,
+          0.9647620125155064,
+          -0.26311681030246004,
+          0.08041278272867203
+        ],
+        [
+          0.00013778279552034567,
+          0.2631170489295717,
+          0.9647639087250806,
+          0.1949954777956009
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 72,
+      "c2w": [
+        [
+          0.9999977842893513,
+          -0.002103540713623486,
+          -8.082607225396165e-05,
+          -0.00047007002285681665
+        ],
+        [
+          0.002005663211058952,
+          0.9637231787864139,
+          -0.266896256970556,
+          0.08060160279273987
+        ],
+        [
+          0.00063932110213271,
+          0.26689550349579805,
+          0.9637252624489271,
+          0.19560138881206512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 73,
+      "c2w": [
+        [
+          0.9999987253719059,
+          -0.0009280289843105676,
+          0.0012992369942967756,
+          -0.0011886133579537272
+        ],
+        [
+          0.0012469535776484086,
+          0.9621543724254727,
+          -0.2725021261005505,
+          0.0815945416688919
+        ],
+        [
+          -0.000997176683572009,
+          0.27250339884990404,
+          0.9621543032455409,
+          0.1956336796283722
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 74,
+      "c2w": [
+        [
+          0.9999995756833681,
+          7.91108858184532e-06,
+          0.0009211788639925137,
+          -0.0025608185678720474
+        ],
+        [
+          0.00024860204020942016,
+          0.9605454783837005,
+          -0.2781228544252599,
+          0.08299769461154938
+        ],
+        [
+          -0.0008870344471286523,
+          0.2781229654200519,
+          0.9605450688415655,
+          0.19787341356277466
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 75,
+      "c2w": [
+        [
+          0.999992346269417,
+          0.0009273105673585287,
+          0.0038009864113315085,
+          -0.0038405642844736576
+        ],
+        [
+          0.0002043167062216227,
+          0.9578033035135342,
+          -0.287424407511341,
+          0.08358913660049438
+        ],
+        [
+          -0.003907129031785393,
+          0.28742298424738727,
+          0.9577957832800562,
+          0.20043298602104187
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 76,
+      "c2w": [
+        [
+          0.9999967603766072,
+          -0.00011085762639601289,
+          0.002543019244477242,
+          -0.003330386010929942
+        ],
+        [
+          0.000851082974079596,
+          0.9561141063059888,
+          -0.2929933299248829,
+          0.08472057431936264
+        ],
+        [
+          -0.0023989360271469665,
+          0.2929945450572195,
+          0.9561111032054017,
+          0.20671522617340088
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 77,
+      "c2w": [
+        [
+          0.9999931626150199,
+          0.0013951774537345415,
+          0.0034246464171505345,
+          -0.003916000947356224
+        ],
+        [
+          -0.00029287391220427205,
+          0.9530684742802151,
+          -0.30275468214059736,
+          0.0858173817396164
+        ],
+        [
+          -0.003686319042277986,
+          0.30275160910068727,
+          0.953062366395223,
+          0.21379703283309937
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 78,
+      "c2w": [
+        [
+          0.9999944405779027,
+          0.0019133636919559107,
+          0.0027309069316619554,
+          -0.0037110794801265
+        ],
+        [
+          -0.0009843376291101178,
+          0.9518779750783565,
+          -0.30647569502353594,
+          0.08624516427516937
+        ],
+        [
+          -0.0031858896275628163,
+          0.30647130306133036,
+          0.9518745665827885,
+          0.21658654510974884
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 79,
+      "c2w": [
+        [
+          0.9999766776035515,
+          0.00410897763168905,
+          0.0054553232521458266,
+          -0.005236366763710976
+        ],
+        [
+          -0.002163790299373642,
+          0.9482285028037972,
+          -0.3175815241509004,
+          0.090196393430233
+        ],
+        [
+          -0.006477828378666784,
+          0.31756231321315637,
+          0.9482152788086706,
+          0.21666553616523743
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 80,
+      "c2w": [
+        [
+          0.9999781973574634,
+          0.003963481723213478,
+          0.0052816306522850695,
+          -0.005510119721293449
+        ],
+        [
+          -0.0020566189148387014,
+          0.9469876685218586,
+          -0.3212633281066699,
+          0.08966231346130371
+        ],
+        [
+          -0.006274960426690479,
+          0.3212454614156661,
+          0.946975173059716,
+          0.21607746183872223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    }
+  ]
+}

camxtime_eval/target/eval_scene_005__slowmo/caption.txt

@@ -0,0 +1 @@
+A person in a blue sweater and dark pants stands beside a white car with blue wheels, positioned on a paved area before a large, cylindrical, light-gray building with horizontal windows. The person looks down, then raises their hands in a gesturing motion before lowering them again, remaining stationary. Small green bushes grow in a planter bed between the pavement and the building's base. The scene is lit by bright, even daylight under a pale sky. The camera sweeps along an arc around the scene. Scene time advances in slow motion at half speed.

camxtime_eval/target/eval_scene_005__slowmo/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": [
+        [
+          0.999999873340122,
+          0.00048827379942022094,
+          0.00012210010663739253,
+          -6.112719711381942e-05
+        ],
+        [
+          -0.0004882887005808211,
+          0.9999998733401219,
+          0.00012204050199268722,
+          -0.00018307830032426864
+        ],
+        [
+          -0.00012204050199282875,
+          -0.00012210010663715325,
+          0.9999999850988396,
+          -2.1666281099896878e-05
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 885.4857177734375,
+        "fy": 891.4285888671875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 1,
+      "c2w": [
+        [
+          0.9999991879052251,
+          0.0012220892978472883,
+          0.0003615060685772313,
+          6.75861956551671e-05
+        ],
+        [
+          -0.0012192730637049913,
+          0.999969684053401,
+          -0.007690536219097558,
+          0.004745033103972673
+        ],
+        [
+          -0.00037089363118662745,
+          0.007690089199041654,
+          0.9999703620438085,
+          0.0020506875589489937
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 2,
+      "c2w": [
+        [
+          0.9999988974832734,
+          0.0014617278728314691,
+          -0.0002615030837719747,
+          0.0009323665872216225
+        ],
+        [
+          -0.0014675376785038125,
+          0.9997156587534647,
+          -0.023800167568492746,
+          0.011796724051237106
+        ],
+        [
+          0.00022663935934624918,
+          0.023800525094038384,
+          0.9997167016909586,
+          0.001937138382345438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 885.4857177734375,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 3,
+      "c2w": [
+        [
+          0.9999995158559494,
+          0.0009781685451902681,
+          0.0001071175258286323,
+          0.00044223159784451127
+        ],
+        [
+          -0.0009745116718630081,
+          0.9995487461613349,
+          -0.030022564419198174,
+          0.01508685015141964
+        ],
+        [
+          -0.00013643631679476206,
+          0.030022445496672955,
+          0.9995492154724204,
+          0.0018728082068264484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 4,
+      "c2w": [
+        [
+          0.9999984529349858,
+          0.0010072399733886137,
+          0.0014420801888406145,
+          -0.00015699546202085912
+        ],
+        [
+          -0.0009411132823901687,
+          0.9989800605724065,
+          -0.04514369152540304,
+          0.02182646468281746
+        ],
+        [
+          -0.0014860798850490655,
+          0.04514226452435746,
+          0.9989794630122226,
+          0.0037359355483204126
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 5,
+      "c2w": [
+        [
+          0.9999994024908437,
+          0.0005139653878508398,
+          0.0009648095850293276,
+          -0.0009929378284141421
+        ],
+        [
+          -0.00046192451413270907,
+          0.9985845550039841,
+          -0.05318527176989251,
+          0.02541949413716793
+        ],
+        [
+          -0.0009907793389632002,
+          0.05318479432200718,
+          0.9985841957537817,
+          0.0024397247470915318
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 885.4857177734375,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 6,
+      "c2w": [
+        [
+          0.9999997841816513,
+          0.0006013836748724715,
+          -0.00026452660799618764,
+          -0.0005303728394210339
+        ],
+        [
+          -0.0006179331972786342,
+          0.9976992198506963,
+          -0.06779295588683908,
+          0.032457876950502396
+        ],
+        [
+          0.0002231484134855876,
+          0.06779310471564809,
+          0.9976993761438352,
+          0.0048970929346978664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 7,
+      "c2w": [
+        [
+          0.9999994568727285,
+          0.000402413519200188,
+          0.0009614143793900622,
+          -0.000897147401701659
+        ],
+        [
+          -0.0003290858144816584,
+          0.9971767711410114,
+          -0.07508913902365824,
+          0.035733044147491455
+        ],
+        [
+          -0.0009889169712570232,
+          0.0750887818528644,
+          0.9971763619756926,
+          0.006670117843896151
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 8,
+      "c2w": [
+        [
+          0.9999989198907465,
+          0.0011407872254164174,
+          0.0009267264142498933,
+          -0.0018057756824418902
+        ],
+        [
+          -0.0010520999812899388,
+          0.9958837444075376,
+          -0.09063366212645588,
+          0.04347825050354004
+        ],
+        [
+          -0.0010263054954112439,
+          0.09063258922335547,
+          0.9958838689665079,
+          0.0098420986905694
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 9,
+      "c2w": [
+        [
+          0.9999992118897405,
+          0.0011250846887200941,
+          0.0005571394266809166,
+          -0.0020195955876260996
+        ],
+        [
+          -0.0010673904871166895,
+          0.9955228861960462,
+          -0.09451478052369318,
+          0.046171195805072784
+        ],
+        [
+          -0.0006609821824882715,
+          0.09451411135030122,
+          0.9955233025189403,
+          0.009657220914959908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 10,
+      "c2w": [
+        [
+          0.999998988951594,
+          0.0007889017297447902,
+          0.0011831017924450315,
+          -0.0020602827426046133
+        ],
+        [
+          -0.000672938879320602,
+          0.9954769924226575,
+          -0.09500055110579844,
+          0.0459924191236496
+        ],
+        [
+          -0.001252696713167166,
+          0.094999658900449,
+          0.9954765168298767,
+          0.011503925547003746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 11,
+      "c2w": [
+        [
+          0.9999997621708719,
+          0.0005106551508425746,
+          0.00046356177216320764,
+          -0.0017733477288857102
+        ],
+        [
+          -0.00046356175620763734,
+          0.9953373156410668,
+          -0.09645420261934438,
+          0.04598593711853027
+        ],
+        [
+          -0.0005106551653266643,
+          0.0964539647902162,
+          0.9953373156410594,
+          0.011447709985077381
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 12,
+      "c2w": [
+        [
+          0.9999993905089708,
+          0.001090057193572043,
+          -0.00017537674549786424,
+          -0.001262328471057117
+        ],
+        [
+          -0.00110195763059504,
+          0.9952424088285754,
+          -0.0974234743707856,
+          0.04615193232893944
+        ],
+        [
+          6.83452155811493e-05,
+          0.09742360824979483,
+          0.9952430034340973,
+          0.014697741717100143
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 13,
+      "c2w": [
+        [
+          0.9999992270964306,
+          0.000302997654516851,
+          0.0012058187934156281,
+          -0.0014369644923135638
+        ],
+        [
+          -0.0001834813690553598,
+          0.9951953452613429,
+          -0.09790909612872088,
+          0.04654053971171379
+        ],
+        [
+          -0.0012296914769186807,
+          0.09790879920914797,
+          0.9951946316657331,
+          0.015681231394410133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 879.5428466796875,
+        "fy": 885.4857177734375,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 14,
+      "c2w": [
+        [
+          0.9999996655309852,
+          0.0007487315098154284,
+          0.0003291489693325516,
+          -0.0009048734209500253
+        ],
+        [
+          -0.0007125167023365568,
+          0.9950992709682567,
+          -0.0988783759898656,
+          0.046594876796007156
+        ],
+        [
+          -0.00040156925516579036,
+          0.09887810839397444,
+          0.9950994716220898,
+          0.019964154809713364
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 15,
+      "c2w": [
+        [
+          0.9999999851950147,
+          0.00012757766818286635,
+          0.00011547254765870077,
+          -0.0004192574415355921
+        ],
+        [
+          -0.00011547254765870023,
+          0.9950511885816347,
+          -0.09936356861731034,
+          0.04653660207986832
+        ],
+        [
+          -0.00012757766818286256,
+          0.09936355381232476,
+          0.9950511885816348,
+          0.020472686737775803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 16,
+      "c2w": [
+        [
+          0.9999998731930149,
+          0.0004818375343350713,
+          -0.00014644638797722367,
+          -0.001047172350808978
+        ],
+        [
+          -0.0004941467692803624,
+          0.9949049526337376,
+          -0.10081612491972745,
+          0.04678255319595337
+        ],
+        [
+          9.712324364133332e-05,
+          0.10081618450154803,
+          0.994905064571301,
+          0.022653764113783836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 17,
+      "c2w": [
+        [
+          0.9999998142241914,
+          0.00046826200525905073,
+          -0.00039023361650294085,
+          -0.0003205467073712498
+        ],
+        [
+          -0.0005057158872816964,
+          0.9947565773076957,
+          -0.10226972256987377,
+          0.046972762793302536
+        ],
+        [
+          0.0003402984313350109,
+          0.10226990091797343,
+          0.9947566293135245,
+          0.025322120636701584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 18,
+      "c2w": [
+        [
+          0.999999866250113,
+          0.0003462324819296168,
+          -0.00038421715764897467,
+          8.588504897488747e-06
+        ],
+        [
+          -0.00038421716180388026,
+          0.9946061494118887,
+          -0.10372299614467216,
+          0.04785851016640663
+        ],
+        [
+          0.0003462324773188818,
+          0.10372312989455862,
+          0.9946061494118905,
+          0.028309935703873634
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 19,
+      "c2w": [
+        [
+          0.9999997250896517,
+          0.0007240004250925221,
+          -0.00016013745688291166,
+          -0.000516447820700705
+        ],
+        [
+          -0.0007367869901568812,
+          0.9945043529397133,
+          -0.10469264123563449,
+          0.047793883830308914
+        ],
+        [
+          8.345988118008917e-05,
+          0.10469273044173892,
+          0.9945046129742694,
+          0.02872130461037159
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 20,
+      "c2w": [
+        [
+          0.9999999034245546,
+          0.00035212309606786886,
+          -0.0002629832833690473,
+          -0.0002634530246723443
+        ],
+        [
+          -0.0003781570650487719,
+          0.9942988951342068,
+          -0.10662815825161068,
+          0.04840809106826782
+        ],
+        [
+          0.000223937750881019,
+          0.10662824740293593,
+          0.994298932267184,
+          0.03170928731560707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 21,
+      "c2w": [
+        [
+          0.999999970283405,
+          0.00024343833964076325,
+          -1.3075289821072678e-05,
+          -0.00023190789215732366
+        ],
+        [
+          -0.0002434383397313322,
+          0.9942468487064582,
+          -0.1071127656960223,
+          0.04845269396901131
+        ],
+        [
+          -1.3075288134844635e-05,
+          0.10711276569602246,
+          0.9942468784230533,
+          0.03345850855112076
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 22,
+      "c2w": [
+        [
+          0.9999999035511983,
+          -0.00022307069025658888,
+          0.0003783345889868009,
+          -0.00021359299717005342
+        ],
+        [
+          0.000262825920395764,
+          0.9940893763551072,
+          -0.10856446352490454,
+          0.04904286190867424
+        ],
+        [
+          -0.00035188084580362744,
+          0.10856455249012895,
+          0.9940893391051377,
+          0.036668822169303894
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 23,
+      "c2w": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.000762939453125
+        ],
+        [
+          0.0,
+          0.9940363890507871,
+          -0.1090488754773392,
+          0.04893224313855171
+        ],
+        [
+          0.0,
+          0.1090488754773392,
+          0.9940363890507871,
+          0.03754232078790665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 24,
+      "c2w": [
+        [
+          0.9999994504330282,
+          -0.0006558976851385842,
+          -0.0008178825521988229,
+          2.74646718025906e-05
+        ],
+        [
+          0.000561073710034413,
+          0.9938219980961498,
+          -0.1109843290580657,
+          0.04947725683450699
+        ],
+        [
+          0.0008856240367500005,
+          0.11098380917234603,
+          0.9938218199313507,
+          0.04090007022023201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 879.5428466796875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 25,
+      "c2w": [
+        [
+          0.9999987374231798,
+          -0.001386425118289347,
+          -0.0007765162189098595,
+          0.0005660289316438138
+        ],
+        [
+          0.001290776768882812,
+          0.9937126960682015,
+          -0.11195272023581421,
+          0.05010851472616196
+        ],
+        [
+          0.0009268480888295161,
+          0.1119515765778085,
+          0.9937132309949197,
+          0.04372729733586311
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 26,
+      "c2w": [
+        [
+          0.9999989232174328,
+          -0.00020547202001711102,
+          -0.0014530468759286386,
+          0.0007856519659981132
+        ],
+        [
+          3.793870287197198e-05,
+          0.9934382126151656,
+          -0.11437008471029202,
+          0.050290755927562714
+        ],
+        [
+          0.0014670121436035624,
+          0.11436990643186491,
+          0.9934371506935586,
+          0.045603249222040176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 27,
+      "c2w": [
+        [
+          0.9999996658433172,
+          -0.0004074838075778934,
+          -0.0007087102372918048,
+          0.000649878173135221
+        ],
+        [
+          0.0003226591447799663,
+          0.9932702199636132,
+          -0.11581954077145734,
+          0.05051058530807495
+        ],
+        [
+          0.0007511353607506833,
+          0.1158192733977448,
+          0.9932700195341083,
+          0.04742918536067009
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 28,
+      "c2w": [
+        [
+          0.9999997252841206,
+          -0.0007227253090848165,
+          0.0001646202026016606,
+          0.00036281932261772454
+        ],
+        [
+          0.0007370435661220366,
+          0.9930998017570051,
+          -0.11726994720294039,
+          0.05146719515323639
+        ],
+        [
+          -7.87303317302989e-05,
+          0.1172700363192846,
+          0.9931000616167582,
+          0.05131158232688904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 29,
+      "c2w": [
+        [
+          0.9999998737845689,
+          -0.000493757267297837,
+          -9.29225866649632e-05,
+          0.0007305459002964199
+        ],
+        [
+          0.00047938017550194664,
+          0.9930427440549388,
+          -0.11775346565806012,
+          0.05138497054576874
+        ],
+        [
+          0.00015041772986460695,
+          0.11775340625050944,
+          0.9930428554150665,
+          0.051821839064359665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 30,
+      "c2w": [
+        [
+          0.9999999629115941,
+          0.00023592418119184415,
+          -0.00013607568268119376,
+          0.0002818771463353187
+        ],
+        [
+          -0.0002505665064913404,
+          0.9927535515372985,
+          -0.120167895573261,
+          0.05233035236597061
+        ],
+        [
+          0.00010673910489093407,
+          0.1201679252124338,
+          0.9927535738323494,
+          0.05527251586318016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 31,
+      "c2w": [
+        [
+          0.9999999257338608,
+          0.0003574318020024599,
+          -0.00014413458753543195,
+          0.0005633849068544805
+        ],
+        [
+          -0.00037230783948851055,
+          0.9925770354159108,
+          -0.12161698134649675,
+          0.0530112162232399
+        ],
+        [
+          9.959490480002518e-05,
+          0.12161702597690945,
+          0.9925770947757089,
+          0.05716422572731972
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 32,
+      "c2w": [
+        [
+          0.9999999257751337,
+          -9.898331555591077e-05,
+          0.0003723600819879506,
+          0.0005633095279335976
+        ],
+        [
+          0.00014422941910768733,
+          0.9923385517165492,
+          -0.12354828195882182,
+          0.05344716086983681
+        ],
+        [
+          -0.0003572780458975178,
+          0.12354832649374563,
+          0.9923384923366584,
+          0.060779672116041183
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 33,
+      "c2w": [
+        [
+          0.9999998144829381,
+          -0.0005093118545864551,
+          -0.00033411902827637334,
+          0.0006217447808012366
+        ],
+        [
+          0.0004633615899698173,
+          0.9920961950916292,
+          -0.1254787829903891,
+          0.05387184023857117
+        ],
+        [
+          0.0003953860483367762,
+          0.12547860489400978,
+          0.9920962470364085,
+          0.06242915242910385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 34,
+      "c2w": [
+        [
+          0.9999999703209724,
+          -1.5670467047646154e-05,
+          -0.00024313060378265884,
+          0.0004729372449219227
+        ],
+        [
+          -1.5670465241912155e-05,
+          0.9917260257415705,
+          -0.12837246442000705,
+          0.05439795181155205
+        ],
+        [
+          0.00024313060389904369,
+          0.12837246442000735,
+          0.9917259960625427,
+          0.06661607325077057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 35,
+      "c2w": [
+        [
+          0.9999988353594655,
+          0.0006416784389968781,
+          -0.001384748530857938,
+          0.0008705785148777068
+        ],
+        [
+          -0.0008166410686836508,
+          0.9914743061491279,
+          -0.1302997825918039,
+          0.054885413497686386
+        ],
+        [
+          0.0012893320277282405,
+          0.13030076168191557,
+          0.9914736754589278,
+          0.06951193511486053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 873.6000366210938,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 36,
+      "c2w": [
+        [
+          0.9999987392785873,
+          -0.0009392891955025054,
+          -0.0012803034965502575,
+          0.0015020788414403796
+        ],
+        [
+          0.0007617506124464764,
+          0.991219062982355,
+          -0.13222779177006222,
+          0.055589914321899414
+        ],
+        [
+          0.0013932613683384216,
+          0.13222664979568055,
+          0.9912185288353773,
+          0.07441004365682602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 37,
+      "c2w": [
+        [
+          0.9999989224898989,
+          -0.0010479249349739316,
+          -0.0010280429812166369,
+          0.001143213827162981
+        ],
+        [
+          0.0009005322754200638,
+          0.9909595773513993,
+          -0.1341577619713372,
+          0.056283947080373764
+        ],
+        [
+          0.0011593363021553799,
+          0.13415669162910818,
+          0.9909594532726714,
+          0.07561936974525452
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 38,
+      "c2w": [
+        [
+          0.999998146362253,
+          -0.0016545417956940615,
+          -0.0009847657102357613,
+          0.0014672892866656184
+        ],
+        [
+          0.0015039745834235145,
+          0.990563681063534,
+          -0.13704499924591806,
+          0.05649473890662193
+        ],
+        [
+          0.0012022198260594518,
+          0.13704326415153603,
+          0.990564333306112,
+          0.07978417724370956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 39,
+      "c2w": [
+        [
+          0.9999981913084675,
+          -0.001316458297044628,
+          -0.0013727043914980948,
+          0.001121627283282578
+        ],
+        [
+          0.0011129166871975617,
+          0.990295611328481,
+          -0.1389725282204991,
+          0.05751952901482582
+        ],
+        [
+          0.001542334672389004,
+          0.13897074915644012,
+          0.9902952852976006,
+          0.08203442394733429
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 40,
+      "c2w": [
+        [
+          0.9999994051387999,
+          -0.0010080855439274985,
+          -0.00041651600496764215,
+          0.0008751152199693024
+        ],
+        [
+          0.000938804014704578,
+          0.9898863783289514,
+          -0.1418593551578917,
+          0.05783151090145111
+        ],
+        [
+          0.0005553098848789967,
+          0.14185887974436776,
+          0.9898867358787086,
+          0.08524037152528763
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 867.6571655273438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 41,
+      "c2w": [
+        [
+          0.999998146807505,
+          -0.0018655107328612913,
+          -0.00047565876558141776,
+          0.0010826654033735394
+        ],
+        [
+          0.0017777374690377498,
+          0.9896080597744602,
+          -0.1437801365937556,
+          0.058280427008867264
+        ],
+        [
+          0.0007389391361096886,
+          0.14377902454507557,
+          0.9896095422285598,
+          0.087906114757061
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 42,
+      "c2w": [
+        [
+          0.9999966947715753,
+          -0.0022855484947066716,
+          -0.0011775882147988111,
+          0.0008414984913542867
+        ],
+        [
+          0.002089320526316565,
+          0.9893007546163598,
+          -0.14587546625542858,
+          0.058296844363212585
+        ],
+        [
+          0.0014983943618425398,
+          0.14587252374446244,
+          0.9893022599947692,
+          0.09004038572311401
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 43,
+      "c2w": [
+        [
+          0.9999976811273475,
+          -0.0015750279115741203,
+          -0.0014686820639557428,
+          0.0012557010632008314
+        ],
+        [
+          0.0013376848919316627,
+          0.9887540756801445,
+          -0.14954460346342754,
+          0.05971389636397362
+        ],
+        [
+          0.0016877023010946717,
+          0.14954229205472824,
+          0.9887538897763999,
+          0.09495897591114044
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 44,
+      "c2w": [
+        [
+          0.9999984724021109,
+          -0.001638311128072158,
+          -0.0006092044746703693,
+          0.0013518375344574451
+        ],
+        [
+          0.0015269509776869934,
+          0.9884283682934482,
+          -0.1516806816093039,
+          0.059699296951293945
+        ],
+        [
+          0.0008506551334495811,
+          0.1516795196768465,
+          0.9884293599931383,
+          0.09709791094064713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 867.6571655273438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 45,
+      "c2w": [
+        [
+          0.9999968539920147,
+          -0.002280304931613993,
+          -0.001045091140983137,
+          0.0013820460299029946
+        ],
+        [
+          0.002091340950149672,
+          0.9879773151637363,
+          -0.15458476967310184,
+          0.06033572554588318
+        ],
+        [
+          0.0013850267522079135,
+          0.15458209770628217,
+          0.9879789758742952,
+          0.10088089108467102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 46,
+      "c2w": [
+        [
+          0.999995878825417,
+          -0.00284465755478831,
+          -0.0003876281440444177,
+          0.0010598780354484916
+        ],
+        [
+          0.0027497387263339438,
+          0.9878244566042886,
+          -0.1555483264820903,
+          0.06097232922911644
+        ],
+        [
+          0.000825390282817164,
+          0.15554661956416158,
+          0.9878282076722866,
+          0.10253464430570602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 47,
+      "c2w": [
+        [
+          0.9999974834626603,
+          -0.002222093239621877,
+          -0.00030882030448656445,
+          0.00046720614773221314
+        ],
+        [
+          0.002143991274068392,
+          0.9870992397340006,
+          -0.16009526606984706,
+          0.06204533949494362
+        ],
+        [
+          0.0006605828962023654,
+          0.16009420107609387,
+          0.9871015198104217,
+          0.10850255191326141
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 48,
+      "c2w": [
+        [
+          0.9999969102031616,
+          -0.0024690219928111454,
+          -0.0002889888038395978,
+          0.00032585408189333975
+        ],
+        [
+          0.002389378329138534,
+          0.9867372909217228,
+          -0.16230776190823307,
+          0.062127746641635895
+        ],
+        [
+          0.0006858974631627883,
+          0.16230656990663814,
+          0.9867401415316049,
+          0.10968896746635437
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 49,
+      "c2w": [
+        [
+          0.9999982031923369,
+          -0.0018658761929538,
+          -0.00033484045589094336,
+          -0.00021638859470840544
+        ],
+        [
+          0.001784299957239492,
+          0.9860968196806043,
+          -0.16616220535807577,
+          0.06289111077785492
+        ],
+        [
+          0.0006402232118008295,
+          0.1661613093407407,
+          0.9860983771370933,
+          0.11458474397659302
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 50,
+      "c2w": [
+        [
+          0.999996284500376,
+          -0.00263100468790709,
+          0.0007133020222294864,
+          -0.0005994953098706901
+        ],
+        [
+          0.0027134693204234005,
+          0.9857677334742502,
+          -0.16809108460976455,
+          0.063302181661129
+        ],
+        [
+          -0.00026090168613210194,
+          0.1680923955905566,
+          0.9857712100051097,
+          0.11680184304714203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 51,
+      "c2w": [
+        [
+          0.9999954023900067,
+          -0.002847281006864752,
+          0.0010431633215635344,
+          -0.00012713031901512295
+        ],
+        [
+          0.0029842411921426463,
+          0.9851025255760666,
+          -0.1719421658819068,
+          0.06386987119913101
+        ],
+        [
+          -0.0005380551594657584,
+          0.1719444884098409,
+          0.985106493432118,
+          0.11970565468072891
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 52,
+      "c2w": [
+        [
+          0.9999995161385922,
+          -0.0008078810908351647,
+          0.0005612937952823302,
+          -0.000251806020969525
+        ],
+        [
+          0.0008935688445198677,
+          0.984598600191059,
+          -0.1748279097756611,
+          0.06470390409231186
+        ],
+        [
+          -0.000411408922672918,
+          0.17482832673783064,
+          0.9845988456791674,
+          0.12158787250518799
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 861.7142944335938,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 53,
+      "c2w": [
+        [
+          0.9999977790557699,
+          -0.0018739799515521223,
+          0.0009644079366755319,
+          6.151296929601813e-06
+        ],
+        [
+          0.0020161368943201786,
+          0.9839070849908592,
+          -0.1786694805970336,
+          0.06553846597671509
+        ],
+        [
+          -0.0006140647771234343,
+          0.17867102816050395,
+          0.9839086779882159,
+          0.12554848194122314
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 54,
+      "c2w": [
+        [
+          0.9999996955596286,
+          -0.000430397353019367,
+          0.0006508753860143007,
+          0.000341319217113778
+        ],
+        [
+          0.0005419613711732303,
+          0.9832033256232302,
+          -0.18251281259487173,
+          0.06691478192806244
+        ],
+        [
+          -0.0005613898126625972,
+          0.18251310977992086,
+          0.9832032595551845,
+          0.1291322112083435
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 861.7142944335938,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 55,
+      "c2w": [
+        [
+          0.9999978559290996,
+          -0.0020695509952452246,
+          7.138544798976209e-05,
+          0.0007657998939976096
+        ],
+        [
+          0.0020466023215866243,
+          0.9824813626744978,
+          -0.1863496268206573,
+          0.06732999533414841
+        ],
+        [
+          0.00031552518343416997,
+          0.1863493733714686,
+          0.9824834917126691,
+          0.13503482937812805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 56,
+      "c2w": [
+        [
+          0.9999992518277607,
+          -0.0012232342132445563,
+          -6.479033232202005e-06,
+          0.0003144780348520726
+        ],
+        [
+          0.0012001406108979487,
+          0.9821173105703602,
+          -0.18826616249490014,
+          0.06745267659425735
+        ],
+        [
+          0.00023665678185312106,
+          0.18826601386363287,
+          0.9821180438305088,
+          0.135736882686615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 57,
+      "c2w": [
+        [
+          0.9999971842718658,
+          -0.002089126758604014,
+          0.0011256099353275423,
+          -0.0004543359100352973
+        ],
+        [
+          0.002267809309575242,
+          0.9809979284342383,
+          -0.19400495212408347,
+          0.06867572665214539
+        ],
+        [
+          -0.0006989200779971692,
+          0.1940069585275719,
+          0.9809999039518836,
+          0.14100444316864014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 58,
+      "c2w": [
+        [
+          0.9999975026244369,
+          -0.0019721933484528713,
+          0.0010512841124049241,
+          -0.0008504309225827456
+        ],
+        [
+          0.0021399374383205467,
+          0.9806184269702766,
+          -0.19591559752633536,
+          0.06916522979736328
+        ],
+        [
+          -0.0006445251343056384,
+          0.19591735793374032,
+          0.9806201983681623,
+          0.1422846019268036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 59,
+      "c2w": [
+        [
+          0.9999979775632084,
+          -0.0018912239437811273,
+          0.0006842086576534934,
+          -0.0004322440945543349
+        ],
+        [
+          0.001990344728740989,
+          0.9794555504760986,
+          -0.2016503487956914,
+          0.06974215805530548
+        ],
+        [
+          -0.00028878599950828035,
+          0.20165130278170215,
+          0.9794573337767647,
+          0.14796766638755798
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 60,
+      "c2w": [
+        [
+          0.9999962005086671,
+          -0.0024358391964704688,
+          0.0012906028202125126,
+          -0.0008664882043376565
+        ],
+        [
+          0.0026475501070876597,
+          0.9790602431942298,
+          -0.20355350813701478,
+          0.07040668278932571
+        ],
+        [
+          -0.0007677542973254359,
+          0.2035561516728591,
+          0.9790629722696464,
+          0.14829741418361664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 61,
+      "c2w": [
+        [
+          0.9999986802395278,
+          -0.0015353410368134876,
+          0.0005312693330909555,
+          -0.0008172953384928405
+        ],
+        [
+          0.0016127172720475386,
+          0.9776514104263107,
+          -0.21022635142732551,
+          0.071507029235363
+        ],
+        [
+          -0.00019662706844666186,
+          0.21022693076612625,
+          0.9776525962316321,
+          0.1552259474992752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 62,
+      "c2w": [
+        [
+          0.9999971293682948,
+          -0.00178424726345901,
+          0.0015992863635832246,
+          -0.0010609191376715899
+        ],
+        [
+          0.002084045277574806,
+          0.9770333017736146,
+          -0.2130764744889234,
+          0.07158977538347244
+        ],
+        [
+          -0.0011823749197790016,
+          0.2130791958100335,
+          0.9770342155229251,
+          0.15754884481430054
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 63,
+      "c2w": [
+        [
+          0.9999927839564277,
+          -0.0026339677578621178,
+          0.0027375625882364134,
+          -0.0013272331561893225
+        ],
+        [
+          0.003169087169645103,
+          0.975769472251266,
+          -0.21877818426204648,
+          0.07288842648267746
+        ],
+        [
+          -0.0020949753185083866,
+          0.21878528112361054,
+          0.9757707783296641,
+          0.16147558391094208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 64,
+      "c2w": [
+        [
+          0.9999934906546879,
+          -0.0026639979388233545,
+          0.0024334673277540387,
+          -0.001493616378866136
+        ],
+        [
+          0.0031370631452342906,
+          0.9751282404964692,
+          -0.22161920815011174,
+          0.07366970926523209
+        ],
+        [
+          -0.0017825495999029008,
+          0.22162539949482737,
+          0.9751302501797812,
+          0.16497007012367249
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 65,
+      "c2w": [
+        [
+          0.999994468866641,
+          -0.001108544557267561,
+          0.003135819683793855,
+          -0.0019821987953037024
+        ],
+        [
+          0.0017973790319746569,
+          0.9734098962854264,
+          -0.22906318613476837,
+          0.07386564463376999
+        ],
+        [
+          -0.0027985111649115085,
+          0.22906755541228596,
+          0.97340650470022,
+          0.16788730025291443
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 66,
+      "c2w": [
+        [
+          0.999996246078215,
+          -0.00105730839207062,
+          0.002527830778003713,
+          -0.0017571485368534923
+        ],
+        [
+          0.001616892783821013,
+          0.9725074293220074,
+          -0.232866239655357,
+          0.07465002685785294
+        ],
+        [
+          -0.002212122782259903,
+          0.23286945272505077,
+          0.9725054881594918,
+          0.17051737010478973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 67,
+      "c2w": [
+        [
+          0.9999975761848302,
+          -0.0012524472366130185,
+          0.001810801033973584,
+          -0.001943535404279828
+        ],
+        [
+          0.0016497059566622494,
+          0.9708916122174225,
+          -0.2395135816527141,
+          0.07538661360740662
+        ],
+        [
+          -0.0014581134118073576,
+          0.23951598840531324,
+          0.9708913251252711,
+          0.1755085438489914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 68,
+      "c2w": [
+        [
+          0.9999975292125212,
+          -0.0011194936377407136,
+          0.0019204954688464891,
+          -0.002427168656140566
+        ],
+        [
+          0.0015531290153541087,
+          0.9699474025005536,
+          -0.24330972889033828,
+          0.07588193565607071
+        ],
+        [
+          -0.0015903958980282872,
+          0.243312110500943,
+          0.9699467446847087,
+          0.17912334203720093
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 69,
+      "c2w": [
+        [
+          0.9999965916727688,
+          -0.0018596420514254103,
+          0.0018325867746447032,
+          -0.0022199826780706644
+        ],
+        [
+          0.0022586517019800773,
+          0.968260088222575,
+          -0.24993459153886669,
+          0.07651450484991074
+        ],
+        [
+          -0.0013096317555615162,
+          0.24993787885522933,
+          0.9682609883590338,
+          0.18415085971355438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 70,
+      "c2w": [
+        [
+          0.9999988476898883,
+          -0.0008207382600163971,
+          0.0012771090808923575,
+          -0.0017574497032910585
+        ],
+        [
+          0.0011199018574578137,
+          0.9667828395390632,
+          -0.25559672727289756,
+          0.07893539220094681
+        ],
+        [
+          -0.001024909130418424,
+          0.25559786298303583,
+          0.9667826446517229,
+          0.18854235112667084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 71,
+      "c2w": [
+        [
+          0.9999980888344797,
+          -0.0019177511891957538,
+          0.00038020752846412064,
+          -0.00021417983225546777
+        ],
+        [
+          0.0019502162161209459,
+          0.9647620125155064,
+          -0.26311681030246004,
+          0.08041278272867203
+        ],
+        [
+          0.00013778279552034567,
+          0.2631170489295717,
+          0.9647639087250806,
+          0.1949954777956009
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 72,
+      "c2w": [
+        [
+          0.9999977842893513,
+          -0.002103540713623486,
+          -8.082607225396165e-05,
+          -0.00047007002285681665
+        ],
+        [
+          0.002005663211058952,
+          0.9637231787864139,
+          -0.266896256970556,
+          0.08060160279273987
+        ],
+        [
+          0.00063932110213271,
+          0.26689550349579805,
+          0.9637252624489271,
+          0.19560138881206512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 73,
+      "c2w": [
+        [
+          0.9999987253719059,
+          -0.0009280289843105676,
+          0.0012992369942967756,
+          -0.0011886133579537272
+        ],
+        [
+          0.0012469535776484086,
+          0.9621543724254727,
+          -0.2725021261005505,
+          0.0815945416688919
+        ],
+        [
+          -0.000997176683572009,
+          0.27250339884990404,
+          0.9621543032455409,
+          0.1956336796283722
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 74,
+      "c2w": [
+        [
+          0.9999995756833681,
+          7.91108858184532e-06,
+          0.0009211788639925137,
+          -0.0025608185678720474
+        ],
+        [
+          0.00024860204020942016,
+          0.9605454783837005,
+          -0.2781228544252599,
+          0.08299769461154938
+        ],
+        [
+          -0.0008870344471286523,
+          0.2781229654200519,
+          0.9605450688415655,
+          0.19787341356277466
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 75,
+      "c2w": [
+        [
+          0.999992346269417,
+          0.0009273105673585287,
+          0.0038009864113315085,
+          -0.0038405642844736576
+        ],
+        [
+          0.0002043167062216227,
+          0.9578033035135342,
+          -0.287424407511341,
+          0.08358913660049438
+        ],
+        [
+          -0.003907129031785393,
+          0.28742298424738727,
+          0.9577957832800562,
+          0.20043298602104187
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 76,
+      "c2w": [
+        [
+          0.9999967603766072,
+          -0.00011085762639601289,
+          0.002543019244477242,
+          -0.003330386010929942
+        ],
+        [
+          0.000851082974079596,
+          0.9561141063059888,
+          -0.2929933299248829,
+          0.08472057431936264
+        ],
+        [
+          -0.0023989360271469665,
+          0.2929945450572195,
+          0.9561111032054017,
+          0.20671522617340088
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 77,
+      "c2w": [
+        [
+          0.9999931626150199,
+          0.0013951774537345415,
+          0.0034246464171505345,
+          -0.003916000947356224
+        ],
+        [
+          -0.00029287391220427205,
+          0.9530684742802151,
+          -0.30275468214059736,
+          0.0858173817396164
+        ],
+        [
+          -0.003686319042277986,
+          0.30275160910068727,
+          0.953062366395223,
+          0.21379703283309937
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 78,
+      "c2w": [
+        [
+          0.9999944405779027,
+          0.0019133636919559107,
+          0.0027309069316619554,
+          -0.0037110794801265
+        ],
+        [
+          -0.0009843376291101178,
+          0.9518779750783565,
+          -0.30647569502353594,
+          0.08624516427516937
+        ],
+        [
+          -0.0031858896275628163,
+          0.30647130306133036,
+          0.9518745665827885,
+          0.21658654510974884
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 849.82861328125,
+        "fy": 849.82861328125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 79,
+      "c2w": [
+        [
+          0.9999766776035515,
+          0.00410897763168905,
+          0.0054553232521458266,
+          -0.005236366763710976
+        ],
+        [
+          -0.002163790299373642,
+          0.9482285028037972,
+          -0.3175815241509004,
+          0.090196393430233
+        ],
+        [
+          -0.006477828378666784,
+          0.31756231321315637,
+          0.9482152788086706,
+          0.21666553616523743
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 80,
+      "c2w": [
+        [
+          0.9999781973574634,
+          0.003963481723213478,
+          0.0052816306522850695,
+          -0.005510119721293449
+        ],
+        [
+          -0.0020566189148387014,
+          0.9469876685218586,
+          -0.3212633281066699,
+          0.08966231346130371
+        ],
+        [
+          -0.006274960426690479,
+          0.3212454614156661,
+          0.946975173059716,
+          0.21607746183872223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 855.7714233398438,
+        "fy": 855.7714233398438,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    }
+  ]
+}

camxtime_eval/target/eval_scene_026__slowmo/extras/temporal_mapping.json

@@ -0,0 +1,261 @@
+{
+  "pattern": "slowmo",
+  "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,
+    0,
+    1,
+    2,
+    3,
+    3,
+    4,
+    5,
+    6,
+    6,
+    7,
+    8,
+    9,
+    9,
+    10,
+    11,
+    12,
+    12,
+    13,
+    14,
+    15,
+    15,
+    16,
+    17,
+    18,
+    18,
+    19,
+    20,
+    21,
+    21,
+    22,
+    23,
+    24,
+    24,
+    25,
+    26,
+    27,
+    27,
+    28,
+    29,
+    30,
+    30,
+    31,
+    32,
+    32,
+    33,
+    34,
+    35,
+    35,
+    36,
+    37,
+    38,
+    38,
+    39,
+    40,
+    41,
+    41,
+    42,
+    43,
+    44,
+    44,
+    45,
+    46,
+    47,
+    47,
+    48,
+    49,
+    50,
+    50,
+    51,
+    52,
+    53,
+    53,
+    54,
+    55,
+    56,
+    56,
+    57,
+    58,
+    59,
+    59
+  ],
+  "timestamps_seconds": [
+    0.0,
+    0.0,
+    0.03333333507180214,
+    0.06666667014360428,
+    0.10000000149011612,
+    0.10000000149011612,
+    0.13333334028720856,
+    0.1666666716337204,
+    0.20000000298023224,
+    0.20000000298023224,
+    0.23333333432674408,
+    0.2666666805744171,
+    0.30000001192092896,
+    0.30000001192092896,
+    0.3333333432674408,
+    0.36666667461395264,
+    0.4000000059604645,
+    0.4000000059604645,
+    0.4333333373069763,
+    0.46666666865348816,
+    0.5,
+    0.5,
+    0.5333333611488342,
+    0.5666666626930237,
+    0.6000000238418579,
+    0.6000000238418579,
+    0.6333333253860474,
+    0.6666666865348816,
+    0.699999988079071,
+    0.699999988079071,
+    0.7333333492279053,
+    0.7666666507720947,
+    0.800000011920929,
+    0.800000011920929,
+    0.8333333134651184,
+    0.8666666746139526,
+    0.8999999761581421,
+    0.8999999761581421,
+    0.9333333373069763,
+    0.9666666388511658,
+    1.0,
+    1.0,
+    1.0333333015441895,
+    1.0666667222976685,
+    1.0666667222976685,
+    1.100000023841858,
+    1.1333333253860474,
+    1.1666666269302368,
+    1.1666666269302368,
+    1.2000000476837158,
+    1.2333333492279053,
+    1.2666666507720947,
+    1.2666666507720947,
+    1.2999999523162842,
+    1.3333333730697632,
+    1.3666666746139526,
+    1.3666666746139526,
+    1.399999976158142,
+    1.4333332777023315,
+    1.4666666984558105,
+    1.4666666984558105,
+    1.5,
+    1.5333333015441895,
+    1.5666667222976685,
+    1.5666667222976685,
+    1.600000023841858,
+    1.6333333253860474,
+    1.6666666269302368,
+    1.6666666269302368,
+    1.7000000476837158,
+    1.7333333492279053,
+    1.7666666507720947,
+    1.7666666507720947,
+    1.7999999523162842,
+    1.8333333730697632,
+    1.8666666746139526,
+    1.8666666746139526,
+    1.899999976158142,
+    1.9333332777023315,
+    1.9666666984558105,
+    1.9666666984558105
+  ],
+  "preprocessed_latent": "CamxTime_latents/eval/EvalScene026_traj01_slowmo.safetensors",
+  "pattern_parameters": null,
+  "rotation_projection": {
+    "method": "nearest_proper_rotation_svd",
+    "max_input_orthonormal_error": 0.0009440861201702455,
+    "max_input_determinant_error": 0.0003037375194014924,
+    "max_rotation_element_change": 0.0004941998173171869,
+    "translation_changed": false
+  }
+}

camxtime_eval/target/eval_scene_030__slowmo/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": [
+        [
+          0.9999996274711112,
+          0.0008544882230154563,
+          0.00012209633767756454,
+          6.112243136158213e-05
+        ],
+        [
+          -0.0008544956735907737,
+          0.9999996330590426,
+          6.0982976633284024e-05,
+          0.00012200963101349771
+        ],
+        [
+          -0.00012204418363997931,
+          -6.108728470763623e-05,
+          0.9999999906867806,
+          -0.00013925136590842158
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 1,
+      "c2w": [
+        [
+          0.9999963268702161,
+          0.00036481618993316345,
+          0.0026857317855636074,
+          -0.004576271399855614
+        ],
+        [
+          -0.00036760270375163154,
+          0.9999993946411134,
+          0.0010371044590702628,
+          -0.00048601135495118797
+        ],
+        [
+          -0.0026853518072346987,
+          -0.0010380879319166864,
+          0.9999958556209705,
+          0.0005811863229610026
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 2,
+      "c2w": [
+        [
+          0.9999961983498892,
+          0.00024237930850803304,
+          0.0027467322476186565,
+          -0.00897189974784851
+        ],
+        [
+          -0.0002458997005047314,
+          0.9999991487729579,
+          0.0012814002876036198,
+          -0.0006079677841626108
+        ],
+        [
+          -0.0027464193246101326,
+          -0.0012820708368057752,
+          0.9999954067270824,
+          0.00016465845692437142
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 3,
+      "c2w": [
+        [
+          0.9999921005634033,
+          -0.00024825458895820745,
+          0.003967011526568743,
+          -0.01226835884153843
+        ],
+        [
+          0.00024002174204929843,
+          0.9999978169924651,
+          0.002075668535006313,
+          -0.0004304454196244478
+        ],
+        [
+          -0.003967518160791828,
+          -0.002074699969377192,
+          0.9999899771596117,
+          -7.536700286436826e-05
+        ],
+        [
+          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": [
+        [
+          0.9999913573784313,
+          -0.00024844439268151535,
+          0.004150113712451885,
+          -0.01707891933619976
+        ],
+        [
+          0.00023983157502318448,
+          0.999997816994265,
+          0.0020756896491586634,
+          -0.0005480831605382264
+        ],
+        [
+          -0.004150620346184397,
+          -0.002074676381450243,
+          0.9999892339763734,
+          0.0026355262380093336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 5,
+      "c2w": [
+        [
+          0.9999903441034091,
+          -4.023290231232707e-06,
+          0.004394506088186396,
+          -0.01891740970313549
+        ],
+        [
+          -4.02329023123436e-06,
+          0.9999983236290771,
+          0.0018310441965475822,
+          -0.0007920035859569907
+        ],
+        [
+          -0.004394506088186394,
+          -0.0018310441965473947,
+          0.999988667732486,
+          0.0008360877400264144
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 6,
+      "c2w": [
+        [
+          0.9999849127039118,
+          -5.867281598746867e-06,
+          0.005493116613106298,
+          -0.024159329012036324
+        ],
+        [
+          -5.867282053513205e-06,
+          0.9999977182792843,
+          0.0021362120213091838,
+          -0.0006062317406758666
+        ],
+        [
+          -0.005493116613105813,
+          -0.002136212021310436,
+          0.999982630983196,
+          0.001995612168684602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 7,
+      "c2w": [
+        [
+          0.9999877494663708,
+          0.00024036553403177142,
+          0.0049440005656033684,
+          -0.026115979999303818
+        ],
+        [
+          -0.0002479091964886813,
+          0.9999988060527111,
+          0.0015252652827385579,
+          -0.0004796886641997844
+        ],
+        [
+          -0.0049436280415231515,
+          -0.0015264722606322216,
+          0.9999866151225348,
+          0.0015184144722297788
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 8,
+      "c2w": [
+        [
+          0.9999827111028099,
+          0.0009733200740064725,
+          0.005799150240126218,
+          -0.03063906542956829
+        ],
+        [
+          -0.0009835831581936705,
+          0.9999979548395438,
+          0.0017671674797883434,
+          -0.0005190186784602702
+        ],
+        [
+          -0.005797418360351238,
+          -0.0017728408739193164,
+          0.9999816233189445,
+          0.0002796673506963998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 9,
+      "c2w": [
+        [
+          0.9999813663087214,
+          0.00011773172513871413,
+          0.0061035378743992,
+          -0.03295889496803284
+        ],
+        [
+          -0.00012592728340612172,
+          0.9999990910673625,
+          0.001342388456707755,
+          -0.0003011311637237668
+        ],
+        [
+          -0.006103374284985747,
+          -0.0013431320449997447,
+          0.9999804722186567,
+          0.00012146126391598955
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 10,
+      "c2w": [
+        [
+          0.9999842048999465,
+          0.00024070934523848356,
+          0.005615337000806415,
+          -0.03711474686861038
+        ],
+        [
+          -0.00024756382887507655,
+          0.9999992251451914,
+          0.0012200086753750806,
+          -0.00017521661357022822
+        ],
+        [
+          -0.005615038982245954,
+          -0.0012213795595448196,
+          0.9999834896483039,
+          -0.0008442502003163099
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 11,
+      "c2w": [
+        [
+          0.9999806286798368,
+          0.00121957401267581,
+          0.006103679571054821,
+          -0.03930532559752464
+        ],
+        [
+          -0.0012218091437163623,
+          0.9999991878954999,
+          0.00036247862956239257,
+          0.00010913261940004304
+        ],
+        [
+          -0.00610323254471243,
+          -0.0003699291393830953,
+          0.9999813066777483,
+          0.000318066100589931
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 12,
+      "c2w": [
+        [
+          0.9999750483038251,
+          0.0012147522876722048,
+          0.006958961606680173,
+          -0.0441964715719223
+        ],
+        [
+          -0.001226643297452471,
+          0.9999977946353211,
+          0.0017047201280885878,
+          -0.00025294694933108985
+        ],
+        [
+          -0.0069568754469566075,
+          -0.0017132137560415127,
+          0.9999743330619247,
+          -0.0008059664978645742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 13,
+      "c2w": [
+        [
+          0.999973586206687,
+          0.0009740477347862145,
+          0.007202646732084415,
+          -0.04688020423054695
+        ],
+        [
+          -0.0009828393315613711,
+          0.9999987762641916,
+          0.0012171676000709097,
+          -0.00044327747309580445
+        ],
+        [
+          -0.0072014523386042745,
+          -0.0012242144945573323,
+          0.999973319835627,
+          -0.0004896275931969285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 14,
+      "c2w": [
+        [
+          0.9999710921985903,
+          0.000727318911669267,
+          0.00756873664220289,
+          -0.05176902562379837
+        ],
+        [
+          -0.0007374813129252799,
+          0.9999988302907877,
+          0.0013399770032676626,
+          -0.00045222853077575564
+        ],
+        [
+          -0.007567753198366103,
+          -0.0013455200693145667,
+          0.9999704589072976,
+          -0.0012403191067278385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 15,
+      "c2w": [
+        [
+          0.9999702428533415,
+          0.0006037612400456833,
+          0.007690830916983589,
+          -0.05372527986764908
+        ],
+        [
+          -0.0006169038880828419,
+          0.999998353446626,
+          0.0017066146693965009,
+          -0.0007027762476354837
+        ],
+        [
+          -0.007689787865830915,
+          -0.0017113083889085268,
+          0.999968968811621,
+          -0.0015998446615412831
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 16,
+      "c2w": [
+        [
+          0.9999719843268484,
+          0.001215287176905882,
+          0.007386043494557064,
+          -0.05959237739443779
+        ],
+        [
+          -0.0012261053234228435,
+          0.9999981820602803,
+          0.0014603225228649584,
+          -0.0007250584894791245
+        ],
+        [
+          -0.007384255355939441,
+          -0.0014693376781940645,
+          0.9999716565081365,
+          -0.002641195198521018
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 17,
+      "c2w": [
+        [
+          0.9999659514241179,
+          0.001092136242788496,
+          0.00817943952148944,
+          -0.06179201602935791
+        ],
+        [
+          -0.001105114961261762,
+          0.99999813736771,
+          0.001582397558756179,
+          -0.0010353514226153493
+        ],
+        [
+          -0.00817769609247693,
+          -0.0015913829013622976,
+          0.9999652957913495,
+          -0.002590618561953306
+        ],
+        [
+          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": [
+        [
+          0.9999713417880649,
+          0.000973859270182777,
+          0.007507809314309829,
+          -0.06594240665435791
+        ],
+        [
+          -0.0009830233766759773,
+          0.9999987762673971,
+          0.0012170163308458423,
+          -0.0009769651805981994
+        ],
+        [
+          -0.007506614924122856,
+          -0.0012243618053970418,
+          0.9999710754169595,
+          -0.0028760386630892754
+        ],
+        [
+          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": [
+        [
+          0.9999707569232135,
+          0.001095150463392898,
+          0.007568747840780561,
+          -0.06789224594831467
+        ],
+        [
+          -0.0011020792970069509,
+          0.9999989774370658,
+          0.0009113429896547621,
+          -0.0005990483914501965
+        ],
+        [
+          -0.007567742043562088,
+          -0.0009196576994813221,
+          0.9999709413328357,
+          -0.00244590500369668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 20,
+      "c2w": [
+        [
+          0.9999584564060557,
+          0.0012157245227776977,
+          0.009033685621211932,
+          -0.07376217097043991
+        ],
+        [
+          -0.0012256485952196034,
+          0.9999986514492969,
+          0.001093108004228724,
+          -0.0009514856501482427
+        ],
+        [
+          -0.009032344520622113,
+          -0.0011041347166853134,
+          0.99995859796243,
+          -0.0030406794976443052
+        ],
+        [
+          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": [
+        [
+          0.999957301656303,
+          0.0019445760430306257,
+          0.009034018389271502,
+          -0.07572638243436813
+        ],
+        [
+          -0.0019539486257223885,
+          0.9999975618593845,
+          0.0010287662777655883,
+          -0.0008336302707903087
+        ],
+        [
+          -0.00903199584880725,
+          -0.0010463743589652125,
+          0.9999586632214792,
+          -0.004198090173304081
+        ],
+        [
+          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": [
+        [
+          0.9999568322532253,
+          0.001582689760370583,
+          0.009155802707500665,
+          -0.08059371262788773
+        ],
+        [
+          -0.0015910716222373277,
+          0.9999983217774504,
+          0.0009082584303157707,
+          -0.0006074499106034636
+        ],
+        [
+          -0.009154349850708723,
+          -0.0009227867607125756,
+          0.9999576722758847,
+          -0.0024965761695057154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 23,
+      "c2w": [
+        [
+          0.9999558935400823,
+          0.0014619838425673445,
+          0.009277584691051319,
+          -0.08303363621234894
+        ],
+        [
+          -0.0014676460337781708,
+          0.9999987408826239,
+          0.0006035298556086452,
+          -0.0007952999440021813
+        ],
+        [
+          -0.009276690658585668,
+          -0.0006171194464179138,
+          0.9999567801530297,
+          -0.0022658028174191713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 24,
+      "c2w": [
+        [
+          0.9999609019949565,
+          0.0009716834617223626,
+          0.008789215703571052,
+          -0.08743978291749954
+        ],
+        [
+          -0.0009775841630248877,
+          0.9999992996626834,
+          0.0006670857123149634,
+          -0.0008330238051712513
+        ],
+        [
+          -0.008788561352000797,
+          -0.0006756518286718822,
+          0.9999611515873843,
+          -0.003778211073949933
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 25,
+      "c2w": [
+        [
+          0.9999518424889006,
+          0.0009713487056773185,
+          0.009765714758516252,
+          -0.08986537903547287
+        ],
+        [
+          -0.0009779049900921915,
+          0.9999992996697673,
+          0.0006666046848942059,
+          -0.0010123469401150942
+        ],
+        [
+          -0.009765060413693048,
+          -0.0006761225240662743,
+          0.9999520920791403,
+          -0.0016700514825060964
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 26,
+      "c2w": [
+        [
+          0.9999449119529749,
+          0.0015843338541290798,
+          0.01037607563559239,
+          -0.09574005007743835
+        ],
+        [
+          -0.0015893999677585396,
+          0.9999986216925553,
+          0.0004800215961518231,
+          -0.0007040256750769913
+        ],
+        [
+          -0.010375300819704667,
+          -0.000496486886980088,
+          0.9999460518616352,
+          -0.0029432186856865883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 27,
+      "c2w": [
+        [
+          0.999948406067733,
+          0.0007305483975926186,
+          0.010131707735500041,
+          -0.09769431501626968
+        ],
+        [
+          -0.0007342585951790597,
+          0.9999996647355887,
+          0.0003624817574028944,
+          -0.0009672270971350372
+        ],
+        [
+          -0.010131439528231954,
+          -0.0003699023490322451,
+          0.9999486072320604,
+          -0.0031909241806715727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 28,
+      "c2w": [
+        [
+          0.9999465286150363,
+          0.0013374209845614688,
+          0.010254326689181572,
+          -0.10159781575202942
+        ],
+        [
+          -0.001348060243774419,
+          0.9999985601977577,
+          0.00103069684700972,
+          -0.0010879578767344356
+        ],
+        [
+          -0.010252933449387311,
+          -0.0010444651843580354,
+          0.9999468918138409,
+          -0.002771977102383971
+        ],
+        [
+          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": [
+        [
+          0.9999423490846093,
+          0.0015849195404685466,
+          0.010620100621134781,
+          -0.10453396290540695
+        ],
+        [
+          -0.0015888085191101138,
+          0.9999986738455097,
+          0.0003577634864276018,
+          -0.0007508631097152829
+        ],
+        [
+          -0.010619519510900358,
+          -0.0003746161673756252,
+          0.9999435411402411,
+          -0.00325379753485322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 30,
+      "c2w": [
+        [
+          0.9999322616246411,
+          0.0019502588726456275,
+          0.011474696185961216,
+          -0.10992508381605148
+        ],
+        [
+          -0.001955861329548259,
+          0.9999979735162182,
+          0.00047704288752041903,
+          -0.000642116239760071
+        ],
+        [
+          -0.011473742575551515,
+          -0.0004994534879487036,
+          0.9999340497140419,
+          -0.004628586582839489
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 31,
+      "c2w": [
+        [
+          0.9999259067370488,
+          0.0014633126946903307,
+          0.01208469081311817,
+          -0.11186697334051132
+        ],
+        [
+          -0.0014662686679119213,
+          0.9999988972388402,
+          0.000235748379515295,
+          -0.000752531283069402
+        ],
+        [
+          -0.012084332512994062,
+          -0.00025345031564945504,
+          0.9999269496671508,
+          -0.0034089554101228714
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 32,
+      "c2w": [
+        [
+          0.9999096043227397,
+          0.0023192313186701573,
+          0.013244030701889405,
+          -0.11772787570953369
+        ],
+        [
+          -0.002319231318670158,
+          0.9999973104614838,
+          -1.5358679573794455e-05,
+          -0.0002763263473752886
+        ],
+        [
+          -0.013244030701889408,
+          -1.5358679573762448e-05,
+          0.9999122938612557,
+          -0.0030797545332461596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 33,
+      "c2w": [
+        [
+          0.9999307343681104,
+          0.0010946675012511449,
+          0.011718710215375912,
+          -0.11968064308166504
+        ],
+        [
+          -0.0011025352902230875,
+          0.9999991711299524,
+          0.0006649476233394504,
+          -0.00048227194929495454
+        ],
+        [
+          -0.01171797260553457,
+          -0.0006778218568904175,
+          0.9999311124650265,
+          -0.0036633904092013836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 34,
+      "c2w": [
+        [
+          0.9999093733560939,
+          0.0009731053637038056,
+          0.013427514311115813,
+          -0.12455242872238159
+        ],
+        [
+          -0.0009837592459189884,
+          0.9999992065385869,
+          0.0007868544611468211,
+          -0.0006740207318216562
+        ],
+        [
+          -0.01342673796460474,
+          -0.0007999925925209624,
+          0.9999095372679879,
+          -0.002141981152817607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 35,
+      "c2w": [
+        [
+          0.999905439814802,
+          0.0007319681148435493,
+          0.013732285004574213,
+          -0.12699644267559052
+        ],
+        [
+          -0.0007328078630198429,
+          0.9999997299215726,
+          5.61196783419301e-05,
+          -0.000456455338280648
+        ],
+        [
+          -0.013732240217965054,
+          -6.617749808318287e-05,
+          0.9999057061539028,
+          -0.002254041377454996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 36,
+      "c2w": [
+        [
+          0.9998938944851921,
+          0.001098131941348202,
+          0.014525628298821525,
+          -0.13188667595386505
+        ],
+        [
+          -0.0010990184661544985,
+          0.9999993946718968,
+          5.304952048616995e-05,
+          -0.00028253241907805204
+        ],
+        [
+          -0.014525561250677369,
+          -6.900782537265855e-05,
+          0.9998944960885988,
+          -0.002509565558284521
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 37,
+      "c2w": [
+        [
+          0.9998772126266514,
+          0.0018295180969534746,
+          0.015563178772076837,
+          -0.13480046391487122
+        ],
+        [
+          -0.001832367594506665,
+          0.999998306960502,
+          0.00016883462138533186,
+          -0.00030272951698862016
+        ],
+        [
+          -0.015562843537005166,
+          -0.00019733135507521389,
+          0.9998788721447106,
+          -0.0011370490537956357
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 38,
+      "c2w": [
+        [
+          0.9998747636178895,
+          0.0015834576250809062,
+          0.01574641997465595,
+          -0.13966713845729828
+        ],
+        [
+          -0.001590184655432179,
+          0.9999986496679713,
+          0.00041469867960993513,
+          -0.0005108092445880175
+        ],
+        [
+          -0.0157457420539749,
+          -0.0004396864596691188,
+          0.9998759314449898,
+          -2.8364591344143264e-05
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 39,
+      "c2w": [
+        [
+          0.9998812355334745,
+          0.0025651758935579905,
+          0.015196535812077581,
+          -0.14162781834602356
+        ],
+        [
+          -0.0025614659459082785,
+          0.9999966847007716,
+          -0.00026358997274536283,
+          -0.00043029693188145757
+        ],
+        [
+          -0.01519716158565774,
+          0.00022463325864458135,
+          0.9998844912386827,
+          -0.0005486853769980371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 933.028564453125,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 40,
+      "c2w": [
+        [
+          0.999888014800411,
+          0.0006075737074729933,
+          0.014952883089332616,
+          -0.14650550484657288
+        ],
+        [
+          -0.0006130496955420836,
+          0.9999997466949798,
+          0.0003616352409053451,
+          -0.0005826405249536037
+        ],
+        [
+          -0.014952659581628424,
+          -0.000370761603536162,
+          0.9998881339966335,
+          -0.00029634032398462296
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 41,
+      "c2w": [
+        [
+          0.9998896629772833,
+          0.0015899795883564704,
+          0.014769354626518157,
+          -0.14847420156002045
+        ],
+        [
+          -0.001583669642789812,
+          0.9999986496698033,
+          -0.0004389180249753547,
+          -0.00037419539876282215
+        ],
+        [
+          -0.01477003255371322,
+          0.0004154798175016087,
+          0.9998908307984848,
+          -0.0013321716105565429
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 42,
+      "c2w": [
+        [
+          0.9998891172946711,
+          0.0013449585906667111,
+          0.014830515907181718,
+          -0.15044523775577545
+        ],
+        [
+          -0.0013404328647403797,
+          0.999999051975708,
+          -0.00031509906502374426,
+          -0.0002855309867300093
+        ],
+        [
+          -0.01483092564268672,
+          0.00029518481506401073,
+          0.9998899722021949,
+          -0.002529899822548032
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 43,
+      "c2w": [
+        [
+          0.9998682824442683,
+          0.0019544675479953224,
+          0.016112039552856564,
+          -0.15630178153514862
+        ],
+        [
+          -0.001951517506992221,
+          0.9999980760239761,
+          -0.00019881590784597532,
+          4.062250695824332e-07
+        ],
+        [
+          -0.016112397132918593,
+          0.00016734679304008262,
+          0.9998701728993029,
+          -0.0019374486291781068
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 44,
+      "c2w": [
+        [
+          0.999853368463896,
+          0.0023238200896905817,
+          0.016965890238693812,
+          -0.15921317040920258
+        ],
+        [
+          -0.0023145007828610036,
+          0.9999971597090421,
+          -0.0005689112197413555,
+          -0.00011873261973960325
+        ],
+        [
+          -0.016967164097950935,
+          0.0005295602331758692,
+          0.9998559070728303,
+          -0.0005794958560727537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 45,
+      "c2w": [
+        [
+          0.9998609446494454,
+          0.0015969515655702197,
+          0.01659943102687185,
+          -0.16409337520599365
+        ],
+        [
+          -0.001576687760424083,
+          0.9999979959337489,
+          -0.0012337682891748855,
+          1.8092627215082757e-05
+        ],
+        [
+          -0.016601368028713013,
+          0.001207424607362562,
+          0.9998614587558581,
+          -0.0004956336924806237
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 46,
+      "c2w": [
+        [
+          0.999842536933945,
+          0.002446589686986261,
+          0.017575993183774907,
+          -0.16701902449131012
+        ],
+        [
+          -0.0024358625423923884,
+          0.9999968337521348,
+          -0.000631711468743597,
+          0.00016362135647796094
+        ],
+        [
+          -0.017577483072588544,
+          0.0005887992940770403,
+          0.999845330740822,
+          -5.497769598150626e-05
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 47,
+      "c2w": [
+        [
+          0.9998293961920256,
+          0.0024417573251452143,
+          0.018308913988953995,
+          -0.17189881205558777
+        ],
+        [
+          -0.0024406399284363166,
+          0.9999970181582631,
+          -8.337459235258299e-05,
+          0.00017548813775647432
+        ],
+        [
+          -0.018309062975191782,
+          3.8674901801880474e-05,
+          0.9998323743094257,
+          0.0002787016564980149
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 48,
+      "c2w": [
+        [
+          0.9998483175554544,
+          0.0017077971601362773,
+          0.01733278138056311,
+          -0.1738600879907608
+        ],
+        [
+          -0.0017099169370011363,
+          0.9999985323150337,
+          0.00010747951819438851,
+          -0.00031328925979323685
+        ],
+        [
+          -0.017332572388284617,
+          -0.00013710083188629214,
+          0.9998497702843995,
+          -0.0002824487164616585
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 49,
+      "c2w": [
+        [
+          0.9998309980421758,
+          0.0026903005202718916,
+          0.018186193584621656,
+          -0.17871248722076416
+        ],
+        [
+          -0.002680310986003986,
+          0.9999962434255782,
+          -0.0005736442708386266,
+          0.00041807114030234516
+        ],
+        [
+          -0.018187668542312633,
+          0.0005248026693751679,
+          0.999834452944662,
+          0.0015112200053408742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 50,
+      "c2w": [
+        [
+          0.9998113318932268,
+          0.002326183841242997,
+          0.01928443638351811,
+          -0.1816721260547638
+        ],
+        [
+          -0.0023120602094394865,
+          0.9999970424375155,
+          -0.000754648137099201,
+          0.00011605016334215179
+        ],
+        [
+          -0.019286134798894888,
+          0.0007099189810401176,
+          0.9998137531658385,
+          0.0001315188710577786
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 51,
+      "c2w": [
+        [
+          0.9998188631139275,
+          0.002080774454392994,
+          0.018918544850050102,
+          -0.18654058873653412
+        ],
+        [
+          -0.002069228152417423,
+          0.9999976607757735,
+          -0.0006298712832439959,
+          0.00032553955679759383
+        ],
+        [
+          -0.018919811215407447,
+          0.0005906104047146675,
+          0.9998208299105011,
+          0.0008440041565336287
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 52,
+      "c2w": [
+        [
+          0.9998071307014887,
+          0.0020803460874266435,
+          0.01952878794534321,
+          -0.18946747481822968
+        ],
+        [
+          -0.0020696193268891047,
+          0.9999976961850415,
+          -0.0005694738385433769,
+          0.00039256634772755206
+        ],
+        [
+          -0.01952992765730117,
+          0.0005289468475612989,
+          0.9998091328553339,
+          0.0010913580190390348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 53,
+      "c2w": [
+        [
+          0.9997825487024944,
+          0.0020825809898307244,
+          0.020748931692143653,
+          -0.19434775412082672
+        ],
+        [
+          -0.002067385115209688,
+          0.9999975788549356,
+          -0.0007537924457058557,
+          0.00028017492149956524
+        ],
+        [
+          -0.02075045128978774,
+          0.00071073250002389,
+          0.999784433580851,
+          0.0014391838340088725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 54,
+      "c2w": [
+        [
+          0.9997791818960878,
+          0.002453210227669906,
+          0.020870294841428744,
+          -0.19727979600429535
+        ],
+        [
+          -0.0024290053166231866,
+          0.9999963477894799,
+          -0.001185048890911374,
+          0.0007882851641625166
+        ],
+        [
+          -0.0208731257927778,
+          0.0011340931535333907,
+          0.9997814893527275,
+          0.001311169471591711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 55,
+      "c2w": [
+        [
+          0.9997922992590185,
+          0.0022087913807070157,
+          0.02026029572842047,
+          -0.2011987715959549
+        ],
+        [
+          -0.00218529398892118,
+          0.9999969138654274,
+          -0.0011818416996543424,
+          0.0009937150171026587
+        ],
+        [
+          -0.020262843644181003,
+          0.0011373215277886088,
+          0.9997940406239647,
+          0.0006294202175922692
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 56,
+      "c2w": [
+        [
+          0.9997807609286897,
+          0.0028174544325407403,
+          0.020748301794864882,
+          -0.20413337647914886
+        ],
+        [
+          -0.002797190018600525,
+          0.9999955822032744,
+          -0.001005635089912749,
+          0.0008198383147828281
+        ],
+        [
+          -0.020751043464126685,
+          0.0009473776727260407,
+          0.9997842250559342,
+          0.0005134922685101628
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 57,
+      "c2w": [
+        [
+          0.9997312714145892,
+          0.003305962697642975,
+          0.022944619552548645,
+          -0.20998364686965942
+        ],
+        [
+          -0.0032849537016538814,
+          0.9999941501606274,
+          -0.0009532700051755744,
+          0.0006939967861399055
+        ],
+        [
+          -0.022947636805287705,
+          0.0008776418213434768,
+          0.9997362830816365,
+          0.001370848622173071
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 58,
+      "c2w": [
+        [
+          0.9997372377158908,
+          0.0031823995076156403,
+          0.02270083385195487,
+          -0.21293026208877563
+        ],
+        [
+          -0.003164384807340039,
+          0.999994649328379,
+          -0.0008294476495121337,
+          0.0009226595284417272
+        ],
+        [
+          -0.02270335202103851,
+          0.000757395528198218,
+          0.9997419587868775,
+          0.0005929364706389606
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 59,
+      "c2w": [
+        [
+          0.9997223997957477,
+          0.0024496729464786545,
+          0.02343336188181991,
+          -0.21779055893421173
+        ],
+        [
+          -0.0024325073786899782,
+          0.9999967518853211,
+          -0.0007610037178965103,
+          0.0008999405545182526
+        ],
+        [
+          -0.02343514997779309,
+          0.0007037906374238737,
+          0.9997251114302651,
+          0.0017632533563300967
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 60,
+      "c2w": [
+        [
+          0.9997160243870895,
+          0.0026959889510443204,
+          0.023677040086300356,
+          -0.22074954211711884
+        ],
+        [
+          -0.00267430965364236,
+          0.9999959753921753,
+          -0.0009472419586776776,
+          0.0011449431767687201
+        ],
+        [
+          -0.023679498549354132,
+          0.0008836532281894707,
+          0.9997192108314327,
+          0.0005590182263404131
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 944.914306640625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 61,
+      "c2w": [
+        [
+          0.9997032954140399,
+          0.003064592058579051,
+          0.024164631464674957,
+          -0.2256193906068802
+        ],
+        [
+          -0.003038041655413329,
+          0.9999947406103374,
+          -0.0011353653877732327,
+          0.0010567746357992291
+        ],
+        [
+          -0.024167983805212827,
+          0.0010616153626787355,
+          0.9997073479431932,
+          0.0012425301829352975
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 62,
+      "c2w": [
+        [
+          0.9996376918090227,
+          0.0031863492253366367,
+          0.02672699559142382,
+          -0.22855886816978455
+        ],
+        [
+          -0.0031601954406661643,
+          0.9999944856172611,
+          -0.0010207349539493417,
+          0.0008495475631207228
+        ],
+        [
+          -0.02673010062657021,
+          0.0009359026037040005,
+          0.9996422489104838,
+          0.001380185247398913
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 63,
+      "c2w": [
+        [
+          0.9996548742517721,
+          0.0037930525493803536,
+          0.025995098327014517,
+          -0.23440922796726227
+        ],
+        [
+          -0.0037740102880369237,
+          0.999992572981504,
+          -0.0007815549739633673,
+          0.0010724638123065233
+        ],
+        [
+          -0.025997869740024798,
+          0.0006831794706933646,
+          0.9996617648158763,
+          0.0016396432183682919
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 64,
+      "c2w": [
+        [
+          0.9996681992204596,
+          0.0025770996084814447,
+          0.025629085526637268,
+          -0.2363707721233368
+        ],
+        [
+          -0.002548940781263412,
+          0.9999961115070504,
+          -0.0011313141349673197,
+          0.0009742637630552053
+        ],
+        [
+          -0.025631901377333222,
+          0.0010656117427696491,
+          0.9996708808920043,
+          0.0012990871910005808
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 65,
+      "c2w": [
+        [
+          0.9996109173812733,
+          0.004162202767623466,
+          0.02758060768531504,
+          -0.24221958220005035
+        ],
+        [
+          -0.004136955144963367,
+          0.9999909699698141,
+          -0.0009724098718533667,
+          0.0011864452390000224
+        ],
+        [
+          -0.02758440599865503,
+          0.0008579317872090167,
+          0.9996191097106687,
+          0.0020748141687363386
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 66,
+      "c2w": [
+        [
+          0.9996152588933521,
+          0.003912198252988952,
+          0.027459586530149998,
+          -0.2441437691450119
+        ],
+        [
+          -0.0038987923650986274,
+          0.9999922529448464,
+          -0.0005417272232733955,
+          0.0005858935764990747
+        ],
+        [
+          -0.027461493143515182,
+          0.0004344595722293433,
+          0.9996227676674881,
+          0.003226849250495434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 67,
+      "c2w": [
+        [
+          0.9996065015200725,
+          0.0035571230383389853,
+          0.02782425191252624,
+          -0.24907533824443817
+        ],
+        [
+          -0.0035214578421766166,
+          0.99999291426349,
+          -0.0013306981172401932,
+          0.0011886919382959604
+        ],
+        [
+          -0.027828788214138558,
+          0.0012321925594534907,
+          0.9996119448306074,
+          0.0015009366907179356
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 68,
+      "c2w": [
+        [
+          0.9996032533418494,
+          0.00232401194394914,
+          0.028070177713627225,
+          -0.25201907753944397
+        ],
+        [
+          -0.0023137342208397285,
+          0.9999972438649389,
+          -0.0003986182151294617,
+          0.0010723096784204245
+        ],
+        [
+          -0.028071026741919296,
+          0.0003335131339236521,
+          0.99960587544624,
+          0.0011242683976888657
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 69,
+      "c2w": [
+        [
+          0.9995779916799428,
+          0.0026955631513530327,
+          0.028923562857807613,
+          -0.2578430771827698
+        ],
+        [
+          -0.0026743762693725763,
+          0.9999961264949447,
+          -0.0007711722739496797,
+          0.0009996070293709636
+        ],
+        [
+          -0.02892552956580588,
+          0.0006934943427011518,
+          0.9995813287596638,
+          0.002607564441859722
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 70,
+      "c2w": [
+        [
+          0.9995415527441177,
+          0.004774207361737367,
+          0.02989801468232997,
+          -0.26176702976226807
+        ],
+        [
+          -0.004745071536124811,
+          0.9999881956670469,
+          -0.001045381595923677,
+          0.0011218617437407374
+        ],
+        [
+          -0.029902652624721148,
+          0.0009030341251438487,
+          0.9995524077782885,
+          0.0022138580679893494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 71,
+      "c2w": [
+        [
+          0.9994888128371507,
+          0.003930290749795064,
+          0.03172799754168807,
+          -0.26569393277168274
+        ],
+        [
+          -0.0038954283689974986,
+          0.9999917393729925,
+          -0.0011605272932697075,
+          0.0006774031207896769
+        ],
+        [
+          -0.03173229665822032,
+          0.0010363399048999638,
+          0.999495866598955,
+          0.0020236235577613115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 72,
+      "c2w": [
+        [
+          0.9994553616938374,
+          0.004404323339616999,
+          0.03270446326359918,
+          -0.26954907178878784
+        ],
+        [
+          -0.004382370988199321,
+          0.9999901214245221,
+          -0.0007428848439843338,
+          0.0012430017814040184
+        ],
+        [
+          -0.03270741209514738,
+          0.000599157149450274,
+          0.9994647898774369,
+          0.0037834022659808397
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 938.971435546875,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 73,
+      "c2w": [
+        [
+          0.9995215411535249,
+          0.0033223653149688777,
+          0.030751433442972282,
+          -0.27348074316978455
+        ],
+        [
+          -0.0032679281011884376,
+          0.9999930035107873,
+          -0.0018203228834860199,
+          0.0021867535542696714
+        ],
+        [
+          -0.030757266068509672,
+          0.001718958460398375,
+          0.9995254052628189,
+          0.00261760875582695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 944.914306640625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 74,
+      "c2w": [
+        [
+          0.9994727522622953,
+          0.00405864978475349,
+          0.03221404735760117,
+          -0.27742132544517517
+        ],
+        [
+          -0.003995724849122431,
+          0.999989981940004,
+          -0.0020174743024459064,
+          0.0018545700004324317
+        ],
+        [
+          -0.03222191285698479,
+          0.001887692124167037,
+          0.9994789567320976,
+          0.001893128384836018
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 75,
+      "c2w": [
+        [
+          0.9994998933343048,
+          0.002963532218060289,
+          0.031483022432833366,
+          -0.2812904417514801
+        ],
+        [
+          -0.0028943507034516645,
+          0.9999932963391776,
+          -0.00224276853736153,
+          0.0022298963740468025
+        ],
+        [
+          -0.03148945789814744,
+          0.0021505240057411307,
+          0.9995017705275876,
+          0.0029733688570559025
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 944.914306640625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 76,
+      "c2w": [
+        [
+          0.9994960749126943,
+          0.004058007042316152,
+          0.03148219835022622,
+          -0.2832145690917969
+        ],
+        [
+          -0.003996511116788292,
+          0.9999899817007246,
+          -0.0020160349892535596,
+          0.001935295993462205
+        ],
+        [
+          -0.03149006403632528,
+          0.001889200102958074,
+          0.9995022795321473,
+          0.003918301314115524
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 944.914306640625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 77,
+      "c2w": [
+        [
+          0.9994542603642991,
+          0.004674330240650559,
+          0.032700643364532093,
+          -0.2891010642051697
+        ],
+        [
+          -0.00460047432007014,
+          0.9999866953010663,
+          -0.002333421711390673,
+          0.0020135859958827496
+        ],
+        [
+          -0.03271111547598711,
+          0.002181709800627719,
+          0.999462467062502,
+          0.0033582968171685934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 78,
+      "c2w": [
+        [
+          0.9994607245472212,
+          0.0029687788861465485,
+          0.03270239195330782,
+          -0.2910274267196655
+        ],
+        [
+          -0.0028889273403214237,
+          0.9999927300989563,
+          -0.002488744273253673,
+          0.0020152206998318434
+        ],
+        [
+          -0.03270954274160563,
+          0.00239292732035153,
+          0.9994620351531487,
+          0.004246093798428774
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 79,
+      "c2w": [
+        [
+          0.9994267672185217,
+          0.0034478810761381694,
+          0.03367861462738293,
+          -0.2968927323818207
+        ],
+        [
+          -0.003386208380891148,
+          0.999992484347968,
+          -0.001888078489111713,
+          0.002175557892769575
+        ],
+        [
+          -0.03368487138072695,
+          0.0017729533735198078,
+          0.9994309311185038,
+          0.004330160561949015
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 80,
+      "c2w": [
+        [
+          0.9994321877411558,
+          0.004195233308801777,
+          0.03343205235116741,
+          -0.2988151013851166
+        ],
+        [
+          -0.004103385734870777,
+          0.9999876177149956,
+          -0.002815429309897769,
+          0.0028313586954027414
+        ],
+        [
+          -0.03344344976878635,
+          0.0026766460679165964,
+          0.9994370271474786,
+          0.005119753070175648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 944.914306640625,
+        "fy": 938.971435546875,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    }
+  ]
+}

camxtime_eval/target/eval_scene_031__bullettime_mid/caption.txt

@@ -0,0 +1 @@
+A person in a black outfit crouches low on a dirt-covered ground, holding a small object in both hands near their chest. They are positioned beside a gray stone fence, with a distant, blurred landscape of bare trees and a cloudy sky under soft, diffused light. The ground is textured with dry leaves and sparse green patches, and the person remains motionless in their crouched stance throughout the scene. The camera sweeps along an arc around the scene while scene time is frozen at a middle moment.

camxtime_eval/target/eval_scene_031__bullettime_mid/extras/temporal_mapping.json

@@ -0,0 +1,263 @@
+{
+  "pattern": "bullettime_mid",
+  "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": [
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60,
+    60
+  ],
+  "timestamps_seconds": [
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0
+  ],
+  "preprocessed_latent": null,
+  "pattern_parameters": {
+    "fixed_motion_frame": 60
+  },
+  "rotation_projection": {
+    "method": "nearest_proper_rotation_svd",
+    "max_input_orthonormal_error": 2.9667111160626425e-05,
+    "max_input_determinant_error": 8.310602225836128e-06,
+    "max_rotation_element_change": 1.4982656656807244e-05,
+    "translation_changed": false
+  }
+}

dynpose_eval/source/14d32f01-b083-4b0e-9e2e-3befaad3f0d3/caption.txt

@@ -0,0 +1 @@
+A man is playing with a fluffy cat in his living room.

dynpose_eval/source/14d32f01-b083-4b0e-9e2e-3befaad3f0d3/extras/source_metadata.json

@@ -0,0 +1,33 @@
+{
+  "sequence": "14d32f01-b083-4b0e-9e2e-3befaad3f0d3",
+  "tar_name": "dpsp-f2afbe0c",
+  "youtube_link": "https://www.youtube.com/watch?v=DbEuC92Louw",
+  "youtube_timestamp": "0:07:22.792-0:07:30.917",
+  "num_frames": 243,
+  "original_canvas_hw": [
+    720,
+    1280
+  ],
+  "spatial_transform": {
+    "input_hw": [
+      720,
+      1280
+    ],
+    "crop_xywh": [
+      16,
+      0,
+      1248,
+      720
+    ],
+    "scale_xy": [
+      0.6666666666666666,
+      0.6666666666666666
+    ],
+    "output_hw": [
+      480,
+      832
+    ]
+  },
+  "rgb_status": "complete",
+  "focal_sign_correction": "none"
+}

dynpose_eval/source/1968a016-90e2-4e43-9aa6-c46f207ab8f6/caption.txt

@@ -0,0 +1 @@
+A woman standing in a room with other people.

dynpose_eval/source/1968a016-90e2-4e43-9aa6-c46f207ab8f6/extras/source_metadata.json

@@ -0,0 +1,33 @@
+{
+  "sequence": "1968a016-90e2-4e43-9aa6-c46f207ab8f6",
+  "tar_name": "dpsp-5b4542af",
+  "youtube_link": "https://www.youtube.com/watch?v=5iqkSHR692A",
+  "youtube_timestamp": "0:11:15.640-0:11:20.640",
+  "num_frames": 125,
+  "original_canvas_hw": [
+    720,
+    1280
+  ],
+  "spatial_transform": {
+    "input_hw": [
+      720,
+      1280
+    ],
+    "crop_xywh": [
+      16,
+      0,
+      1248,
+      720
+    ],
+    "scale_xy": [
+      0.6666666666666666,
+      0.6666666666666666
+    ],
+    "output_hw": [
+      480,
+      832
+    ]
+  },
+  "rgb_status": "complete",
+  "focal_sign_correction": "none"
+}

dynpose_eval/source/1968a016-90e2-4e43-9aa6-c46f207ab8f6/transforms.json

@@ -0,0 +1,4388 @@
+{
+  "format_version": "1.0",
+  "camera_model": "opencv_pinhole",
+  "pose_type": "c2w",
+  "coordinate_system": "opencv",
+  "image_hw": [
+    480,
+    832
+  ],
+  "num_frames": 125,
+  "frames": [
+    {
+      "frame_index": 0,
+      "c2w": [
+        [
+          1.0,
+          0.00015754590276628733,
+          -4.914928922516992e-06,
+          0.0001931657752720639
+        ],
+        [
+          -0.00015754543710500002,
+          1.0,
+          9.164998482447118e-05,
+          -0.0003556979645509273
+        ],
+        [
+          4.929368060402339e-06,
+          -9.164921357296407e-05,
+          1.0,
+          0.00012909455108456314
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 1,
+      "c2w": [
+        [
+          0.9999852776527405,
+          0.0011661696480587125,
+          -0.005300329998135567,
+          0.0007793381810188293
+        ],
+        [
+          -0.0011736230226233602,
+          0.9999983310699463,
+          -0.001403312897309661,
+          0.0023899537045508623
+        ],
+        [
+          0.005298684351146221,
+          0.0014095127116888762,
+          0.9999849796295166,
+          -0.0041595869697630405
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 2,
+      "c2w": [
+        [
+          0.9999366998672485,
+          0.0019394700648263097,
+          -0.011081407777965069,
+          0.0013051540590822697
+        ],
+        [
+          -0.001956772990524769,
+          0.9999969005584717,
+          -0.0015508190263062716,
+          0.0022224183194339275
+        ],
+        [
+          0.011078366078436375,
+          0.0015724047552794218,
+          0.9999374151229858,
+          -0.003963456954807043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 3,
+      "c2w": [
+        [
+          0.9997053742408752,
+          0.002809301018714905,
+          -0.024108603596687317,
+          -0.0023803513031452894
+        ],
+        [
+          -0.002839162480086088,
+          0.999995231628418,
+          -0.0012044772738590837,
+          0.009901474229991436
+        ],
+        [
+          0.02410510554909706,
+          0.0012725706910714507,
+          0.9997085928916931,
+          -0.007343076169490814
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 4,
+      "c2w": [
+        [
+          0.9994592666625977,
+          0.002187020843848586,
+          -0.03280925005674362,
+          -0.005294364411383867
+        ],
+        [
+          -0.0021759255323559046,
+          0.9999975562095642,
+          0.00037387979682534933,
+          0.010884537361562252
+        ],
+        [
+          0.03280998766422272,
+          -0.00030228716786950827,
+          0.9994615912437439,
+          -0.010874385014176369
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 5,
+      "c2w": [
+        [
+          0.999173641204834,
+          0.001954329200088978,
+          -0.04059894010424614,
+          -0.008314364589750767
+        ],
+        [
+          -0.00190089107491076,
+          0.9999972581863403,
+          0.0013548069400712848,
+          0.011960451491177082
+        ],
+        [
+          0.04060148075222969,
+          -0.0012765132123604417,
+          0.9991745948791504,
+          -0.012816839851439
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 6,
+      "c2w": [
+        [
+          0.9989054203033447,
+          0.001409271382726729,
+          -0.04675411060452461,
+          -0.011554790660738945
+        ],
+        [
+          -0.0013336337869986892,
+          0.9999977350234985,
+          0.0016489308327436447,
+          0.013668529689311981
+        ],
+        [
+          0.046756330877542496,
+          -0.0015847731847316027,
+          0.9989050626754761,
+          -0.01690887100994587
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 7,
+      "c2w": [
+        [
+          0.9987155199050903,
+          0.0002644557389430702,
+          -0.050668198615312576,
+          -0.0156994741410017
+        ],
+        [
+          -0.00013946520630270243,
+          0.9999969601631165,
+          0.002470363862812519,
+          0.013338003307580948
+        ],
+        [
+          0.05066869780421257,
+          -0.002460124436765909,
+          0.9987124800682068,
+          -0.017968731001019478
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 8,
+      "c2w": [
+        [
+          0.998293936252594,
+          -0.0015011486830189824,
+          -0.05836927518248558,
+          -0.016554351896047592
+        ],
+        [
+          0.001920670852996409,
+          0.9999727010726929,
+          0.007131942547857761,
+          0.00834837555885315
+        ],
+        [
+          0.05835697427392006,
+          -0.007231882773339748,
+          0.9982695579528809,
+          -0.02128433808684349
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 9,
+      "c2w": [
+        [
+          0.9982091784477234,
+          -0.002267403295263648,
+          -0.05977731570601463,
+          -0.023159828037023544
+        ],
+        [
+          0.0033227296080440283,
+          0.999840259552002,
+          0.01756080985069275,
+          0.0029575752560049295
+        ],
+        [
+          0.059727948158979416,
+          -0.017727985978126526,
+          0.9980572462081909,
+          -0.020381031557917595
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 10,
+      "c2w": [
+        [
+          0.9980867505073547,
+          -0.0031307977624237537,
+          -0.06174950301647186,
+          -0.023001370951533318
+        ],
+        [
+          0.004851601552218199,
+          0.9996034502983093,
+          0.02773728035390377,
+          0.0028611081652343273
+        ],
+        [
+          0.06163817644119263,
+          -0.02798379771411419,
+          0.9977061748504639,
+          -0.020825238898396492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 11,
+      "c2w": [
+        [
+          0.9979855418205261,
+          -0.004020742606371641,
+          -0.06331458687782288,
+          -0.023020630702376366
+        ],
+        [
+          0.006386444438248873,
+          0.9992871880531311,
+          0.037206318229436874,
+          0.006120713427662849
+        ],
+        [
+          0.06311985850334167,
+          -0.03753572329878807,
+          0.99729984998703,
+          -0.01850401796400547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 12,
+      "c2w": [
+        [
+          0.9978613257408142,
+          -0.005818197503685951,
+          -0.06510719656944275,
+          -0.022321663796901703
+        ],
+        [
+          0.008688289672136307,
+          0.998998761177063,
+          0.04388664662837982,
+          0.00964480359107256
+        ],
+        [
+          0.06478667259216309,
+          -0.04435845464468002,
+          0.9969127178192139,
+          -0.018205519765615463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 13,
+      "c2w": [
+        [
+          0.9976940751075745,
+          -0.009417850524187088,
+          -0.06721506267786026,
+          -0.01806938648223877
+        ],
+        [
+          0.01303802989423275,
+          0.998475968837738,
+          0.05362588167190552,
+          0.008815515786409378
+        ],
+        [
+          0.06660758703947067,
+          -0.05437857657670975,
+          0.9962963461875916,
+          -0.011619600467383862
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 14,
+      "c2w": [
+        [
+          0.9975757598876953,
+          -0.01146906241774559,
+          -0.06863745301961899,
+          -0.012297817505896091
+        ],
+        [
+          0.01533166877925396,
+          0.9983121752738953,
+          0.05601602792739868,
+          0.009542730636894703
+        ],
+        [
+          0.06787914782762527,
+          -0.05693255364894867,
+          0.9960678219795227,
+          -0.01119181327521801
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 15,
+      "c2w": [
+        [
+          0.9975088834762573,
+          -0.013650043867528439,
+          -0.0692073404788971,
+          -0.010779159143567085
+        ],
+        [
+          0.017705487087368965,
+          0.9981404542922974,
+          0.05832790583372116,
+          0.008858129382133484
+        ],
+        [
+          0.06828247010707855,
+          -0.05940795689821243,
+          0.9958956837654114,
+          -0.009855985641479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 16,
+      "c2w": [
+        [
+          0.9974682927131653,
+          -0.01575683057308197,
+          -0.06934498995542526,
+          -0.007708663120865822
+        ],
+        [
+          0.019976608455181122,
+          0.9979630708694458,
+          0.060585442930459976,
+          0.008070312440395355
+        ],
+        [
+          0.06824909895658493,
+          -0.061817336827516556,
+          0.9957513213157654,
+          -0.008351783268153667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 17,
+      "c2w": [
+        [
+          0.9974339008331299,
+          -0.01779088005423546,
+          -0.06934790313243866,
+          -0.00248429155908525
+        ],
+        [
+          0.022098664194345474,
+          0.9978404641151428,
+          0.06185474991798401,
+          0.0082131652161479
+        ],
+        [
+          0.06809769570827484,
+          -0.06322851777076721,
+          0.9956730604171753,
+          -0.0062653133645653725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 18,
+      "c2w": [
+        [
+          0.9974290132522583,
+          -0.020701810717582703,
+          -0.06860608607530594,
+          0.012784690596163273
+        ],
+        [
+          0.0251699797809124,
+          0.99757319688797,
+          0.06491692364215851,
+          0.0041886912658810616
+        ],
+        [
+          0.06709568947553635,
+          -0.06647683680057526,
+          0.9955295324325562,
+          -0.0011607743799686432
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 19,
+      "c2w": [
+        [
+          0.9975340366363525,
+          -0.02254699543118477,
+          -0.06646391749382019,
+          0.016115199774503708
+        ],
+        [
+          0.027033336460590363,
+          0.9973602294921875,
+          0.06739289313554764,
+          0.0007914950256235898
+        ],
+        [
+          0.0647689551115036,
+          -0.06902345269918442,
+          0.9955102801322937,
+          0.0001163632987299934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 20,
+      "c2w": [
+        [
+          0.9976815581321716,
+          -0.023504938930273056,
+          -0.06386768817901611,
+          0.018649768084287643
+        ],
+        [
+          0.02793428674340248,
+          0.9971999526023865,
+          0.0693683996796608,
+          0.0002320551429875195
+        ],
+        [
+          0.062058355659246445,
+          -0.07099167257547379,
+          0.9955445528030396,
+          0.0019650328904390335
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 21,
+      "c2w": [
+        [
+          0.9978318214416504,
+          -0.023479226976633072,
+          -0.06148456037044525,
+          0.02276543714106083
+        ],
+        [
+          0.02789841964840889,
+          0.9970120787620544,
+          0.07203204929828644,
+          -0.0003286228748038411
+        ],
+        [
+          0.05960959196090698,
+          -0.0735911875963211,
+          0.9955053925514221,
+          0.003216295037418604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 22,
+      "c2w": [
+        [
+          0.9979003667831421,
+          -0.025066988542675972,
+          -0.059720639139413834,
+          0.026195982471108437
+        ],
+        [
+          0.029529662802815437,
+          0.9967420697212219,
+          0.07505512982606888,
+          -0.0019476520828902721
+        ],
+        [
+          0.057644668966531754,
+          -0.07666107267141342,
+          0.995389461517334,
+          0.003990008030086756
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 23,
+      "c2w": [
+        [
+          0.9981103539466858,
+          -0.026704300194978714,
+          -0.055340975522994995,
+          0.03114154003560543
+        ],
+        [
+          0.03112383559346199,
+          0.9962603449821472,
+          0.08060190081596375,
+          -0.0037405395414680243
+        ],
+        [
+          0.052981600165367126,
+          -0.08217202126979828,
+          0.9952088594436646,
+          0.0056001185439527035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 24,
+      "c2w": [
+        [
+          0.9982225298881531,
+          -0.02686276100575924,
+          -0.05319896712899208,
+          0.030564576387405396
+        ],
+        [
+          0.031208762899041176,
+          0.9960920214653015,
+          0.08262398838996887,
+          -0.0006356926751323044
+        ],
+        [
+          0.0507715605199337,
+          -0.08413739502429962,
+          0.9951598644256592,
+          0.0035716984421014786
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 25,
+      "c2w": [
+        [
+          0.9982323050498962,
+          -0.02865595743060112,
+          -0.05206826701760292,
+          0.032320912927389145
+        ],
+        [
+          0.03300108015537262,
+          0.9958679676055908,
+          0.08460419625043869,
+          0.00163947488181293
+        ],
+        [
+          0.049428705126047134,
+          -0.08617294579744339,
+          0.9950532913208008,
+          0.004047052469104528
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 26,
+      "c2w": [
+        [
+          0.9982344508171082,
+          -0.030588537454605103,
+          -0.050914883613586426,
+          0.03365471214056015
+        ],
+        [
+          0.0349627360701561,
+          0.9955626130104065,
+          0.08736547082662582,
+          0.0007898689364083111
+        ],
+        [
+          0.04801657050848007,
+          -0.08899135142564774,
+          0.9948743581771851,
+          0.006303701549768448
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 27,
+      "c2w": [
+        [
+          0.9982507824897766,
+          -0.0316026471555233,
+          -0.049966972321271896,
+          0.035320576280355453
+        ],
+        [
+          0.03596547618508339,
+          0.9953843951225281,
+          0.08897435665130615,
+          0.004808935336768627
+        ],
+        [
+          0.046924520283937454,
+          -0.09061580896377563,
+          0.9947798252105713,
+          0.00636613043025136
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 28,
+      "c2w": [
+        [
+          0.998325765132904,
+          -0.032125961035490036,
+          -0.04810027405619621,
+          0.036245886236429214
+        ],
+        [
+          0.03657465800642967,
+          0.9948372840881348,
+          0.09466301649808884,
+          0.006081407889723778
+        ],
+        [
+          0.04481080546975136,
+          -0.09626377373933792,
+          0.9943466782569885,
+          0.011727058328688145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 29,
+      "c2w": [
+        [
+          0.9983856081962585,
+          -0.031802449375391006,
+          -0.04706168919801712,
+          0.03622221201658249
+        ],
+        [
+          0.03625937178730965,
+          0.9946139454841614,
+          0.09709960967302322,
+          0.00786961056292057
+        ],
+        [
+          0.04372020810842514,
+          -0.0986492857336998,
+          0.9941613674163818,
+          0.015026763081550598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 30,
+      "c2w": [
+        [
+          0.9984388947486877,
+          -0.029427243396639824,
+          -0.04747409746050835,
+          0.03981427103281021
+        ],
+        [
+          0.03408077731728554,
+          0.9943637251853943,
+          0.10039560496807098,
+          0.007343949284404516
+        ],
+        [
+          0.04425215348601341,
+          -0.10185682773590088,
+          0.9938143491744995,
+          0.017433667555451393
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 31,
+      "c2w": [
+        [
+          0.9985424280166626,
+          -0.02645471692085266,
+          -0.047043729573488235,
+          0.03679051622748375
+        ],
+        [
+          0.031262826174497604,
+          0.9940231442451477,
+          0.1045975387096405,
+          0.005087274592369795
+        ],
+        [
+          0.043995458632707596,
+          -0.10591579973697662,
+          0.9934013485908508,
+          0.018208051100373268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 32,
+      "c2w": [
+        [
+          0.9985437989234924,
+          -0.023425975814461708,
+          -0.048595529049634933,
+          0.039978671818971634
+        ],
+        [
+          0.028586676344275475,
+          0.9936986565589905,
+          0.10837803035974503,
+          0.006080614868551493
+        ],
+        [
+          0.0457504503428936,
+          -0.10960938781499863,
+          0.9929212927818298,
+          0.01664450205862522
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 33,
+      "c2w": [
+        [
+          0.9986395239830017,
+          -0.013768700882792473,
+          -0.05029452592134476,
+          0.036434829235076904
+        ],
+        [
+          0.019474750384688377,
+          0.9931991100311279,
+          0.11478772014379501,
+          0.009174448437988758
+        ],
+        [
+          0.04837200045585632,
+          -0.11561102420091629,
+          0.9921160340309143,
+          0.012341124936938286
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 34,
+      "c2w": [
+        [
+          0.9986005425453186,
+          -0.01303357258439064,
+          -0.05125528201460838,
+          0.03437577560544014
+        ],
+        [
+          0.018970005214214325,
+          0.9929391145706177,
+          0.11709845811128616,
+          0.010921783745288849
+        ],
+        [
+          0.049367163330316544,
+          -0.11790689080953598,
+          0.9917967915534973,
+          0.010401992127299309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 35,
+      "c2w": [
+        [
+          0.9985387325286865,
+          -0.014804091304540634,
+          -0.0519733689725399,
+          0.03235311806201935
+        ],
+        [
+          0.020923979580402374,
+          0.9926428198814392,
+          0.11925780773162842,
+          0.010329182259738445
+        ],
+        [
+          0.04982548579573631,
+          -0.12017102539539337,
+          0.991502046585083,
+          0.006092582829296589
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 36,
+      "c2w": [
+        [
+          0.9984461665153503,
+          -0.014924809336662292,
+          -0.053688593208789825,
+          0.031998928636312485
+        ],
+        [
+          0.021296843886375427,
+          0.9925277829170227,
+          0.12014593183994293,
+          0.01153937354683876
+        ],
+        [
+          0.05149426311254501,
+          -0.12110264599323273,
+          0.9913034439086914,
+          0.0003243031387683004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 37,
+      "c2w": [
+        [
+          0.9984150528907776,
+          -0.010175447911024094,
+          -0.05535193160176277,
+          0.02669224515557289
+        ],
+        [
+          0.016826383769512177,
+          0.9925033450126648,
+          0.12105357646942139,
+          0.007969117723405361
+        ],
+        [
+          0.05370520427823067,
+          -0.12179309129714966,
+          0.9911015033721924,
+          -0.00261561363004148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 38,
+      "c2w": [
+        [
+          0.9981260299682617,
+          -0.006173792760819197,
+          -0.06087982654571533,
+          0.024208679795265198
+        ],
+        [
+          0.013549862429499626,
+          0.9924987554550171,
+          0.12150148302316666,
+          0.003180501749739051
+        ],
+        [
+          0.05967302620410919,
+          -0.12209870666265488,
+          0.9907224774360657,
+          -0.0028883004561066628
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 39,
+      "c2w": [
+        [
+          0.9980307817459106,
+          -0.005844850093126297,
+          -0.062453147023916245,
+          0.018141143023967743
+        ],
+        [
+          0.013339290395379066,
+          0.9926518201828003,
+          0.12026811391115189,
+          0.002989470725879073
+        ],
+        [
+          0.06129128113389015,
+          -0.12086435407400131,
+          0.9907750487327576,
+          -0.0069814217276871204
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 40,
+      "c2w": [
+        [
+          0.9978756308555603,
+          -0.005090176127851009,
+          -0.0649489313364029,
+          0.014056908898055553
+        ],
+        [
+          0.012823293916881084,
+          0.992786169052124,
+          0.11921051889657974,
+          -0.0012932451209053397
+        ],
+        [
+          0.06387360394001007,
+          -0.11979012936353683,
+          0.9907423853874207,
+          -0.010516626760363579
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 41,
+      "c2w": [
+        [
+          0.9976264238357544,
+          -0.00470506027340889,
+          -0.0686979591846466,
+          0.014760802499949932
+        ],
+        [
+          0.012772154062986374,
+          0.9929946660995483,
+          0.11746694147586823,
+          -0.00432704109698534
+        ],
+        [
+          0.0676640123128891,
+          -0.11806555092334747,
+          0.9906978011131287,
+          -0.010464346967637539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 42,
+      "c2w": [
+        [
+          0.9974724054336548,
+          -0.004647287540137768,
+          -0.07090257108211517,
+          0.0080069275572896
+        ],
+        [
+          0.012853366322815418,
+          0.9931980967521667,
+          0.11572501808404922,
+          -0.00834516528993845
+        ],
+        [
+          0.06988249719142914,
+          -0.11634384840726852,
+          0.9907474517822266,
+          -0.006844714283943176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 43,
+      "c2w": [
+        [
+          0.9971203804016113,
+          -0.003250699955970049,
+          -0.075765460729599,
+          0.003505146596580744
+        ],
+        [
+          0.011509744450449944,
+          0.9939939379692078,
+          0.10882829874753952,
+          -0.013848355039954185
+        ],
+        [
+          0.07495664060115814,
+          -0.10938695818185806,
+          0.9911689758300781,
+          -0.004983122926205397
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 44,
+      "c2w": [
+        [
+          0.9970389604568481,
+          -0.0034252218902111053,
+          -0.07682199031114578,
+          -0.0003781803825404495
+        ],
+        [
+          0.01117303129285574,
+          0.9948588609695435,
+          0.10065263509750366,
+          -0.013620522804558277
+        ],
+        [
+          0.07608228176832199,
+          -0.10121293365955353,
+          0.9919513463973999,
+          -0.009445750154554844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 45,
+      "c2w": [
+        [
+          0.9969345331192017,
+          -0.003023832105100155,
+          -0.07818202674388885,
+          -0.0037783896550536156
+        ],
+        [
+          0.010351934470236301,
+          0.9955657720565796,
+          0.0934969112277031,
+          -0.018492110073566437
+        ],
+        [
+          0.07755263149738312,
+          -0.09401962906122208,
+          0.9925451874732971,
+          -0.012262619100511074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 46,
+      "c2w": [
+        [
+          0.9967851042747498,
+          -0.0032700649462640285,
+          -0.080054871737957,
+          -0.006106432061642408
+        ],
+        [
+          0.010266037657856941,
+          0.996143639087677,
+          0.08713497966527939,
+          -0.021453067660331726
+        ],
+        [
+          0.07946120947599411,
+          -0.08767669647932053,
+          0.9929746985435486,
+          -0.013472307473421097
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 47,
+      "c2w": [
+        [
+          0.996741533279419,
+          -0.0033425006549805403,
+          -0.0805928111076355,
+          -0.013113686814904213
+        ],
+        [
+          0.009881877340376377,
+          0.9966748952865601,
+          0.0808793231844902,
+          -0.02321619540452957
+        ],
+        [
+          0.08005449175834656,
+          -0.0814121887087822,
+          0.9934602975845337,
+          -0.017949817702174187
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 48,
+      "c2w": [
+        [
+          0.9962906241416931,
+          -0.004789590835571289,
+          -0.08591866493225098,
+          -0.013375827111303806
+        ],
+        [
+          0.010643397457897663,
+          0.997641921043396,
+          0.06780391186475754,
+          -0.026468511670827866
+        ],
+        [
+          0.08539131283760071,
+          -0.06846686452627182,
+          0.993992269039154,
+          -0.020297834649682045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 49,
+      "c2w": [
+        [
+          0.9961000084877014,
+          -0.0025021822657436132,
+          -0.08819588273763657,
+          -0.014607876539230347
+        ],
+        [
+          0.00816893856972456,
+          0.9979196786880493,
+          0.06394972652196884,
+          -0.03215905278921127
+        ],
+        [
+          0.08785239607095718,
+          -0.06442079693078995,
+          0.9940482378005981,
+          -0.0205901600420475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 50,
+      "c2w": [
+        [
+          0.995918869972229,
+          -0.0023223820608109236,
+          -0.09022291749715805,
+          -0.016230762004852295
+        ],
+        [
+          0.007754202000796795,
+          0.998174250125885,
+          0.0599006824195385,
+          -0.03485744073987007
+        ],
+        [
+          0.0899190828204155,
+          -0.06035583093762398,
+          0.9941185712814331,
+          -0.02291913330554962
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 51,
+      "c2w": [
+        [
+          0.9956823587417603,
+          -0.0007407967932522297,
+          -0.09282279014587402,
+          -0.015138493850827217
+        ],
+        [
+          0.0059688035398721695,
+          0.9984096884727478,
+          0.05605750158429146,
+          -0.03649352863430977
+        ],
+        [
+          0.09263364970684052,
+          -0.05636950954794884,
+          0.9941033720970154,
+          -0.02306213602423668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 52,
+      "c2w": [
+        [
+          0.9954514503479004,
+          -0.0006746337749063969,
+          -0.09526803344488144,
+          -0.012413845397531986
+        ],
+        [
+          0.005608112085610628,
+          0.9986558556556702,
+          0.0515269972383976,
+          -0.0356120690703392
+        ],
+        [
+          0.09510522335767746,
+          -0.051826898008584976,
+          0.9941172003746033,
+          -0.02431146800518036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 53,
+      "c2w": [
+        [
+          0.995326817035675,
+          -0.002881035441532731,
+          -0.09652058035135269,
+          -0.011358008719980717
+        ],
+        [
+          0.007094875909388065,
+          0.9990350604057312,
+          0.043342724442481995,
+          -0.035686224699020386
+        ],
+        [
+          0.0963025763630867,
+          -0.04382497817277908,
+          0.9943868517875671,
+          -0.02454155497252941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 54,
+      "c2w": [
+        [
+          0.9953396916389465,
+          -0.006285164505243301,
+          -0.09622599929571152,
+          -0.013252071104943752
+        ],
+        [
+          0.010185251012444496,
+          0.9991440176963806,
+          0.040093109011650085,
+          -0.037257857620716095
+        ],
+        [
+          0.09589164704084396,
+          -0.040886349976062775,
+          0.9945517182350159,
+          -0.023284561932086945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 55,
+      "c2w": [
+        [
+          0.9952141046524048,
+          -0.012288580648601055,
+          -0.09694252163171768,
+          -0.009625022299587727
+        ],
+        [
+          0.01603100635111332,
+          0.9991521835327148,
+          0.03792063519358635,
+          -0.03932071104645729
+        ],
+        [
+          0.09639433771371841,
+          -0.03929324075579643,
+          0.994567334651947,
+          -0.022072410210967064
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 56,
+      "c2w": [
+        [
+          0.9950982332229614,
+          -0.01913275010883808,
+          -0.09702292084693909,
+          -0.009938300587236881
+        ],
+        [
+          0.022690793499350548,
+          0.9991048574447632,
+          0.03570235148072243,
+          -0.0385018065571785
+        ],
+        [
+          0.09625297784805298,
+          -0.037728872150182724,
+          0.9946416020393372,
+          -0.02195020206272602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 57,
+      "c2w": [
+        [
+          0.9951561689376831,
+          -0.02034934051334858,
+          -0.09617768228054047,
+          -0.011768441647291183
+        ],
+        [
+          0.023692699149250984,
+          0.9991494417190552,
+          0.033749040216207504,
+          -0.037230025976896286
+        ],
+        [
+          0.09540911018848419,
+          -0.03586427494883537,
+          0.9947918653488159,
+          -0.021808432415127754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 58,
+      "c2w": [
+        [
+          0.9952122569084167,
+          -0.023175032809376717,
+          -0.09494981914758682,
+          -0.009356461465358734
+        ],
+        [
+          0.026344923302531242,
+          0.999131977558136,
+          0.03226834163069725,
+          -0.03880135715007782
+        ],
+        [
+          0.0941195860505104,
+          -0.03461529687047005,
+          0.9949589371681213,
+          -0.0199314896017313
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 59,
+      "c2w": [
+        [
+          0.9953973889350891,
+          -0.024083439260721207,
+          -0.09275798499584198,
+          -0.009661039337515831
+        ],
+        [
+          0.027191530913114548,
+          0.9991053342819214,
+          0.032390594482421875,
+          -0.037606723606586456
+        ],
+        [
+          0.09189492464065552,
+          -0.034763745963573456,
+          0.9951617121696472,
+          -0.019251419231295586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 60,
+      "c2w": [
+        [
+          0.9954908490180969,
+          -0.02465014159679413,
+          -0.09159887582063675,
+          -0.005568822845816612
+        ],
+        [
+          0.027788333594799042,
+          0.9990642070770264,
+          0.03314404934644699,
+          -0.03699721023440361
+        ],
+        [
+          0.09069614857435226,
+          -0.03553997725248337,
+          0.9952442646026611,
+          -0.01877216435968876
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 61,
+      "c2w": [
+        [
+          0.995653510093689,
+          -0.024574516341090202,
+          -0.08983413875102997,
+          -0.005264324136078358
+        ],
+        [
+          0.027786174789071083,
+          0.9990122318267822,
+          0.03467678651213646,
+          -0.03844582289457321
+        ],
+        [
+          0.08889323472976685,
+          -0.03702221438288689,
+          0.9953528642654419,
+          -0.017949406057596207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 62,
+      "c2w": [
+        [
+          0.9957477450370789,
+          -0.024690430611371994,
+          -0.08875130116939545,
+          -0.0024571814574301243
+        ],
+        [
+          0.028048258274793625,
+          0.9989293813705444,
+          0.03678814321756363,
+          -0.04066099599003792
+        ],
+        [
+          0.0877479612827301,
+          -0.039121031761169434,
+          0.9953742027282715,
+          -0.014717310667037964
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 63,
+      "c2w": [
+        [
+          0.9960435032844543,
+          -0.024655990302562714,
+          -0.08537786453962326,
+          -0.005382644943892956
+        ],
+        [
+          0.02843400090932846,
+          0.9986565113067627,
+          0.043320801109075546,
+          -0.0476347915828228
+        ],
+        [
+          0.08419504016637802,
+          -0.0455770380795002,
+          0.9954063892364502,
+          -0.01020310539752245
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 64,
+      "c2w": [
+        [
+          0.9960991144180298,
+          -0.024243783205747604,
+          -0.08484597504138947,
+          -0.00214215787127614
+        ],
+        [
+          0.028825875371694565,
+          0.9981675744056702,
+          0.05320310592651367,
+          -0.05294126644730568
+        ],
+        [
+          0.0834006518125534,
+          -0.05544132739305496,
+          0.9949726462364197,
+          -0.010122396051883698
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 65,
+      "c2w": [
+        [
+          0.9961426258087158,
+          -0.023586953058838844,
+          -0.08451905101537704,
+          -0.0006115212454460561
+        ],
+        [
+          0.029632190242409706,
+          0.9970360994338989,
+          0.07099992036819458,
+          -0.057837437838315964
+        ],
+        [
+          0.08259386569261551,
+          -0.07323053479194641,
+          0.9938890933990479,
+          -0.008404027670621872
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 66,
+      "c2w": [
+        [
+          0.99601149559021,
+          -0.023086365312337875,
+          -0.08618688583374023,
+          0.009362416341900826
+        ],
+        [
+          0.030861444771289825,
+          0.9954636096954346,
+          0.08999878913164139,
+          -0.05381500720977783
+        ],
+        [
+          0.08371816575527191,
+          -0.0922996774315834,
+          0.9922056198120117,
+          -0.006457926705479622
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 67,
+      "c2w": [
+        [
+          0.9959424734115601,
+          -0.023617278784513474,
+          -0.0868380218744278,
+          0.013359906151890755
+        ],
+        [
+          0.03300795704126358,
+          0.9935649037361145,
+          0.10834799706935883,
+          -0.05108603462576866
+        ],
+        [
+          0.08372032642364502,
+          -0.11077471077442169,
+          0.9903129935264587,
+          -0.00335502321831882
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 68,
+      "c2w": [
+        [
+          0.9959580302238464,
+          -0.026035737246274948,
+          -0.08596360683441162,
+          0.02102852240204811
+        ],
+        [
+          0.03786956146359444,
+          0.9895622134208679,
+          0.13904157280921936,
+          -0.03859333321452141
+        ],
+        [
+          0.08144629001617432,
+          -0.1417349874973297,
+          0.9865483641624451,
+          0.006953956093639135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 69,
+      "c2w": [
+        [
+          0.9958662986755371,
+          -0.027927838265895844,
+          -0.0864308699965477,
+          0.027362562716007233
+        ],
+        [
+          0.04093671590089798,
+          0.9874377846717834,
+          0.15261322259902954,
+          -0.03394797071814537
+        ],
+        [
+          0.08108294755220413,
+          -0.15552055835723877,
+          0.9844993352890015,
+          0.015925677493214607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 70,
+      "c2w": [
+        [
+          0.9957942366600037,
+          -0.029168635606765747,
+          -0.0868503525853157,
+          0.02797526866197586
+        ],
+        [
+          0.04332038760185242,
+          0.9852048754692078,
+          0.16581518948078156,
+          -0.03648373484611511
+        ],
+        [
+          0.08072879165410995,
+          -0.16888020932674408,
+          0.9823249578475952,
+          0.023323265835642815
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 71,
+      "c2w": [
+        [
+          0.9965777397155762,
+          -0.028628408908843994,
+          -0.07754463702440262,
+          0.02793120965361595
+        ],
+        [
+          0.041839636862277985,
+          0.9837648868560791,
+          0.17451660335063934,
+          -0.02136816456913948
+        ],
+        [
+          0.0712895616889,
+          -0.17716379463672638,
+          0.981596052646637,
+          0.027243714779615402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 72,
+      "c2w": [
+        [
+          0.9974348545074463,
+          -0.027180029079318047,
+          -0.0662192553281784,
+          0.023433970287442207
+        ],
+        [
+          0.03884933516383171,
+          0.9825533032417297,
+          0.18187838792800903,
+          -0.01415240578353405
+        ],
+        [
+          0.060120489448308945,
+          -0.1839844286441803,
+          0.9810888171195984,
+          0.023224908858537674
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 73,
+      "c2w": [
+        [
+          0.9985946416854858,
+          -0.022497177124023438,
+          -0.04798556864261627,
+          0.031600069254636765
+        ],
+        [
+          0.03148971498012543,
+          0.980140209197998,
+          0.19578960537910461,
+          -0.00809889193624258
+        ],
+        [
+          0.04262787103652954,
+          -0.19702550768852234,
+          0.9794712066650391,
+          0.02701106108725071
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 74,
+      "c2w": [
+        [
+          0.9988439083099365,
+          -0.020856406539678574,
+          -0.04331159219145775,
+          0.05085529759526253
+        ],
+        [
+          0.029231294989585876,
+          0.9787837862968445,
+          0.20279985666275024,
+          -0.003329363651573658
+        ],
+        [
+          0.03816301003098488,
+          -0.20383146405220032,
+          0.9782618880271912,
+          0.031041143462061882
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 75,
+      "c2w": [
+        [
+          0.9991211891174316,
+          -0.019658192992210388,
+          -0.03701901435852051,
+          0.04727131873369217
+        ],
+        [
+          0.027027711272239685,
+          0.9772130846977234,
+          0.21053281426429749,
+          -0.0033522346056997776
+        ],
+        [
+          0.03203677386045456,
+          -0.21134832501411438,
+          0.9768856167793274,
+          0.028284592553973198
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 76,
+      "c2w": [
+        [
+          0.9992615580558777,
+          -0.018613921478390694,
+          -0.03361408784985542,
+          0.055953193455934525
+        ],
+        [
+          0.02547580935060978,
+          0.9758501052856445,
+          0.2169506847858429,
+          0.00036758967326022685
+        ],
+        [
+          0.02876400761306286,
+          -0.21764680743217468,
+          0.9756036400794983,
+          0.031917911022901535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 77,
+      "c2w": [
+        [
+          0.9993945360183716,
+          -0.018163718283176422,
+          -0.02967488393187523,
+          0.05824059620499611
+        ],
+        [
+          0.024334698915481567,
+          0.9744998216629028,
+          0.22306492924690247,
+          0.0039108917117118835
+        ],
+        [
+          0.024866480380296707,
+          -0.22365200519561768,
+          0.9743518233299255,
+          0.03387822210788727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 78,
+      "c2w": [
+        [
+          0.999663770198822,
+          -0.016423046588897705,
+          -0.020064450800418854,
+          0.061142951250076294
+        ],
+        [
+          0.020684678107500076,
+          0.9717291593551636,
+          0.23519058525562286,
+          0.006774908863008022
+        ],
+        [
+          0.01563466712832451,
+          -0.23552654683589935,
+          0.9717421531677246,
+          0.03527696430683136
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 79,
+      "c2w": [
+        [
+          0.9997593760490417,
+          -0.015263441950082779,
+          -0.01575455628335476,
+          0.06180982291698456
+        ],
+        [
+          0.01860661804676056,
+          0.9704615473747253,
+          0.24053721129894257,
+          0.00852725375443697
+        ],
+        [
+          0.011617766693234444,
+          -0.24077247083187103,
+          0.9705120325088501,
+          0.03570881858468056
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 80,
+      "c2w": [
+        [
+          0.9998465776443481,
+          -0.013913536444306374,
+          -0.010643776506185532,
+          0.05939241126179695
+        ],
+        [
+          0.016110196709632874,
+          0.9689481854438782,
+          0.2467385232448578,
+          0.007081202231347561
+        ],
+        [
+          0.006880262866616249,
+          -0.24687212705612183,
+          0.9690236449241638,
+          0.03625713661313057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 81,
+      "c2w": [
+        [
+          0.9999011754989624,
+          -0.012604005634784698,
+          -0.006225693039596081,
+          0.06238802522420883
+        ],
+        [
+          0.01376834511756897,
+          0.9674424529075623,
+          0.2527162730693817,
+          0.006779528688639402
+        ],
+        [
+          0.0028377629350870848,
+          -0.25277701020240784,
+          0.9675204157829285,
+          0.03692042827606201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 82,
+      "c2w": [
+        [
+          0.999926745891571,
+          -0.01205917727202177,
+          -0.0010571428574621677,
+          0.06201710179448128
+        ],
+        [
+          0.011923667974770069,
+          0.9660744667053223,
+          0.2579883337020874,
+          0.008143438026309013
+        ],
+        [
+          -0.002089848043397069,
+          -0.2579820156097412,
+          0.9661474823951721,
+          0.03766423836350441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 83,
+      "c2w": [
+        [
+          0.9998756051063538,
+          -0.012485533021390438,
+          0.009637733921408653,
+          0.059470199048519135
+        ],
+        [
+          0.009431286714971066,
+          0.9630497694015503,
+          0.269158273935318,
+          0.004428254906088114
+        ],
+        [
+          -0.012642201036214828,
+          -0.26903387904167175,
+          0.9630477428436279,
+          0.03926486521959305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 84,
+      "c2w": [
+        [
+          0.9998171925544739,
+          -0.011922855861485004,
+          0.01494696456938982,
+          0.057451553642749786
+        ],
+        [
+          0.007389049045741558,
+          0.9619640111923218,
+          0.2730761766433716,
+          0.0064652664586901665
+        ],
+        [
+          -0.01763428933918476,
+          -0.2729158401489258,
+          0.9618762731552124,
+          0.040003079921007156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 85,
+      "c2w": [
+        [
+          0.9997154474258423,
+          -0.013054699636995792,
+          0.019963739439845085,
+          0.054375726729631424
+        ],
+        [
+          0.0069982437416911125,
+          0.9606336355209351,
+          0.2777301073074341,
+          0.0034097107127308846
+        ],
+        [
+          -0.022803524509072304,
+          -0.2775113582611084,
+          0.9604516625404358,
+          0.04091882333159447
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 86,
+      "c2w": [
+        [
+          0.9996228218078613,
+          -0.012883043847978115,
+          0.024252643808722496,
+          0.052497848868370056
+        ],
+        [
+          0.005521335639059544,
+          0.9593830704689026,
+          0.282052606344223,
+          -0.00021619239123538136
+        ],
+        [
+          -0.02690127305686474,
+          -0.2818123400211334,
+          0.959092378616333,
+          0.04260165989398956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 87,
+      "c2w": [
+        [
+          0.9995316863059998,
+          -0.012688085436820984,
+          0.027847200632095337,
+          0.05371808260679245
+        ],
+        [
+          0.004232162609696388,
+          0.9585639834403992,
+          0.28484591841697693,
+          -0.0010867032688111067
+        ],
+        [
+          -0.030307471752166748,
+          -0.28459468483924866,
+          0.9581687450408936,
+          0.04115351289510727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 88,
+      "c2w": [
+        [
+          0.9992936849594116,
+          -0.013726945035159588,
+          0.03498223423957825,
+          0.05287943035364151
+        ],
+        [
+          0.002985428087413311,
+          0.9569536447525024,
+          0.2902253568172455,
+          -0.0017908060690388083
+        ],
+        [
+          -0.03746028244495392,
+          -0.28991594910621643,
+          0.956318736076355,
+          0.04104766622185707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 89,
+      "c2w": [
+        [
+          0.999152660369873,
+          -0.013718204572796822,
+          0.03880363702774048,
+          0.05022255331277847
+        ],
+        [
+          0.0017900043167173862,
+          0.9564083218574524,
+          0.29202717542648315,
+          -0.0008527649333700538
+        ],
+        [
+          -0.041118212044239044,
+          -0.2917102575302124,
+          0.9556225538253784,
+          0.04150453582406044
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 90,
+      "c2w": [
+        [
+          0.999066174030304,
+          -0.011590933427214622,
+          0.04162197560071945,
+          0.052063871175050735
+        ],
+        [
+          -0.0011750501580536366,
+          0.9556973576545715,
+          0.294348806142807,
+          -0.003289247630164027
+        ],
+        [
+          -0.04318978637456894,
+          -0.2941228449344635,
+          0.9547913074493408,
+          0.04257267713546753
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 91,
+      "c2w": [
+        [
+          0.9989060163497925,
+          -0.01145649328827858,
+          0.0453377366065979,
+          0.05020451545715332
+        ],
+        [
+          -0.0024806493893265724,
+          0.9551781415939331,
+          0.29602116346359253,
+          -0.004862949252128601
+        ],
+        [
+          -0.0466969832777977,
+          -0.295809805393219,
+          0.9541047811508179,
+          0.04010644555091858
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 92,
+      "c2w": [
+        [
+          0.998789370059967,
+          -0.00938883051276207,
+          0.04828714206814766,
+          0.04998677596449852
+        ],
+        [
+          -0.005383492447435856,
+          0.9548578262329102,
+          0.29701435565948486,
+          -0.004722241777926683
+        ],
+        [
+          -0.04889597371220589,
+          -0.2969147562980652,
+          0.9536513090133667,
+          0.039802197366952896
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 93,
+      "c2w": [
+        [
+          0.9985541701316833,
+          -0.008324112743139267,
+          0.05310623347759247,
+          0.049706362187862396
+        ],
+        [
+          -0.007936513051390648,
+          0.9542801976203918,
+          0.29880812764167786,
+          -0.008228392340242863
+        ],
+        [
+          -0.05316554009914398,
+          -0.2987975776195526,
+          0.95283442735672,
+          0.039514292031526566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 94,
+      "c2w": [
+        [
+          0.9984189867973328,
+          -0.008160214871168137,
+          0.05561375245451927,
+          0.047623056918382645
+        ],
+        [
+          -0.008847516030073166,
+          0.9542573690414429,
+          0.2988554537296295,
+          -0.007427791133522987
+        ],
+        [
+          -0.055508557707071304,
+          -0.29887500405311584,
+          0.95267653465271,
+          0.040090352296829224
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 95,
+      "c2w": [
+        [
+          0.998309314250946,
+          -0.008220994845032692,
+          0.05754111707210541,
+          0.04821605607867241
+        ],
+        [
+          -0.009353861212730408,
+          0.9543229937553406,
+          0.2986305356025696,
+          -0.00671286741271615
+        ],
+        [
+          -0.05736784636974335,
+          -0.298663854598999,
+          0.9526326060295105,
+          0.04045478254556656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 96,
+      "c2w": [
+        [
+          0.9981256127357483,
+          -0.009867588989436626,
+          0.06039813533425331,
+          0.04561583325266838
+        ],
+        [
+          -0.00862154457718134,
+          0.9544008374214172,
+          0.29840362071990967,
+          -0.007172408513724804
+        ],
+        [
+          -0.06058855727314949,
+          -0.2983649969100952,
+          0.9525268077850342,
+          0.04043186083436012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 97,
+      "c2w": [
+        [
+          0.9979866743087769,
+          -0.009834936819970608,
+          0.06265661865472794,
+          0.0444674976170063
+        ],
+        [
+          -0.009325548075139523,
+          0.9544122219085693,
+          0.2983461022377014,
+          -0.010028479620814323
+        ],
+        [
+          -0.0627344623208046,
+          -0.29832977056503296,
+          0.952398955821991,
+          0.037693750113248825
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 98,
+      "c2w": [
+        [
+          0.997850239276886,
+          -0.00967886857688427,
+          0.06481700390577316,
+          0.0417218841612339
+        ],
+        [
+          -0.010027030482888222,
+          0.954841136932373,
+          0.2969476282596588,
+          -0.011232136748731136
+        ],
+        [
+          -0.06476406008005142,
+          -0.29695919156074524,
+          0.952691376209259,
+          0.03575736656785011
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 99,
+      "c2w": [
+        [
+          0.9977976083755493,
+          -0.010772922076284885,
+          0.0654514953494072,
+          0.041079744696617126
+        ],
+        [
+          -0.009107195772230625,
+          0.9551301598548889,
+          0.2960464358329773,
+          -0.012755644507706165
+        ],
+        [
+          -0.06570398062467575,
+          -0.295990526676178,
+          0.9529284238815308,
+          0.03438280522823334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 100,
+      "c2w": [
+        [
+          0.997772216796875,
+          -0.010348663665354252,
+          0.0659051388502121,
+          0.03903041407465935
+        ],
+        [
+          -0.009592284448444843,
+          0.9553752541542053,
+          0.29523909091949463,
+          -0.01466850470751524
+        ],
+        [
+          -0.06601947546005249,
+          -0.295213520526886,
+          0.9531476497650146,
+          0.03316895663738251
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 101,
+      "c2w": [
+        [
+          0.9977723956108093,
+          -0.007997428998351097,
+          0.06622878462076187,
+          0.03742046654224396
+        ],
+        [
+          -0.011835487559437752,
+          0.9558160305023193,
+          0.29372715950012207,
+          -0.013993900269269943
+        ],
+        [
+          -0.06565160304307938,
+          -0.293856680393219,
+          0.9535921812057495,
+          0.03358986973762512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 102,
+      "c2w": [
+        [
+          0.9977483153343201,
+          -0.007765023969113827,
+          0.06661811470985413,
+          0.03557157889008522
+        ],
+        [
+          -0.012079278938472271,
+          0.9562286138534546,
+          0.2923712134361267,
+          -0.01520654745399952
+        ],
+        [
+          -0.06597241759300232,
+          -0.29251760244369507,
+          0.9539816975593567,
+          0.03382880613207817
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 103,
+      "c2w": [
+        [
+          0.9977600574493408,
+          -0.007482071407139301,
+          0.06647437065839767,
+          0.03424292430281639
+        ],
+        [
+          -0.012029959820210934,
+          0.9574546217918396,
+          0.28833305835723877,
+          -0.015745600685477257
+        ],
+        [
+          -0.06580352038145065,
+          -0.28848689794540405,
+          0.9552199840545654,
+          0.03164071589708328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 104,
+      "c2w": [
+        [
+          0.9977467060089111,
+          -0.007933742366731167,
+          0.06662271916866302,
+          0.03295191749930382
+        ],
+        [
+          -0.011529886163771152,
+          0.957936704158783,
+          0.2867479622364044,
+          -0.01731886714696884
+        ],
+        [
+          -0.06609533727169037,
+          -0.28686997294425964,
+          0.9556866884231567,
+          0.03048231080174446
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 105,
+      "c2w": [
+        [
+          0.997765302658081,
+          -0.009640960954129696,
+          0.06611715257167816,
+          0.0324467197060585
+        ],
+        [
+          -0.009631329216063023,
+          0.958448588848114,
+          0.28510257601737976,
+          -0.018420012667775154
+        ],
+        [
+          -0.06611855328083038,
+          -0.2851022779941559,
+          0.9562138915061951,
+          0.030065027996897697
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 106,
+      "c2w": [
+        [
+          0.9978154301643372,
+          -0.008213818073272705,
+          0.06555113941431046,
+          0.03015882521867752
+        ],
+        [
+          -0.010662456974387169,
+          0.9592092037200928,
+          0.28249600529670715,
+          -0.01734153740108013
+        ],
+        [
+          -0.06519762426614761,
+          -0.282577782869339,
+          0.9570261836051941,
+          0.026742206886410713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 107,
+      "c2w": [
+        [
+          0.9978223443031311,
+          -0.007987353019416332,
+          0.0654730349779129,
+          0.027094796299934387
+        ],
+        [
+          -0.010746399872004986,
+          0.959690272808075,
+          0.2808542847633362,
+          -0.019273361191153526
+        ],
+        [
+          -0.06507711112499237,
+          -0.2809463143348694,
+          0.9575145840644836,
+          0.0267006978392601
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 108,
+      "c2w": [
+        [
+          0.9980376958847046,
+          -0.007671469822525978,
+          0.06214430555701256,
+          0.02802399918437004
+        ],
+        [
+          -0.009821157902479172,
+          0.9610040187835693,
+          0.27636003494262695,
+          -0.02277434431016445
+        ],
+        [
+          -0.06184101477265358,
+          -0.2764280438423157,
+          0.9590428471565247,
+          0.023310178890824318
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 109,
+      "c2w": [
+        [
+          0.9981822967529297,
+          -0.007399075664579868,
+          0.05981101095676422,
+          0.02590166963636875
+        ],
+        [
+          -0.009303153492510319,
+          0.9616220593452454,
+          0.27421972155570984,
+          -0.024052836000919342
+        ],
+        [
+          -0.05954456329345703,
+          -0.2742777168750763,
+          0.9598053097724915,
+          0.02159968391060829
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 110,
+      "c2w": [
+        [
+          0.9982937574386597,
+          -0.008169418200850487,
+          0.057817574590444565,
+          0.021265003830194473
+        ],
+        [
+          -0.007882390171289444,
+          0.9622475504875183,
+          0.27206161618232727,
+          -0.021014371886849403
+        ],
+        [
+          -0.05785740539431572,
+          -0.27205315232276917,
+          0.960541307926178,
+          0.021642569452524185
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 111,
+      "c2w": [
+        [
+          0.9986073970794678,
+          -0.006751844193786383,
+          0.05232305824756622,
+          0.022014502435922623
+        ],
+        [
+          -0.007652576547116041,
+          0.9627493023872375,
+          0.2702872157096863,
+          -0.022153716534376144
+        ],
+        [
+          -0.052198924124240875,
+          -0.27031123638153076,
+          0.9613569378852844,
+          0.02261774055659771
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 112,
+      "c2w": [
+        [
+          0.9988664984703064,
+          -0.007477539591491222,
+          0.04700883477926254,
+          0.018653102219104767
+        ],
+        [
+          -0.005389504134654999,
+          0.9634665846824646,
+          0.2677742540836334,
+          -0.020085211843252182
+        ],
+        [
+          -0.04729373753070831,
+          -0.26772406697273254,
+          0.9623342156410217,
+          0.02315187267959118
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 113,
+      "c2w": [
+        [
+          0.9992446899414062,
+          -0.005576315801590681,
+          0.038457512855529785,
+          0.020067064091563225
+        ],
+        [
+          -0.0047595608048141,
+          0.9646368026733398,
+          0.2635398507118225,
+          -0.019762279465794563
+        ],
+        [
+          -0.038567110896110535,
+          -0.26352381706237793,
+          0.9638816118240356,
+          0.01922505907714367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 114,
+      "c2w": [
+        [
+          0.9993763566017151,
+          -0.005188054870814085,
+          0.034927938133478165,
+          0.016721896827220917
+        ],
+        [
+          -0.00410503102466464,
+          0.9653712511062622,
+          0.26084765791893005,
+          -0.01659369096159935
+        ],
+        [
+          -0.0350717194378376,
+          -0.2608283460140228,
+          0.9647479057312012,
+          0.019488545134663582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 115,
+      "c2w": [
+        [
+          0.9995014071464539,
+          -0.004654340911656618,
+          0.031229401007294655,
+          0.016968199983239174
+        ],
+        [
+          -0.0035593039356172085,
+          0.966162383556366,
+          0.2579101622104645,
+          -0.012572981417179108
+        ],
+        [
+          -0.031373072415590286,
+          -0.2578926980495453,
+          0.9656640887260437,
+          0.019370676949620247
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 116,
+      "c2w": [
+        [
+          0.9995842576026917,
+          -0.0011935681104660034,
+          0.028808780014514923,
+          0.01683957688510418
+        ],
+        [
+          -0.006233451422303915,
+          0.9665694832801819,
+          0.2563290297985077,
+          -0.013587379828095436
+        ],
+        [
+          -0.028151635080575943,
+          -0.25640204548835754,
+          0.9661601781845093,
+          0.02005309797823429
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 117,
+      "c2w": [
+        [
+          0.9996461868286133,
+          -0.0011389001738280058,
+          0.026575079187750816,
+          0.018026676028966904
+        ],
+        [
+          -0.005652506835758686,
+          0.9671684503555298,
+          0.2540731728076935,
+          -0.012672309763729572
+        ],
+        [
+          -0.02599194459617138,
+          -0.2541334927082062,
+          0.9668198227882385,
+          0.018986361101269722
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 118,
+      "c2w": [
+        [
+          0.9996923208236694,
+          -0.0010119664948433638,
+          0.02478429675102234,
+          0.011799238622188568
+        ],
+        [
+          -0.005230273120105267,
+          0.9681036472320557,
+          0.25049540400505066,
+          -0.0121538694947958
+        ],
+        [
+          -0.024247262626886368,
+          -0.25054797530174255,
+          0.967800498008728,
+          0.02525297924876213
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 119,
+      "c2w": [
+        [
+          0.9997475147247314,
+          -0.0012349842581897974,
+          0.022435270249843597,
+          0.01282650139182806
+        ],
+        [
+          -0.0043767765164375305,
+          0.9686587452888489,
+          0.24835677444934845,
+          -0.011652160435914993
+        ],
+        [
+          -0.022038836032152176,
+          -0.2483922690153122,
+          0.9684087634086609,
+          0.028002973645925522
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 120,
+      "c2w": [
+        [
+          0.9997878670692444,
+          -0.001018138718791306,
+          0.02057110145688057,
+          0.013702282682061195
+        ],
+        [
+          -0.004076020326465368,
+          0.9692428708076477,
+          0.24607235193252563,
+          -0.010882407426834106
+        ],
+        [
+          -0.02018893137574196,
+          -0.24610400199890137,
+          0.9690331220626831,
+          0.031574465334415436
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 121,
+      "c2w": [
+        [
+          0.9997939467430115,
+          -0.0010712721850723028,
+          0.020272187888622284,
+          0.011772077530622482
+        ],
+        [
+          -0.003887811442837119,
+          0.970018208026886,
+          0.24300113320350647,
+          -0.005542271304875612
+        ],
+        [
+          -0.01992471143603325,
+          -0.2430298626422882,
+          0.9698141813278198,
+          0.03801513463258743
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 122,
+      "c2w": [
+        [
+          0.9997807741165161,
+          -0.000913293450139463,
+          0.02091800421476364,
+          0.008515037596225739
+        ],
+        [
+          -0.004144619219005108,
+          0.9706472158432007,
+          0.24047213792800903,
+          -0.0010871138656511903
+        ],
+        [
+          -0.020523622632026672,
+          -0.240506112575531,
+          0.9704306125640869,
+          0.04474586993455887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 123,
+      "c2w": [
+        [
+          0.9997617602348328,
+          -0.0006046367343515158,
+          0.02181919664144516,
+          0.007105289027094841
+        ],
+        [
+          -0.004609289579093456,
+          0.9712265729904175,
+          0.23811283707618713,
+          -0.001828929060138762
+        ],
+        [
+          -0.021335355937480927,
+          -0.23815667629241943,
+          0.970992386341095,
+          0.04847191274166107
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    },
+    {
+      "frame_index": 124,
+      "c2w": [
+        [
+          0.9997432827949524,
+          -0.00021346146240830421,
+          0.022656604647636414,
+          0.00601257523521781
+        ],
+        [
+          -0.005178130231797695,
+          0.9713391661643982,
+          0.23764127492904663,
+          -0.0024529292713850737
+        ],
+        [
+          -0.022057976573705673,
+          -0.23769760131835938,
+          0.971088707447052,
+          0.059651993215084076
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "intrinsics": {
+        "fx": 667.5450032552083,
+        "fy": 667.4713134765625,
+        "cx": 416.0,
+        "cy": 240.0
+      }
+    }
+  ]
+}

dynpose_eval/source/2235c440-77a0-456d-a6cc-5b3059914b0c/caption.txt

@@ -0,0 +1 @@
+There is a person wearing a pink shirt and a hat sitting at a table with other people in the background.

dynpose_eval/source/2235c440-77a0-456d-a6cc-5b3059914b0c/extras/source_metadata.json

@@ -0,0 +1,33 @@
+{
+  "sequence": "2235c440-77a0-456d-a6cc-5b3059914b0c",
+  "tar_name": "dpsp-206776f2",
+  "youtube_link": "https://www.youtube.com/watch?v=EY1ETRi6UH0",
+  "youtube_timestamp": "0:08:22.969-0:08:30.376",
+  "num_frames": 223,
+  "original_canvas_hw": [
+    720,
+    1280
+  ],
+  "spatial_transform": {
+    "input_hw": [
+      720,
+      1280
+    ],
+    "crop_xywh": [
+      16,
+      0,
+      1248,
+      720
+    ],
+    "scale_xy": [
+      0.6666666666666666,
+      0.6666666666666666
+    ],
+    "output_hw": [
+      480,
+      832
+    ]
+  },
+  "rgb_status": "complete",
+  "focal_sign_correction": "none"
+}

dynpose_eval/source/3c22b112-0c86-4922-a006-f788b800a711/caption.txt

@@ -0,0 +1 @@
+A man wearing a hat and blue sunglasses in the snow with trees in the background.