HugMinjun commited on
Commit
fc15912
·
verified ·
1 Parent(s): 5e3ce4c

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. dynpose_eval/camera_controls/03c9c536-8c4e-42d2-bd02-247f52dba188/boom_down/transforms.json +0 -0
  2. dynpose_eval/camera_controls/12b9e88a-0cfb-4ab8-a900-e41e2734d719/move_right/transforms.json +0 -0
  3. dynpose_eval/camera_controls/16e2a755-81aa-4281-b851-e6c6b82bfac7/pan_left/transforms.json +0 -0
  4. dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/move_left/transforms.json +0 -0
  5. dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/move_right/transforms.json +0 -0
  6. dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/orbit_right/transforms.json +0 -0
  7. dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/push_in/transforms.json +0 -0
  8. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/boom_down/transforms.json +0 -0
  9. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/boom_up/transforms.json +0 -0
  10. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/move_left/transforms.json +0 -0
  11. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/orbit_left/transforms.json +0 -0
  12. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/pan_left/transforms.json +0 -0
  13. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/pan_right/transforms.json +0 -0
  14. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/pull_out/transforms.json +0 -0
  15. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/push_in/transforms.json +0 -0
  16. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/tilt_down/transforms.json +0 -0
  17. dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/tilt_up/transforms.json +0 -0
  18. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/boom_up/transforms.json +0 -0
  19. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/move_left/transforms.json +0 -0
  20. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/move_right/transforms.json +0 -0
  21. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/orbit_left/transforms.json +0 -0
  22. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/orbit_right/transforms.json +0 -0
  23. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/pan_right/transforms.json +0 -0
  24. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/pull_out/transforms.json +0 -0
  25. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/push_in/transforms.json +0 -0
  26. dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/tilt_down/transforms.json +0 -0
  27. dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/boom_down/transforms.json +0 -0
  28. dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/boom_up/transforms.json +0 -0
  29. dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/pan_left/transforms.json +0 -0
  30. dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/pan_right/transforms.json +0 -0
  31. dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/pull_out/transforms.json +0 -0
  32. dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/tilt_up/transforms.json +0 -0
  33. dynpose_eval/camera_controls/8a7d65ff-8ad0-4ab1-8f79-ca3a1aa0aba5/boom_down/transforms.json +0 -0
  34. dynpose_eval/camera_controls/8a7d65ff-8ad0-4ab1-8f79-ca3a1aa0aba5/pan_left/transforms.json +0 -0
  35. dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/boom_down/transforms.json +0 -0
  36. dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/boom_up/transforms.json +0 -0
  37. dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/pan_left/transforms.json +0 -0
  38. dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/pull_out/transforms.json +0 -0
  39. dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/tilt_up/transforms.json +0 -0
  40. dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/move_left/transforms.json +0 -0
  41. dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/move_right/transforms.json +0 -0
  42. dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/orbit_left/transforms.json +0 -0
  43. dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/orbit_right/transforms.json +0 -0
  44. dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/push_in/transforms.json +0 -0
  45. spatialvid_eval/camera_controls/scene_035/move_left/transforms.json +2848 -0
  46. spatialvid_eval/camera_controls/scene_035/move_right/transforms.json +2848 -0
  47. spatialvid_eval/camera_controls/scene_035/orbit_left/transforms.json +2848 -0
  48. spatialvid_eval/camera_controls/scene_035/orbit_right/transforms.json +2848 -0
  49. spatialvid_eval/camera_controls/scene_035/push_in/transforms.json +2848 -0
  50. spatialvid_eval/camera_controls/scene_035/tilt_down/transforms.json +2848 -0
dynpose_eval/camera_controls/03c9c536-8c4e-42d2-bd02-247f52dba188/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/12b9e88a-0cfb-4ab8-a900-e41e2734d719/move_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/16e2a755-81aa-4281-b851-e6c6b82bfac7/pan_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/move_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/move_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/orbit_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/36dacbcd-373e-4390-9dbe-c1c30935b7ff/push_in/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/boom_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/move_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/orbit_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/pan_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/pan_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/pull_out/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/push_in/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/tilt_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/4fd1e289-de44-4615-83fd-18a3dfe0db61/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/boom_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/move_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/move_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/orbit_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/orbit_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/pan_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/pull_out/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/push_in/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/60ecd916-f784-479a-9e9f-4c88d04fe3a0/tilt_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/boom_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/pan_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/pan_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/pull_out/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/888fb690-25ea-48e4-a5d0-9a008f549176/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8a7d65ff-8ad0-4ab1-8f79-ca3a1aa0aba5/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8a7d65ff-8ad0-4ab1-8f79-ca3a1aa0aba5/pan_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/boom_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/pan_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/pull_out/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/8c3f2870-15d1-4737-87c7-fed6b99a002d/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/move_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/move_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/orbit_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/orbit_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/e3caf031-86c3-4f98-9b04-ea3ef64dc97a/push_in/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
spatialvid_eval/camera_controls/scene_035/move_left/transforms.json ADDED
@@ -0,0 +1,2848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 81,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 0.9999999755008188,
17
+ -0.0002198320912991082,
18
+ -2.592708844443234e-05,
19
+ -0.00016600281001606768
20
+ ],
21
+ [
22
+ 0.00021982904934223676,
23
+ 0.9999999689612438,
24
+ -0.00011727191022597567,
25
+ 0.0002378761507749253
26
+ ],
27
+ [
28
+ 2.5952867768963377e-05,
29
+ 0.00011726620782570491,
30
+ 0.9999999927875427,
31
+ -0.00012196656193358196
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 640.948486328125,
42
+ "fy": 640.9485054016113,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9999193958989772,
52
+ 0.0015487508177259696,
53
+ -0.012601709246348755,
54
+ -0.004864948729941481
55
+ ],
56
+ [
57
+ -0.0015277790172310542,
58
+ 0.9999974323744473,
59
+ 0.0016736594000609666,
60
+ -0.007296000013956073
61
+ ],
62
+ [
63
+ 0.012604268971242524,
64
+ -0.0016542718692817877,
65
+ 0.9999191946293877,
66
+ 0.03838458876249604
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 640.948486328125,
77
+ "fy": 640.9485054016113,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.999867178823477,
87
+ 0.0014875230936507737,
88
+ -0.01622997186157244,
89
+ -0.006188285579990502
90
+ ],
91
+ [
92
+ -0.0014454659076812567,
93
+ 0.9999955681469119,
94
+ 0.0026027513989842596,
95
+ -0.007467672464832811
96
+ ],
97
+ [
98
+ 0.016233771585534545,
99
+ -0.00257894582747272,
100
+ 0.9998648977229514,
101
+ 0.09630008412885477
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 640.948486328125,
112
+ "fy": 640.9485054016113,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9998392678267999,
122
+ 0.0007234149642081765,
123
+ -0.01791410568123629,
124
+ -0.008324060987867988
125
+ ],
126
+ [
127
+ -0.0007082569405261478,
128
+ 0.9999993858246825,
129
+ 0.0008524801252927747,
130
+ -0.010850263367828962
131
+ ],
132
+ [
133
+ 0.01791471137571407,
134
+ -0.000839655314627572,
135
+ 0.9998391661138694,
136
+ 0.15014482859831002
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 640.948486328125,
147
+ "fy": 640.9485054016113,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9998048496793057,
157
+ 0.0002276169135815048,
158
+ -0.01975375276452047,
159
+ -0.0164622690842063
160
+ ],
161
+ [
162
+ -0.0002531065600150866,
163
+ 0.9999991386516583,
164
+ -0.0012878792687113826,
165
+ -0.020513156618032956
166
+ ],
167
+ [
168
+ 0.019753442606554077,
169
+ 0.001292627743068694,
170
+ 0.9998040461103903,
171
+ 0.21569298301874695
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 640.948486328125,
182
+ "fy": 640.9485054016113,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.999770795614562,
192
+ 0.0007937864890595683,
193
+ -0.02139453526571165,
194
+ -0.026157376761161602
195
+ ],
196
+ [
197
+ -0.0008350677346542449,
198
+ 0.9999978068649603,
199
+ -0.001920657998801006,
200
+ -0.029648433823787602
201
+ ],
202
+ [
203
+ 0.021392963752237145,
204
+ 0.0019380836616630722,
205
+ 0.9997692658476836,
206
+ 0.2665389267848733
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 640.948486328125,
217
+ "fy": 640.9485054016113,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.9997244715471563,
227
+ 0.002162406405346935,
228
+ -0.023373168127094064,
229
+ -0.03565722907829739
230
+ ],
231
+ [
232
+ -0.0022719527314939334,
233
+ 0.9999865551535706,
234
+ -0.004661302702122772,
235
+ -0.03722689987539954
236
+ ],
237
+ [
238
+ 0.023362774247617693,
239
+ 0.004713121113771038,
240
+ 0.9997159432903038,
241
+ 0.32670350154122546
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 640.948486328125,
252
+ "fy": 640.9485054016113,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.9996879708216732,
262
+ 0.0027438126123493015,
263
+ -0.02482805845800338,
264
+ -0.040757162285396345
265
+ ],
266
+ [
267
+ -0.0029181682635620633,
268
+ 0.9999713185362425,
269
+ -0.006989019879374658,
270
+ -0.0442981066453405
271
+ ],
272
+ [
273
+ 0.024808169792051554,
274
+ 0.007059291553482395,
275
+ 0.9996673052142557,
276
+ 0.3753474659834564
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 640.948486328125,
287
+ "fy": 640.9485054016113,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9996306683801034,
297
+ 0.002377351083800865,
298
+ -0.027071664813456773,
299
+ -0.04789655764537652
300
+ ],
301
+ [
302
+ -0.002608259253799728,
303
+ 0.9999604948048214,
304
+ -0.008497400388459786,
305
+ -0.05301924979210087
306
+ ],
307
+ [
308
+ 0.02705039403803151,
309
+ 0.00856487195007487,
310
+ 0.9995973785234064,
311
+ 0.43346637114652276
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 640.948486328125,
322
+ "fy": 640.9485054016113,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.9995903693048334,
332
+ 0.002185877147710907,
333
+ -0.02853621443223344,
334
+ -0.05462364462216253
335
+ ],
336
+ [
337
+ -0.0024738956737404413,
338
+ 0.9999463196984918,
339
+ -0.010061687812555705,
340
+ -0.05908927450876748
341
+ ],
342
+ [
343
+ 0.028512688986181943,
344
+ 0.010128161853811329,
345
+ 0.9995421186244433,
346
+ 0.4805412469193023
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 640.948486328125,
357
+ "fy": 640.9485054016113,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.9995412051486668,
367
+ 0.0017351399638618524,
368
+ -0.030238526737545658,
369
+ -0.06313011928946763
370
+ ],
371
+ [
372
+ -0.0020529632739361902,
373
+ 0.9999429478868898,
374
+ -0.010482667269043294,
375
+ -0.05843380277959652
376
+ ],
377
+ [
378
+ 0.030218612670791546,
379
+ 0.010539936460122133,
380
+ 0.9994877413893929,
381
+ 0.526669414349898
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 640.948486328125,
392
+ "fy": 640.9485054016113,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9995542170352911,
402
+ 0.0024878581304352606,
403
+ -0.02975193722917837,
404
+ -0.07527541481258548
405
+ ],
406
+ [
407
+ -0.002880126770343646,
408
+ 0.999909399387215,
409
+ -0.013149064106838587,
410
+ -0.06370453363909341
411
+ ],
412
+ [
413
+ 0.029716528679388052,
414
+ 0.013228891828941233,
415
+ 0.9994708221575183,
416
+ 0.5845236745852197
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 640.948486328125,
427
+ "fy": 640.9485054016113,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9995931506374437,
437
+ 0.0029534745952809155,
438
+ -0.028369176698030765,
439
+ -0.08134137460505349
440
+ ],
441
+ [
442
+ -0.003326097130736625,
443
+ 0.9999087042773254,
444
+ -0.013096571624570147,
445
+ -0.07312935987592185
446
+ ],
447
+ [
448
+ 0.028327906321963987,
449
+ 0.013185601929969697,
450
+ 0.9995117156017526,
451
+ 0.6258287550974531
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 640.948486328125,
462
+ "fy": 640.9485054016113,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.9996390714883756,
472
+ 0.002630782474418637,
473
+ -0.02673585116338651,
474
+ -0.08784999852350334
475
+ ],
476
+ [
477
+ -0.0029964231928683556,
478
+ 0.9999024102589179,
479
+ -0.01364519719374561,
480
+ -0.07529632652070961
481
+ ],
482
+ [
483
+ 0.026697344472956568,
484
+ 0.013720384177538696,
485
+ 0.9995493999078351,
486
+ 0.6776132535410616
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 640.948486328125,
497
+ "fy": 640.9485054016113,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9996751094854832,
507
+ 0.0023768488878354245,
508
+ -0.02537766861931298,
509
+ -0.09468689079540643
510
+ ],
511
+ [
512
+ -0.0027359560060793825,
513
+ 0.999896491494144,
514
+ -0.014125184686731762,
515
+ -0.07985328162555448
516
+ ],
517
+ [
518
+ 0.025341468385238954,
519
+ 0.014190027733090546,
520
+ 0.9995781375625491,
521
+ 0.7206643419262156
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 640.948486328125,
532
+ "fy": 640.9485054016113,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9997187502212108,
542
+ 0.0018670041769457508,
543
+ -0.023641800936977334,
544
+ -0.10478924684353977
545
+ ],
546
+ [
547
+ -0.002205588746083912,
548
+ 0.9998952675817923,
549
+ -0.014303469712604542,
550
+ -0.0862937736238015
551
+ ],
552
+ [
553
+ 0.023612620236296164,
554
+ 0.014351590954995707,
555
+ 0.999618165102374,
556
+ 0.77066115104335
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 640.948486328125,
567
+ "fy": 640.9485054016113,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9997519144655164,
577
+ 0.0018028574061306187,
578
+ -0.022200433052261992,
579
+ -0.11426132634908191
580
+ ],
581
+ [
582
+ -0.0021210608514525948,
583
+ 0.9998952423055727,
584
+ -0.014318013673153626,
585
+ -0.08447785763333199
586
+ ],
587
+ [
588
+ 0.022172294049088423,
589
+ 0.014361550050511226,
590
+ 0.9996510067302226,
591
+ 0.8118363142260784
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 640.948486328125,
602
+ "fy": 640.9485054016113,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9997895586743395,
612
+ 0.0025141185015119523,
613
+ -0.020359704662152634,
614
+ -0.12483478584063942
615
+ ],
616
+ [
617
+ -0.0028035680219923712,
618
+ 0.9998952339680572,
619
+ -0.014200742737982336,
620
+ -0.08959561533538019
621
+ ],
622
+ [
623
+ 0.020321869306630876,
624
+ 0.014254834131783209,
625
+ 0.9996918631917335,
626
+ 0.8640334459272526
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 640.948486328125,
637
+ "fy": 640.9485054016113,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9998155994901098,
647
+ 0.002357338641613192,
648
+ -0.01905806839009686,
649
+ -0.12784370291554567
650
+ ],
651
+ [
652
+ -0.0026301978533226416,
653
+ 0.9998942205049949,
654
+ -0.01430488937257221,
655
+ -0.09549607697577478
656
+ ],
657
+ [
658
+ 0.019022330968764812,
659
+ 0.014352378034246091,
660
+ 0.999716039767932,
661
+ 0.9028892998549543
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 640.948486328125,
672
+ "fy": 640.9485054016113,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9998492669299993,
682
+ 0.0013746334183024846,
683
+ -0.017307622670616404,
684
+ -0.1308812807973256
685
+ ],
686
+ [
687
+ -0.0016315792030442502,
688
+ 0.9998885431521212,
689
+ -0.0148404589697579,
690
+ -0.09385999842035082
691
+ ],
692
+ [
693
+ 0.017285293426706483,
694
+ 0.014866460779020683,
695
+ 0.9997400697056503,
696
+ 0.9538644418096657
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 640.948486328125,
707
+ "fy": 640.9485054016113,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9998742209790239,
717
+ 0.0006661308133245048,
718
+ -0.0158460875717005,
719
+ -0.13352738620934673
720
+ ],
721
+ [
722
+ -0.0009222125018210257,
723
+ 0.9998690136029085,
724
+ -0.01615874874018893,
725
+ -0.09822063426434013
726
+ ],
727
+ [
728
+ 0.015833248109340878,
729
+ 0.016171329768655762,
730
+ 0.9997438653714369,
731
+ 0.9958875393929376
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 640.948486328125,
742
+ "fy": 640.9485054016113,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.999895444333237,
752
+ 0.0003366809949940779,
753
+ -0.014456384317895808,
754
+ -0.13758222276721352
755
+ ],
756
+ [
757
+ -0.000582135425657188,
758
+ 0.9998556919576379,
759
+ -0.01697811468507967,
760
+ -0.1026176949133141
761
+ ],
762
+ [
763
+ 0.014448581936829958,
764
+ 0.01698475510041675,
765
+ 0.9997513473730326,
766
+ 1.03607814654945
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 640.948486328125,
777
+ "fy": 640.9485054016113,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.999918246086625,
787
+ 0.00028638167532959595,
788
+ -0.012783549138782496,
789
+ -0.14449916711493893
790
+ ],
791
+ [
792
+ -0.0005032023920334466,
793
+ 0.9998560265528544,
794
+ -0.016960924305308288,
795
+ -0.1004335245760446
796
+ ],
797
+ [
798
+ 0.012776851349228539,
799
+ 0.016965970395877182,
800
+ 0.9997744285178162,
801
+ 1.0858784359861247
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 640.948486328125,
812
+ "fy": 640.9485054016113,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.999934526033463,
822
+ 0.0006218338567941264,
823
+ -0.011426152847227315,
824
+ -0.15063653566400154
825
+ ],
826
+ [
827
+ -0.0008158950245306878,
828
+ 0.9998553752035404,
829
+ -0.016987141957854873,
830
+ -0.10380427246918388
831
+ ],
832
+ [
833
+ 0.011413937162197907,
834
+ 0.016995352283548346,
835
+ 0.9997904180573124,
836
+ 1.1248627027715015
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 640.948486328125,
847
+ "fy": 640.9485054016113,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9999531228968654,
857
+ 0.0008804979313370292,
858
+ -0.009642444306267825,
859
+ -0.15532421417749265
860
+ ],
861
+ [
862
+ -0.0010460601032969562,
863
+ 0.9998518900247196,
864
+ -0.017178584698876828,
865
+ -0.10940301776026236
866
+ ],
867
+ [
868
+ 0.009625890455789323,
869
+ 0.017187865992877242,
870
+ 0.9998059409183085,
871
+ 1.1727592402625084
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 640.948486328125,
882
+ "fy": 640.9485054016113,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9999661822918992,
892
+ 0.0005603605991569754,
893
+ -0.008204892964774823,
894
+ -0.1583744154475226
895
+ ],
896
+ [
897
+ -0.0007022339073492378,
898
+ 0.9998501206085002,
899
+ -0.01729864696175016,
900
+ -0.10767299097045463
901
+ ],
902
+ [
903
+ 0.008193969740233847,
904
+ 0.0173038237152027,
905
+ 0.9998167014731898,
906
+ 1.2121030790583236
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 640.948486328125,
917
+ "fy": 640.9485054016113,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9999786984702508,
927
+ 0.00013962251307405552,
928
+ -0.006525573637408475,
929
+ -0.16002808228144028
930
+ ],
931
+ [
932
+ -0.00025054533338052004,
933
+ 0.9998554505752413,
934
+ -0.017000446524054136,
935
+ -0.11101482690179042
936
+ ],
937
+ [
938
+ 0.006522256724425897,
939
+ 0.01700171934055924,
940
+ 0.999834187106385,
941
+ 1.2636961790696708
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 640.948486328125,
952
+ "fy": 640.9485054016113,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9999854063454001,
962
+ -0.0007015203416160514,
963
+ -0.005356768189453268,
964
+ -0.1626081675475886
965
+ ],
966
+ [
967
+ 0.000612089642975152,
968
+ 0.999860719703475,
969
+ -0.01667832546505116,
970
+ -0.11973347614827666
971
+ ],
972
+ [
973
+ 0.005367722281769251,
974
+ 0.016674803245001434,
975
+ 0.999846557474819,
976
+ 1.3010811943502143
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 640.948486328125,
987
+ "fy": 640.9485054016113,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9999933153197262,
997
+ -0.001027075523548833,
998
+ -0.0035091924614777275,
999
+ -0.16991603525148716
1000
+ ],
1001
+ [
1002
+ 0.0009671550935833235,
1003
+ 0.9998544343768132,
1004
+ -0.017034514024422475,
1005
+ -0.1203835308993404
1006
+ ],
1007
+ [
1008
+ 0.0035261773761002227,
1009
+ 0.017031006220779122,
1010
+ 0.999848744010923,
1011
+ 1.348152708496114
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 640.948486328125,
1022
+ "fy": 640.9485054016113,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9999983358448645,
1032
+ -0.0007597772552072035,
1033
+ -0.0016586277533007275,
1034
+ -0.17517288099370404
1035
+ ],
1036
+ [
1037
+ 0.0007301977081271175,
1038
+ 0.9998419749671372,
1039
+ -0.01776209180028576,
1040
+ -0.12309930055547436
1041
+ ],
1042
+ [
1043
+ 0.0016718608819502644,
1044
+ 0.017760851115225375,
1045
+ 0.9998408658625904,
1046
+ 1.3886755459934141
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 640.948486328125,
1057
+ "fy": 640.9485054016113,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9999952845260027,
1067
+ -0.0007020016162752823,
1068
+ 0.0029896687926529615,
1069
+ -0.17701739455189927
1070
+ ],
1071
+ [
1072
+ 0.0007595873116962658,
1073
+ 0.9998133682544682,
1074
+ -0.019304188321999653,
1075
+ -0.12919567609393637
1076
+ ],
1077
+ [
1078
+ -0.0029755592541447,
1079
+ 0.019306368208082656,
1080
+ 0.9998091868920486,
1081
+ 1.4383218118416041
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 640.948486328125,
1092
+ "fy": 640.9485054016113,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9999794685629181,
1102
+ -0.001258565581523185,
1103
+ 0.0062831891027509326,
1104
+ -0.17615727881961704
1105
+ ],
1106
+ [
1107
+ 0.0013779667142898467,
1108
+ 0.9998178636569894,
1109
+ -0.019035249410185567,
1110
+ -0.13075260748697812
1111
+ ],
1112
+ [
1113
+ -0.0062580875959219445,
1114
+ 0.01904351661460314,
1115
+ 0.9997990702209074,
1116
+ 1.4784610676191738
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 640.948486328125,
1127
+ "fy": 640.9485054016113,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.999963108205158,
1137
+ -0.001987573567857316,
1138
+ 0.0083565411500051,
1139
+ -0.17395283369128517
1140
+ ],
1141
+ [
1142
+ 0.002143228914605613,
1143
+ 0.9998236037223799,
1144
+ -0.018659260687736868,
1145
+ -0.13553781450288394
1146
+ ],
1147
+ [
1148
+ -0.008317980433913755,
1149
+ 0.018676482294738454,
1150
+ 0.9997909782602538,
1151
+ 1.519296301988881
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 640.948486328125,
1162
+ "fy": 640.9485054016113,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9999457540287494,
1172
+ -0.002766507354167767,
1173
+ 0.010041684964957354,
1174
+ -0.17313308017304269
1175
+ ],
1176
+ [
1177
+ 0.0029367127291913906,
1178
+ 0.9998516032115848,
1179
+ -0.016974901283069076,
1180
+ -0.14573579710107534
1181
+ ],
1182
+ [
1183
+ -0.009993233621922394,
1184
+ 0.017003470007121213,
1185
+ 0.9998054897276244,
1186
+ 1.566141696949334
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 640.948486328125,
1197
+ "fy": 640.9485054016113,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9999309644604072,
1207
+ -0.0028826429871467696,
1208
+ 0.011391079083607604,
1209
+ -0.17471611321745187
1210
+ ],
1211
+ [
1212
+ 0.0030713656531304863,
1213
+ 0.9998577426157291,
1214
+ -0.016584970437223245,
1215
+ -0.14839553060079647
1216
+ ],
1217
+ [
1218
+ -0.011341650069770245,
1219
+ 0.016618811653889464,
1220
+ 0.9997975705476123,
1221
+ 1.6008668735469878
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 640.948486328125,
1232
+ "fy": 640.9485054016113,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.9999120569280813,
1242
+ -0.0024585894154528273,
1243
+ 0.013032027775434489,
1244
+ -0.17660625723660026
1245
+ ],
1246
+ [
1247
+ 0.0026848605508993494,
1248
+ 0.9998454605232887,
1249
+ -0.01737373289753953,
1250
+ -0.15318378355155893
1251
+ ],
1252
+ [
1253
+ -0.012987298936872789,
1254
+ 0.017407194175370316,
1255
+ 0.9997641320117787,
1256
+ 1.6441217110977002
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 640.948486328125,
1267
+ "fy": 640.9485054016113,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.9998937912214274,
1277
+ -0.0019826327415763878,
1278
+ 0.014438678757178285,
1279
+ -0.1769609194861855
1280
+ ],
1281
+ [
1282
+ 0.0022406052542741804,
1283
+ 0.9998377624262794,
1284
+ -0.01787256317672077,
1285
+ -0.16072985837625986
1286
+ ],
1287
+ [
1288
+ -0.014400901532038927,
1289
+ 0.01790301633310392,
1290
+ 0.9997360131760992,
1291
+ 1.675948544161096
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 640.948486328125,
1302
+ "fy": 640.9485054016113,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9998684352659823,
1312
+ -0.002291211319189149,
1313
+ 0.0160580979398781,
1314
+ -0.17370310916087817
1315
+ ],
1316
+ [
1317
+ 0.002585552959719247,
1318
+ 0.9998285920727583,
1319
+ -0.01833306820197372,
1320
+ -0.1614061675620616
1321
+ ],
1322
+ [
1323
+ -0.016013340521214954,
1324
+ 0.018372175279387917,
1325
+ 0.9997029739381869,
1326
+ 1.7145285307402551
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 640.948486328125,
1337
+ "fy": 640.9485054016113,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.9998460157293018,
1347
+ -0.002785539507991857,
1348
+ 0.017325865054601222,
1349
+ -0.17007227532408753
1350
+ ],
1351
+ [
1352
+ 0.003106732564623493,
1353
+ 0.999823308413387,
1354
+ -0.01853915224817911,
1355
+ -0.1622237852896411
1356
+ ],
1357
+ [
1358
+ -0.0172711621789833,
1359
+ 0.01859012433951621,
1360
+ 0.9996780052767134,
1361
+ 1.7465744347582715
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 640.948486328125,
1372
+ "fy": 640.9485054016113,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.999834793375508,
1382
+ -0.0033375366211821455,
1383
+ 0.017867478978801365,
1384
+ -0.1655625173976268
1385
+ ],
1386
+ [
1387
+ 0.0036672810394870066,
1388
+ 0.999822981796889,
1389
+ -0.018454162689093716,
1390
+ -0.17072756179512158
1391
+ ],
1392
+ [
1393
+ -0.01780272466599031,
1394
+ 0.01851663900605041,
1395
+ 0.9996700441017461,
1396
+ 1.7880832848751274
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 640.948486328125,
1407
+ "fy": 640.9485054016113,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.999857240314545,
1417
+ -0.003577957067093599,
1418
+ 0.016513546372849113,
1419
+ -0.1634851218640116
1420
+ ],
1421
+ [
1422
+ 0.0038825482935766187,
1423
+ 0.9998222480812033,
1424
+ -0.018449879690582042,
1425
+ -0.1741808395428852
1426
+ ],
1427
+ [
1428
+ -0.01644459818086926,
1429
+ 0.018511360432851533,
1430
+ 0.9996934053626616,
1431
+ 1.8212348864174497
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 640.948486328125,
1442
+ "fy": 640.9485054016113,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9998859844609845,
1452
+ -0.00361418185620302,
1453
+ 0.014661369922294009,
1454
+ -0.16280148508228842
1455
+ ],
1456
+ [
1457
+ 0.0038813893035928087,
1458
+ 0.9998261409654495,
1459
+ -0.018237945586368643,
1460
+ -0.17398185660285256
1461
+ ],
1462
+ [
1463
+ -0.014592905658641457,
1464
+ 0.018292772661564486,
1465
+ 0.9997261732958633,
1466
+ 1.855710218849113
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 640.948486328125,
1477
+ "fy": 640.9485054016113,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.9999165425387379,
1487
+ -0.003067866943907046,
1488
+ 0.01254974700109062,
1489
+ -0.16158016186539187
1490
+ ],
1491
+ [
1492
+ 0.0032913696608074285,
1493
+ 0.9998356577977879,
1494
+ -0.01782762692623427,
1495
+ -0.17972710412307327
1496
+ ],
1497
+ [
1498
+ -0.012492991760695953,
1499
+ 0.01786744493428087,
1500
+ 0.9997623115362911,
1501
+ 1.8997982712402675
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 640.948486328125,
1512
+ "fy": 640.9485054016113,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9999106697947777,
1522
+ -0.002749699269452827,
1523
+ 0.013080198182225595,
1524
+ -0.1579584257626891
1525
+ ],
1526
+ [
1527
+ 0.0029821628200128155,
1528
+ 0.9998373693199193,
1529
+ -0.01778599494934373,
1530
+ -0.1850082881009632
1531
+ ],
1532
+ [
1533
+ -0.013029164803380929,
1534
+ 0.017823413403462256,
1535
+ 0.9997562536934568,
1536
+ 1.9336518589553096
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 640.948486328125,
1547
+ "fy": 640.9485054016113,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.9998868968211176,
1557
+ -0.003202281155520018,
1558
+ 0.014694861715468724,
1559
+ -0.15183866309600216
1560
+ ],
1561
+ [
1562
+ 0.0034628878583750048,
1563
+ 0.999836574840697,
1564
+ -0.017743506375673894,
1565
+ -0.18371387371258363
1566
+ ],
1567
+ [
1568
+ -0.014635640509252269,
1569
+ 0.017792386186913284,
1570
+ 0.9997345792862522,
1571
+ 1.976655069142646
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 640.948486328125,
1582
+ "fy": 640.9485054016113,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9999021030038917,
1592
+ -0.0034784505241418117,
1593
+ 0.013553036203954791,
1594
+ -0.14700337643998118
1595
+ ],
1596
+ [
1597
+ 0.0037206483713151436,
1598
+ 0.9998331039699871,
1599
+ -0.0178863350476806,
1600
+ -0.18698362346252456
1601
+ ],
1602
+ [
1603
+ -0.01348855752449615,
1604
+ 0.01793501011128666,
1605
+ 0.9997481654037762,
1606
+ 2.0137290678953526
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 640.948486328125,
1617
+ "fy": 640.9485054016113,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9999296353376627,
1627
+ -0.0038258031027149477,
1628
+ 0.011228873679411165,
1629
+ -0.1440542390211063
1630
+ ],
1631
+ [
1632
+ 0.0040234280603016785,
1633
+ 0.9998364804240042,
1634
+ -0.01763021383827781,
1635
+ -0.19606279080181346
1636
+ ],
1637
+ [
1638
+ -0.011159587811944186,
1639
+ 0.017674151859681474,
1640
+ 0.9997815201112232,
1641
+ 2.0580409555695605
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 640.948486328125,
1652
+ "fy": 640.9485054016113,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9999492351301961,
1662
+ -0.0035423174096900698,
1663
+ 0.00943287601452426,
1664
+ -0.14424713236866266
1665
+ ],
1666
+ [
1667
+ 0.0037080444972276937,
1668
+ 0.9998380568681707,
1669
+ -0.017609952983690485,
1670
+ -0.19683803096292432
1671
+ ],
1672
+ [
1673
+ -0.009368968382002359,
1674
+ 0.017644036540718697,
1675
+ 0.999800435289967,
1676
+ 2.0931332407243404
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 640.948486328125,
1687
+ "fy": 640.9485054016113,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9999778554168947,
1697
+ -0.002568535026188094,
1698
+ 0.006139324364100839,
1699
+ -0.14712363147988966
1700
+ ],
1701
+ [
1702
+ 0.0026765388249576825,
1703
+ 0.9998406592897112,
1704
+ -0.017649140801585226,
1705
+ -0.20013042909348436
1706
+ ],
1707
+ [
1708
+ -0.0060930136834649725,
1709
+ 0.01766518210873953,
1710
+ 0.9998253930188602,
1711
+ 2.1391588604272496
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 640.948486328125,
1722
+ "fy": 640.9485054016113,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.9999943704455764,
1732
+ -0.0017483149808415676,
1733
+ 0.0028639957896932893,
1734
+ -0.14759330561631917
1735
+ ],
1736
+ [
1737
+ 0.0017987483785684168,
1738
+ 0.9998416793507962,
1739
+ -0.017702563013602332,
1740
+ -0.2076485611868928
1741
+ ],
1742
+ [
1743
+ -0.0028325927039045745,
1744
+ 0.017707614963843342,
1745
+ 0.9998391954663841,
1746
+ 2.1744243290800425
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 640.948486328125,
1757
+ "fy": 640.9485054016113,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9999986481522626,
1767
+ -0.0015063308439607695,
1768
+ 0.0006592882798986433,
1769
+ -0.14541163553906972
1770
+ ],
1771
+ [
1772
+ 0.0015178728286172867,
1773
+ 0.9998391463138685,
1774
+ -0.01787113763673184,
1775
+ -0.20977461936271474
1776
+ ],
1777
+ [
1778
+ -0.0006322623851097209,
1779
+ 0.017872114193441143,
1780
+ 0.9998400811022397,
1781
+ 2.2102840141284164
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 640.948486328125,
1792
+ "fy": 640.9485054016113,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.9999971022667229,
1802
+ -0.0018086907653648936,
1803
+ -0.001588740341591123,
1804
+ -0.1407086412442271
1805
+ ],
1806
+ [
1807
+ 0.0017798396749222204,
1808
+ 0.9998368130203086,
1809
+ -0.01797719388904525,
1810
+ -0.20991182539796904
1811
+ ],
1812
+ [
1813
+ 0.001620996264427555,
1814
+ 0.017974314092839172,
1815
+ 0.9998371349394876,
1816
+ 2.2587203150748403
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 640.948486328125,
1827
+ "fy": 640.9485054016113,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.9999923894038892,
1837
+ -0.0021266613812680876,
1838
+ -0.0032708478518201946,
1839
+ -0.1383577130467913
1840
+ ],
1841
+ [
1842
+ 0.002068541055672994,
1843
+ 0.9998417143221187,
1844
+ -0.017671090495720635,
1845
+ -0.2164108642231637
1846
+ ],
1847
+ [
1848
+ 0.003307910549172865,
1849
+ 0.017664190125119685,
1850
+ 0.9998385040170349,
1851
+ 2.2979155571273435
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 640.948486328125,
1862
+ "fy": 640.9485054016113,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9999815212269496,
1872
+ -0.00251733254332812,
1873
+ -0.005533555954566739,
1874
+ -0.13737307850746588
1875
+ ],
1876
+ [
1877
+ 0.002421440822370031,
1878
+ 0.9998479639170826,
1879
+ -0.017268053602196545,
1880
+ -0.2207912715557251
1881
+ ],
1882
+ [
1883
+ 0.005576184087687546,
1884
+ 0.017254335331471745,
1885
+ 0.9998355835252563,
1886
+ 2.344145739396133
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 640.948486328125,
1897
+ "fy": 640.9485054016113,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.9999715318424743,
1907
+ -0.0021012967163993633,
1908
+ -0.007247072286459664,
1909
+ -0.13959039774337562
1910
+ ],
1911
+ [
1912
+ 0.0019759187927622527,
1913
+ 0.9998490054439799,
1914
+ -0.017264473858439208,
1915
+ -0.2188490945817211
1916
+ ],
1917
+ [
1918
+ 0.0072822558002264256,
1919
+ 0.017249662744354483,
1920
+ 0.999824693576662,
1921
+ 2.382928059334291
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 640.948486328125,
1932
+ "fy": 640.9485054016113,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9999545943735283,
1942
+ -0.0012185253099462042,
1943
+ -0.009451157989456518,
1944
+ -0.14041051767501433
1945
+ ],
1946
+ [
1947
+ 0.0010539946794511812,
1948
+ 0.9998481573617298,
1949
+ -0.017394002287261873,
1950
+ -0.22793520901328856
1951
+ ],
1952
+ [
1953
+ 0.009470917932720983,
1954
+ 0.017383251031455625,
1955
+ 0.9998040429489616,
1956
+ 2.429447740335731
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 640.948486328125,
1967
+ "fy": 640.9485054016113,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.9999369908915714,
1977
+ -0.0009868386484743002,
1978
+ -0.011182146314172301,
1979
+ -0.13792071877168632
1980
+ ],
1981
+ [
1982
+ 0.0007873555633008081,
1983
+ 0.9998407263304431,
1984
+ -0.01782980768907122,
1985
+ -0.23152445380563447
1986
+ ],
1987
+ [
1988
+ 0.011197960436017758,
1989
+ 0.017819879923675168,
1990
+ 0.9997785042506062,
1991
+ 2.463493652600612
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 640.948486328125,
2002
+ "fy": 640.9485054016113,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9999097432552595,
2012
+ -0.0014765067475892406,
2013
+ -0.013353848547346215,
2014
+ -0.13256793339372883
2015
+ ],
2016
+ [
2017
+ 0.0012298858751950191,
2018
+ 0.999828888608179,
2019
+ -0.018457542774370315,
2020
+ -0.23121045128312204
2021
+ ],
2022
+ [
2023
+ 0.013378816238185386,
2024
+ 0.01843945314693572,
2025
+ 0.9997404632421891,
2026
+ 2.510412798503629
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 640.948486328125,
2037
+ "fy": 640.9485054016113,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.999883444961478,
2047
+ -0.0020258091768474646,
2048
+ -0.015132501086934877,
2049
+ -0.12850189776858306
2050
+ ],
2051
+ [
2052
+ 0.0017459459715758968,
2053
+ 0.9998276216537227,
2054
+ -0.018484551683083432,
2055
+ -0.2377192748117383
2056
+ ],
2057
+ [
2058
+ 0.015167338745851975,
2059
+ 0.018455976686137347,
2060
+ 0.999714623660137,
2061
+ 2.5493835366231843
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 640.948486328125,
2072
+ "fy": 640.9485054016113,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.999821118703292,
2082
+ -0.0022874951168031493,
2083
+ -0.018774929054145562,
2084
+ -0.12514978791797887
2085
+ ],
2086
+ [
2087
+ 0.001947272482229516,
2088
+ 0.9998339333309987,
2089
+ -0.01811943403486676,
2090
+ -0.2440863010354752
2091
+ ],
2092
+ [
2093
+ 0.0188132592810908,
2094
+ 0.018079632904308036,
2095
+ 0.999659536116806,
2096
+ 2.596005094664827
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 640.948486328125,
2107
+ "fy": 640.9485054016113,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9997158790827299,
2117
+ -0.0018536423810248657,
2118
+ -0.02376394579543118,
2119
+ -0.12449200657524022
2120
+ ],
2121
+ [
2122
+ 0.0014226232072921674,
2123
+ 0.9998344152037782,
2124
+ -0.01814161837678656,
2125
+ -0.24447610996928626
2126
+ ],
2127
+ [
2128
+ 0.02379363891999281,
2129
+ 0.018102656822747164,
2130
+ 0.9995529783672814,
2131
+ 2.6343307397123423
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 640.948486328125,
2142
+ "fy": 640.9485054016113,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9995373330947787,
2152
+ -0.0011383627368229568,
2153
+ -0.030394471208713695,
2154
+ -0.12397549022763557
2155
+ ],
2156
+ [
2157
+ 0.0005509081951555274,
2158
+ 0.9998130244740012,
2159
+ -0.019329060823312517,
2160
+ -0.2507652231328151
2161
+ ],
2162
+ [
2163
+ 0.030410791669051026,
2164
+ 0.019303373343284254,
2165
+ 0.9993510712095284,
2166
+ 2.672364397965968
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 640.948486328125,
2177
+ "fy": 640.9485054016113,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9992312091318711,
2187
+ -0.00028219474374714757,
2188
+ -0.03920345728358105,
2189
+ -0.1212788086528781
2190
+ ],
2191
+ [
2192
+ -0.0005007488888334672,
2193
+ 0.9998006532432107,
2194
+ -0.019960035696352414,
2195
+ -0.2582078632978188
2196
+ ],
2197
+ [
2198
+ 0.03920127481867516,
2199
+ 0.019964321690854714,
2200
+ 0.9990318743223435,
2201
+ 2.716038703185561
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 640.948486328125,
2212
+ "fy": 640.9485054016113,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.9989550883761686,
2222
+ -0.00020241933385372674,
2223
+ -0.045702192877087815,
2224
+ -0.11741601185214301
2225
+ ],
2226
+ [
2227
+ -0.0007615731495472266,
2228
+ 0.9997776176190466,
2229
+ -0.02107451812786085,
2230
+ -0.255575021120003
2231
+ ],
2232
+ [
2233
+ 0.04569629540454174,
2234
+ 0.021087302681873022,
2235
+ 0.9987327842080204,
2236
+ 2.7526001790715267
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 640.948486328125,
2247
+ "fy": 640.9485054016113,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9986014612128589,
2257
+ -0.0004833136511398653,
2258
+ -0.05286670097006115,
2259
+ -0.1112500822771256
2260
+ ],
2261
+ [
2262
+ -0.0007930351069083551,
2263
+ 0.9997087768887207,
2264
+ -0.024119131555202105,
2265
+ -0.25901412731021595
2266
+ ],
2267
+ [
2268
+ 0.052862962070455856,
2269
+ 0.02412732516406568,
2270
+ 0.9983102621037034,
2271
+ 2.803180713893404
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 640.948486328125,
2282
+ "fy": 640.9485054016113,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9983285518235718,
2292
+ -0.0005851193381610244,
2293
+ -0.05779065884042264,
2294
+ -0.10916562549789549
2295
+ ],
2296
+ [
2297
+ -0.0007915722520210132,
2298
+ 0.999716515075935,
2299
+ -0.02379627907463533,
2300
+ -0.2652131691727447
2301
+ ],
2302
+ [
2303
+ 0.05778819972295243,
2304
+ 0.023802250309334347,
2305
+ 0.9980450775656339,
2306
+ 2.8414863358400395
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 640.948486328125,
2317
+ "fy": 640.9485054016113,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9977123904251132,
2327
+ -0.0003374516949518995,
2328
+ -0.06760082927420837,
2329
+ -0.10812661989129041
2330
+ ],
2331
+ [
2332
+ -0.0012685660445808376,
2333
+ 0.9997180016767978,
2334
+ -0.023713031513094722,
2335
+ -0.26455763367262236
2336
+ ],
2337
+ [
2338
+ 0.06758976795638248,
2339
+ 0.023744541471758536,
2340
+ 0.9974306091242131,
2341
+ 2.888729075397223
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 640.948486328125,
2352
+ "fy": 640.9485054016113,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9969925521635313,
2362
+ 0.0005581100619461881,
2363
+ -0.0774954156296165,
2364
+ -0.10834173686431245
2365
+ ],
2366
+ [
2367
+ -0.0024181101619846577,
2368
+ 0.9997111987776742,
2369
+ -0.02390965875436157,
2370
+ -0.26627234040741715
2371
+ ],
2372
+ [
2373
+ 0.07745969063772952,
2374
+ 0.02402514415491126,
2375
+ 0.9967059690674291,
2376
+ 2.9271812345883723
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 640.948486328125,
2387
+ "fy": 640.9485054016113,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9961652662719439,
2397
+ 0.0016415378734078625,
2398
+ -0.0874760974595753,
2399
+ -0.10650060599772898
2400
+ ],
2401
+ [
2402
+ -0.0037657388986349497,
2403
+ 0.9997018879884784,
2404
+ -0.024123730284082056,
2405
+ -0.271613280680236
2406
+ ],
2407
+ [
2408
+ 0.08741041976729236,
2409
+ 0.024360634344819467,
2410
+ 0.9958744790436311,
2411
+ 2.9727671157957736
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 640.948486328125,
2422
+ "fy": 640.9485054016113,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9957009574875786,
2432
+ 0.0018276746789325639,
2433
+ -0.09260811445865506,
2434
+ -0.1039380357071483
2435
+ ],
2436
+ [
2437
+ -0.0041140549549594525,
2438
+ 0.9996912695739203,
2439
+ -0.024503879070689343,
2440
+ -0.27057791966544203
2441
+ ],
2442
+ [
2443
+ 0.09253473839670669,
2444
+ 0.024779530725003295,
2445
+ 0.9954010734607943,
2446
+ 3.010477884041509
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 640.948486328125,
2457
+ "fy": 640.9485054016113,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.995181097551811,
2467
+ 0.0018826738052487642,
2468
+ -0.09803590472330025,
2469
+ -0.09933742594720996
2470
+ ],
2471
+ [
2472
+ -0.0043338981010643445,
2473
+ 0.9996831280564082,
2474
+ -0.024796386966745833,
2475
+ -0.27256527117719237
2476
+ ],
2477
+ [
2478
+ 0.09795815638742168,
2479
+ 0.02510177321820197,
2480
+ 0.9948739118996334,
2481
+ 3.0614293361553186
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 640.948486328125,
2492
+ "fy": 640.9485054016113,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9946133222557811,
2502
+ 0.0016135618488005282,
2503
+ -0.10364234467377492,
2504
+ -0.09969841719112521
2505
+ ],
2506
+ [
2507
+ -0.004155845237219647,
2508
+ 0.999695632362999,
2509
+ -0.024318132837612166,
2510
+ -0.28051775490058806
2511
+ ],
2512
+ [
2513
+ 0.10357156048685248,
2514
+ 0.02461786043716163,
2515
+ 0.9943172998624809,
2516
+ 3.102622298260544
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 640.948486328125,
2527
+ "fy": 640.9485054016113,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9938524020498474,
2537
+ 0.002257607821665836,
2538
+ -0.11069013572433731,
2539
+ -0.10235784287260466
2540
+ ],
2541
+ [
2542
+ -0.004796851185430969,
2543
+ 0.9997312865284268,
2544
+ -0.02267917447619184,
2545
+ -0.28040230145273404
2546
+ ],
2547
+ [
2548
+ 0.11060919111201153,
2549
+ 0.02307071613843565,
2550
+ 0.9935961699294167,
2551
+ 3.141274721192723
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 640.948486328125,
2562
+ "fy": 640.9485054016113,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.9924865840017482,
2572
+ 0.003520107183548351,
2573
+ -0.12230285941856557,
2574
+ -0.10787721766750376
2575
+ ],
2576
+ [
2577
+ -0.006338490643670466,
2578
+ 0.99972307044382,
2579
+ -0.022662876223926525,
2580
+ -0.2816894854570483
2581
+ ],
2582
+ [
2583
+ 0.12218921438859152,
2584
+ 0.023267816137257997,
2585
+ 0.9922340472989736,
2586
+ 3.1900105176271767
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 640.948486328125,
2597
+ "fy": 640.9485054016113,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.9912583586609638,
2607
+ 0.004521196603385367,
2608
+ -0.13185759426762467,
2609
+ -0.11316779998993616
2610
+ ],
2611
+ [
2612
+ -0.007596126390365388,
2613
+ 0.9997105850255652,
2614
+ -0.022826411275181712,
2615
+ -0.2889028257357272
2616
+ ],
2617
+ [
2618
+ 0.13171623001222582,
2619
+ 0.02362847792634314,
2620
+ 0.9910058172292686,
2621
+ 3.22749999528387
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 640.948486328125,
2632
+ "fy": 640.9485054016113,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9893201009271031,
2642
+ 0.005734910872887596,
2643
+ -0.14564631371533868,
2644
+ -0.11937208968811469
2645
+ ],
2646
+ [
2647
+ -0.009252887500632426,
2648
+ 0.9996812911013292,
2649
+ -0.023488301234452738,
2650
+ -0.2913754164839681
2651
+ ],
2652
+ [
2653
+ 0.14546519162496388,
2654
+ 0.02458509750356483,
2655
+ 0.9890578602924366,
2656
+ 3.2724088187306384
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 640.948486328125,
2667
+ "fy": 640.9485054016113,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9874889020206424,
2677
+ 0.005975629392250468,
2678
+ -0.15757525262373226,
2679
+ -0.12528983002317157
2680
+ ],
2681
+ [
2682
+ -0.009928939412626608,
2683
+ 0.9996550842096115,
2684
+ -0.024313139986751667,
2685
+ -0.29324751947021055
2686
+ ],
2687
+ [
2688
+ 0.1573756161170051,
2689
+ 0.025573511046421946,
2690
+ 0.9872076331676899,
2691
+ 3.3115132665946327
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 640.948486328125,
2702
+ "fy": 640.9485054016113,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.984220300129452,
2712
+ 0.0062752607075667825,
2713
+ -0.17683614425830282,
2714
+ -0.1365512201019378
2715
+ ],
2716
+ [
2717
+ -0.01093320192085625,
2718
+ 0.9996181285428636,
2719
+ -0.025378380252112143,
2720
+ -0.3022840659164121
2721
+ ],
2722
+ [
2723
+ 0.17660935962980276,
2724
+ 0.026911302300614864,
2725
+ 0.9839130631817203,
2726
+ 3.3574362910305995
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 640.948486328125,
2737
+ "fy": 640.9485054016113,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.9801986224801554,
2747
+ 0.007235287327236911,
2748
+ -0.19788459036847175,
2749
+ -0.14940353599113324
2750
+ ],
2751
+ [
2752
+ -0.012751303091762464,
2753
+ 0.9995644314589134,
2754
+ -0.02661487613499485,
2755
+ -0.30384816568176903
2756
+ ],
2757
+ [
2758
+ 0.19760583179012595,
2759
+ 0.02861115131397956,
2760
+ 0.9798639381378523,
2761
+ 3.391451629120322
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 640.948486328125,
2772
+ "fy": 640.9485054016113,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.9738912824493655,
2782
+ 0.008599998577941515,
2783
+ -0.22685195611585504,
2784
+ -0.1687276070984715
2785
+ ],
2786
+ [
2787
+ -0.01580157009427515,
2788
+ 0.9994265253378414,
2789
+ -0.029948803543465956,
2790
+ -0.3042256921213078
2791
+ ],
2792
+ [
2793
+ 0.2264643025990766,
2794
+ 0.03275149577635827,
2795
+ 0.9734686739555235,
2796
+ 3.4365655075869728
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 640.948486328125,
2807
+ "fy": 640.9485054016113,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.9689504672912345,
2817
+ 0.00964607627024854,
2818
+ -0.2470666815835092,
2819
+ -0.18508084152861143
2820
+ ],
2821
+ [
2822
+ -0.018339073684931935,
2823
+ 0.9992901250023657,
2824
+ -0.03290781744715367,
2825
+ -0.3099733474769862
2826
+ ],
2827
+ [
2828
+ 0.2465738638065219,
2829
+ 0.036417019171605766,
2830
+ 0.9684395336840488,
2831
+ 3.4709274239335928
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 640.948486328125,
2842
+ "fy": 640.9485054016113,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ }
2847
+ ]
2848
+ }
spatialvid_eval/camera_controls/scene_035/move_right/transforms.json ADDED
@@ -0,0 +1,2848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 81,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 0.9999999755008188,
17
+ -0.0002198320912991082,
18
+ -2.592708844443234e-05,
19
+ -0.00016600281001606768
20
+ ],
21
+ [
22
+ 0.00021982904934223676,
23
+ 0.9999999689612438,
24
+ -0.00011727191022597567,
25
+ 0.0002378761507749253
26
+ ],
27
+ [
28
+ 2.5952867768963377e-05,
29
+ 0.00011726620782570491,
30
+ 0.9999999927875427,
31
+ -0.00012196656193358196
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 640.948486328125,
42
+ "fy": 640.9485054016113,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9999193958989772,
52
+ 0.0015487508177259696,
53
+ -0.012601709246348755,
54
+ -0.0023651502401940377
55
+ ],
56
+ [
57
+ -0.0015277790172310542,
58
+ 0.9999974323744473,
59
+ 0.0016736594000609666,
60
+ -0.0072998194614991505
61
+ ],
62
+ [
63
+ 0.012604268971242524,
64
+ -0.0016542718692817877,
65
+ 0.9999191946293877,
66
+ 0.038416099434924154
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 640.948486328125,
77
+ "fy": 640.9485054016113,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.999867178823477,
87
+ 0.0014875230936507737,
88
+ -0.01622997186157244,
89
+ -0.0011889496858731156
90
+ ],
91
+ [
92
+ -0.0014454659076812567,
93
+ 0.9999955681469119,
94
+ 0.0026027513989842596,
95
+ -0.0074748997943712165
96
+ ],
97
+ [
98
+ 0.016233771585534545,
99
+ -0.00257894582747272,
100
+ 0.9998648977229514,
101
+ 0.09638125298678243
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 640.948486328125,
112
+ "fy": 640.9485054016113,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9998392678267999,
122
+ 0.0007234149642081765,
123
+ -0.01791410568123629,
124
+ -0.0008252664791669876
125
+ ],
126
+ [
127
+ -0.0007082569405261478,
128
+ 0.9999993858246825,
129
+ 0.0008524801252927747,
130
+ -0.010855575294882907
131
+ ],
132
+ [
133
+ 0.01791471137571407,
134
+ -0.000839655314627572,
135
+ 0.9998391661138694,
136
+ 0.15027918893362785
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 640.948486328125,
147
+ "fy": 640.9485054016113,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9998048496793057,
157
+ 0.0002276169135815048,
158
+ -0.01975375276452047,
159
+ -0.006464220587413242
160
+ ],
161
+ [
162
+ -0.0002531065600150866,
163
+ 0.9999991386516583,
164
+ -0.0012878792687113826,
165
+ -0.020515687683633106
166
+ ],
167
+ [
168
+ 0.019753442606554077,
169
+ 0.001292627743068694,
170
+ 0.9998040461103903,
171
+ 0.21589051744481247
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 640.948486328125,
182
+ "fy": 640.9485054016113,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.999770795614562,
192
+ 0.0007937864890595683,
193
+ -0.02139453526571165,
194
+ -0.013660241815979579
195
+ ],
196
+ [
197
+ -0.0008350677346542449,
198
+ 0.9999978068649603,
199
+ -0.001920657998801006,
200
+ -0.02965887217047078
201
+ ],
202
+ [
203
+ 0.021392963752237145,
204
+ 0.0019380836616630722,
205
+ 0.9997692658476836,
206
+ 0.26680633883177624
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 640.948486328125,
217
+ "fy": 640.9485054016113,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.9997244715471563,
227
+ 0.002162406405346935,
228
+ -0.023373168127094064,
229
+ -0.02066136200509004
230
+ ],
231
+ [
232
+ -0.0022719527314939334,
233
+ 0.9999865551535706,
234
+ -0.004661302702122772,
235
+ -0.037260979166371944
236
+ ],
237
+ [
238
+ 0.023362774247617693,
239
+ 0.004713121113771038,
240
+ 0.9997159432903038,
241
+ 0.3270539431549397
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 640.948486328125,
252
+ "fy": 640.9485054016113,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.9996879708216732,
262
+ 0.0027438126123493015,
263
+ -0.02482805845800338,
264
+ -0.023262622796017065
265
+ ],
266
+ [
267
+ -0.0029181682635620633,
268
+ 0.9999713185362425,
269
+ -0.006989019879374658,
270
+ -0.044349174589952835
271
+ ],
272
+ [
273
+ 0.024808169792051554,
274
+ 0.007059291553482395,
275
+ 0.9996673052142557,
276
+ 0.3757816089548173
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 640.948486328125,
287
+ "fy": 640.9485054016113,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9996306683801034,
297
+ 0.002377351083800865,
298
+ -0.027071664813456773,
299
+ -0.027903944277774446
300
+ ],
301
+ [
302
+ -0.002608259253799728,
303
+ 0.9999604948048214,
304
+ -0.008497400388459786,
305
+ -0.05307141497717686
306
+ ],
307
+ [
308
+ 0.02705039403803151,
309
+ 0.00856487195007487,
310
+ 0.9995973785234064,
311
+ 0.43400737902728337
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 640.948486328125,
322
+ "fy": 640.9485054016113,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.9995903693048334,
332
+ 0.002185877147710907,
333
+ -0.02853621443223344,
334
+ -0.03213286131280377
335
+ ],
336
+ [
337
+ -0.0024738956737404413,
338
+ 0.9999463196984918,
339
+ -0.010061687812555705,
340
+ -0.05914493716142664
341
+ ],
342
+ [
343
+ 0.028512688986181943,
344
+ 0.010128161853811329,
345
+ 0.9995421186244433,
346
+ 0.4811827824214913
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 640.948486328125,
357
+ "fy": 640.9485054016113,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.9995412051486668,
367
+ 0.0017351399638618524,
368
+ -0.030238526737545658,
369
+ -0.03814158916075096
370
+ ],
371
+ [
372
+ -0.0020529632739361902,
373
+ 0.9999429478868898,
374
+ -0.010482667269043294,
375
+ -0.05848512686144493
376
+ ],
377
+ [
378
+ 0.030218612670791546,
379
+ 0.010539936460122133,
380
+ 0.9994877413893929,
381
+ 0.5274248796666678
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 640.948486328125,
392
+ "fy": 640.9485054016113,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9995542170352911,
402
+ 0.0024878581304352606,
403
+ -0.02975193722917837,
404
+ -0.047787673844114975
405
+ ],
406
+ [
407
+ -0.002880126770343646,
408
+ 0.999909399387215,
409
+ -0.013149064106838587,
410
+ -0.06378373712527786
411
+ ],
412
+ [
413
+ 0.029716528679388052,
414
+ 0.013228891828941233,
415
+ 0.9994708221575183,
416
+ 0.5853408791239029
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 640.948486328125,
427
+ "fy": 640.9485054016113,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9995931506374437,
437
+ 0.0029534745952809155,
438
+ -0.028369176698030765,
439
+ -0.051353580085930176
440
+ ],
441
+ [
442
+ -0.003326097130736625,
443
+ 0.9999087042773254,
444
+ -0.013096571624570147,
445
+ -0.07322914278984395
446
+ ],
447
+ [
448
+ 0.028327906321963987,
449
+ 0.013185601929969697,
450
+ 0.9995117156017526,
451
+ 0.6266785922871121
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 640.948486328125,
462
+ "fy": 640.9485054016113,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.9996390714883756,
472
+ 0.002630782474418637,
473
+ -0.02673585116338651,
474
+ -0.05536172870013112
475
+ ],
476
+ [
477
+ -0.0029964231928683556,
478
+ 0.9999024102589179,
479
+ -0.01364519719374561,
480
+ -0.07539371027447783
481
+ ],
482
+ [
483
+ 0.026697344472956568,
484
+ 0.013720384177538696,
485
+ 0.9995493999078351,
486
+ 0.6784809172364327
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 640.948486328125,
497
+ "fy": 640.9485054016113,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9996751094854832,
507
+ 0.0023768488878354245,
508
+ -0.02537766861931298,
509
+ -0.05969826196341452
510
+ ],
511
+ [
512
+ -0.0027359560060793825,
513
+ 0.999896491494144,
514
+ -0.014125184686731762,
515
+ -0.07994904008576727
516
+ ],
517
+ [
518
+ 0.025341468385238954,
519
+ 0.014190027733090546,
520
+ 0.9995781375625491,
521
+ 0.7215512933196989
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 640.948486328125,
532
+ "fy": 640.9485054016113,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9997187502212108,
542
+ 0.0018670041769457508,
543
+ -0.023641800936977334,
544
+ -0.06729979371024436
545
+ ],
546
+ [
547
+ -0.002205588746083912,
548
+ 0.9998952675817923,
549
+ -0.014303469712604542,
550
+ -0.08637648320177965
551
+ ],
552
+ [
553
+ 0.023612620236296164,
554
+ 0.014351590954995707,
555
+ 0.999618165102374,
556
+ 0.771546624302211
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 640.948486328125,
567
+ "fy": 640.9485054016113,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9997519144655164,
577
+ 0.0018028574061306187,
578
+ -0.022200433052261992,
579
+ -0.07427124977046125
580
+ ],
581
+ [
582
+ -0.0021210608514525948,
583
+ 0.9998952423055727,
584
+ -0.014318013673153626,
585
+ -0.08456270006739008
586
+ ],
587
+ [
588
+ 0.022172294049088423,
589
+ 0.014361550050511226,
590
+ 0.9996510067302226,
591
+ 0.8127232059880419
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 640.948486328125,
602
+ "fy": 640.9485054016113,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9997895586743395,
612
+ 0.0025141185015119523,
613
+ -0.020359704662152634,
614
+ -0.08234372959697997
615
+ ],
616
+ [
617
+ -0.0028035680219923712,
618
+ 0.9998952339680572,
619
+ -0.014200742737982336,
620
+ -0.08971476697631486
621
+ ],
622
+ [
623
+ 0.020321869306630876,
624
+ 0.014254834131783209,
625
+ 0.9996918631917335,
626
+ 0.8648971253727845
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 640.948486328125,
637
+ "fy": 640.9485054016113,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9998155994901098,
647
+ 0.002357338641613192,
648
+ -0.01905806839009686,
649
+ -0.08285200093849071
650
+ ],
651
+ [
652
+ -0.0026301978533226416,
653
+ 0.9998942205049949,
654
+ -0.01430488937257221,
655
+ -0.09561443587917429
656
+ ],
657
+ [
658
+ 0.019022330968764812,
659
+ 0.014352378034246091,
660
+ 0.999716039767932,
661
+ 0.9037453047485486
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 640.948486328125,
672
+ "fy": 640.9485054016113,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9998492669299993,
682
+ 0.0013746334183024846,
683
+ -0.017307622670616404,
684
+ -0.08338844061815062
685
+ ],
686
+ [
687
+ -0.0016315792030442502,
688
+ 0.9998885431521212,
689
+ -0.0148404589697579,
690
+ -0.09393749843249542
691
+ ],
692
+ [
693
+ 0.017285293426706483,
694
+ 0.014866460779020683,
695
+ 0.9997400697056503,
696
+ 0.9546854932474341
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 640.948486328125,
707
+ "fy": 640.9485054016113,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9998742209790239,
717
+ 0.0006661308133245048,
718
+ -0.0158460875717005,
719
+ -0.08353367516039552
720
+ ],
721
+ [
722
+ -0.0009222125018210257,
723
+ 0.9998690136029085,
724
+ -0.01615874874018893,
725
+ -0.09826674488943118
726
+ ],
727
+ [
728
+ 0.015833248109340878,
729
+ 0.016171329768655762,
730
+ 0.9997438653714369,
731
+ 0.9966792017984047
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 640.948486328125,
742
+ "fy": 640.9485054016113,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.999895444333237,
752
+ 0.0003366809949940779,
753
+ -0.014456384317895808,
754
+ -0.08508771193971856
755
+ ],
756
+ [
757
+ -0.000582135425657188,
758
+ 0.9998556919576379,
759
+ -0.01697811468507967,
760
+ -0.1026482570231611
761
+ ],
762
+ [
763
+ 0.014448581936829958,
764
+ 0.01698475510041675,
765
+ 0.9997513473730326,
766
+ 1.0368366971011336
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 640.948486328125,
777
+ "fy": 640.9485054016113,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.999918246086625,
787
+ 0.00028638167532959595,
788
+ -0.012783549138782496,
789
+ -0.08950366358017453
790
+ ],
791
+ [
792
+ -0.0005032023920334466,
793
+ 0.9998560265528544,
794
+ -0.016960924305308288,
795
+ -0.10046120070760645
796
+ ],
797
+ [
798
+ 0.012776851349228539,
799
+ 0.016965970395877182,
800
+ 0.9997744285178162,
801
+ 1.0865811628103321
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 640.948486328125,
812
+ "fy": 640.9485054016113,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.999934526033463,
822
+ 0.0006218338567941264,
823
+ -0.011426152847227315,
824
+ -0.0931403004170774
825
+ ],
826
+ [
827
+ -0.0008158950245306878,
828
+ 0.9998553752035404,
829
+ -0.016987141957854873,
830
+ -0.10385118643309439
831
+ ],
832
+ [
833
+ 0.011413937162197907,
834
+ 0.016995352283548346,
835
+ 0.9997904180573124,
836
+ 1.1255190041583278
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 640.948486328125,
847
+ "fy": 640.9485054016113,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9999531228968654,
857
+ 0.0008804979313370292,
858
+ -0.009642444306267825,
859
+ -0.09532702680368071
860
+ ],
861
+ [
862
+ -0.0010460601032969562,
863
+ 0.9998518900247196,
864
+ -0.017178584698876828,
865
+ -0.10946578136646017
866
+ ],
867
+ [
868
+ 0.009625890455789323,
869
+ 0.017187865992877242,
870
+ 0.9998059409183085,
871
+ 1.1733367936898558
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 640.948486328125,
882
+ "fy": 640.9485054016113,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9999661822918992,
892
+ 0.0005603605991569754,
893
+ -0.008204892964774823,
894
+ -0.09587652905427889
895
+ ],
896
+ [
897
+ -0.0007022339073492378,
898
+ 0.9998501206085002,
899
+ -0.01729864696175016,
900
+ -0.10771688058966394
901
+ ],
902
+ [
903
+ 0.008193969740233847,
904
+ 0.0173038237152027,
905
+ 0.9998167014731898,
906
+ 1.2126152021670882
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 640.948486328125,
917
+ "fy": 640.9485054016113,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9999786984702508,
927
+ 0.00013962251307405552,
928
+ -0.006525573637408475,
929
+ -0.09502946688087399
930
+ ],
931
+ [
932
+ -0.00025054533338052004,
933
+ 0.9998554505752413,
934
+ -0.017000446524054136,
935
+ -0.11103111234846015
936
+ ],
937
+ [
938
+ 0.006522256724425897,
939
+ 0.01700171934055924,
940
+ 0.999834187106385,
941
+ 1.2641201257567587
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 640.948486328125,
952
+ "fy": 640.9485054016113,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9999854063454001,
962
+ -0.0007015203416160514,
963
+ -0.005356768189453268,
964
+ -0.0951091526192741
965
+ ],
966
+ [
967
+ 0.000612089642975152,
968
+ 0.999860719703475,
969
+ -0.01667832546505116,
970
+ -0.11969216009737584
971
+ ],
972
+ [
973
+ 0.005367722281769251,
974
+ 0.016674803245001434,
975
+ 0.999846557474819,
976
+ 1.3014435156042337
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 640.948486328125,
987
+ "fy": 640.9485054016113,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9999933153197262,
997
+ -0.001027075523548833,
998
+ -0.0035091924614777275,
999
+ -0.0999165031791063
1000
+ ],
1001
+ [
1002
+ 0.0009671550935833235,
1003
+ 0.9998544343768132,
1004
+ -0.017034514024422475,
1005
+ -0.12031583004278956
1006
+ ],
1007
+ [
1008
+ 0.0035261773761002227,
1009
+ 0.017031006220779122,
1010
+ 0.999848744010923,
1011
+ 1.3483995409124412
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 640.948486328125,
1022
+ "fy": 640.9485054016113,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9999983358448645,
1032
+ -0.0007597772552072035,
1033
+ -0.0016586277533007275,
1034
+ -0.10267300164495136
1035
+ ],
1036
+ [
1037
+ 0.0007301977081271175,
1038
+ 0.9998419749671372,
1039
+ -0.01776209180028576,
1040
+ -0.12304636122163515
1041
+ ],
1042
+ [
1043
+ 0.0016718608819502644,
1044
+ 0.017760851115225375,
1045
+ 0.9998408658625904,
1046
+ 1.3887967559073555
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 640.948486328125,
1057
+ "fy": 640.9485054016113,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9999952845260027,
1067
+ -0.0007020016162752823,
1068
+ 0.0029896687926529615,
1069
+ -0.10201774821244905
1070
+ ],
1071
+ [
1072
+ 0.0007595873116962658,
1073
+ 0.9998133682544682,
1074
+ -0.019304188321999653,
1075
+ -0.12913870704555916
1076
+ ],
1077
+ [
1078
+ -0.0029755592541447,
1079
+ 0.019306368208082656,
1080
+ 0.9998091868920486,
1081
+ 1.4380986448975432
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 640.948486328125,
1092
+ "fy": 640.9485054016113,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9999794685629181,
1102
+ -0.001258565581523185,
1103
+ 0.0062831891027509326,
1104
+ -0.09865887000599086
1105
+ ],
1106
+ [
1107
+ 0.0013779667142898467,
1108
+ 0.9998178636569894,
1109
+ -0.019035249410185567,
1110
+ -0.13064581506662068
1111
+ ],
1112
+ [
1113
+ -0.0062580875959219445,
1114
+ 0.01904351661460314,
1115
+ 0.9997990702209074,
1116
+ 1.4779760658304897
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 640.948486328125,
1127
+ "fy": 640.9485054016113,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.999963108205158,
1137
+ -0.001987573567857316,
1138
+ 0.0083565411500051,
1139
+ -0.09395578503487251
1140
+ ],
1141
+ [
1142
+ 0.002143228914605613,
1143
+ 0.9998236037223799,
1144
+ -0.018659260687736868,
1145
+ -0.1353663561897155
1146
+ ],
1147
+ [
1148
+ -0.008317980433913755,
1149
+ 0.018676482294738454,
1150
+ 0.9997909782602538,
1151
+ 1.5186308635541679
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 640.948486328125,
1162
+ "fy": 640.9485054016113,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9999457540287494,
1172
+ -0.002766507354167767,
1173
+ 0.010041684964957354,
1174
+ -0.09063755546567083
1175
+ ],
1176
+ [
1177
+ 0.0029367127291913906,
1178
+ 0.9998516032115848,
1179
+ -0.016974901283069076,
1180
+ -0.14549351830091703
1181
+ ],
1182
+ [
1183
+ -0.009993233621922394,
1184
+ 0.017003470007121213,
1185
+ 0.9998054897276244,
1186
+ 1.5653172551755252
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 640.948486328125,
1197
+ "fy": 640.9485054016113,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9999309644604072,
1207
+ -0.0028826429871467696,
1208
+ 0.011391079083607604,
1209
+ -0.08972198123831723
1210
+ ],
1211
+ [
1212
+ 0.0030713656531304863,
1213
+ 0.9998577426157291,
1214
+ -0.016584970437223245,
1215
+ -0.1481344645202804
1216
+ ],
1217
+ [
1218
+ -0.011341650069770245,
1219
+ 0.016618811653889464,
1220
+ 0.9997975705476123,
1221
+ 1.5999028332910574
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 640.948486328125,
1232
+ "fy": 640.9485054016113,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.9999120569280813,
1242
+ -0.0024585894154528273,
1243
+ 0.013032027775434489,
1244
+ -0.08911395225539312
1245
+ ],
1246
+ [
1247
+ 0.0026848605508993494,
1248
+ 0.9998454605232887,
1249
+ -0.01737373289753953,
1250
+ -0.15294885825335525
1251
+ ],
1252
+ [
1253
+ -0.012987298936872789,
1254
+ 0.017407194175370316,
1255
+ 0.9997641320117787,
1256
+ 1.642985322440724
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 640.948486328125,
1267
+ "fy": 640.9485054016113,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.9998937912214274,
1277
+ -0.0019826327415763878,
1278
+ 0.014438678757178285,
1279
+ -0.08697047827625701
1280
+ ],
1281
+ [
1282
+ 0.0022406052542741804,
1283
+ 0.9998377624262794,
1284
+ -0.01787256317672077,
1285
+ -0.1605282039033752
1286
+ ],
1287
+ [
1288
+ -0.014400901532038927,
1289
+ 0.01790301633310392,
1290
+ 0.9997360131760992,
1291
+ 1.6746524630232125
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 640.948486328125,
1302
+ "fy": 640.9485054016113,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9998684352659823,
1312
+ -0.002291211319189149,
1313
+ 0.0160580979398781,
1314
+ -0.08121527889877478
1315
+ ],
1316
+ [
1317
+ 0.002585552959719247,
1318
+ 0.9998285920727583,
1319
+ -0.01833306820197372,
1320
+ -0.1611670039132876
1321
+ ],
1322
+ [
1323
+ -0.016013340521214954,
1324
+ 0.018372175279387917,
1325
+ 0.9997029739381869,
1326
+ 1.7130472967420427
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 640.948486328125,
1337
+ "fy": 640.9485054016113,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.9998460157293018,
1347
+ -0.002785539507991857,
1348
+ 0.017325865054601222,
1349
+ -0.07508690382980386
1350
+ ],
1351
+ [
1352
+ 0.003106732564623493,
1353
+ 0.999823308413387,
1354
+ -0.01853915224817911,
1355
+ -0.16192864569600185
1356
+ ],
1357
+ [
1358
+ -0.0172711621789833,
1359
+ 0.01859012433951621,
1360
+ 0.9996780052767134,
1361
+ 1.7449336743512682
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 640.948486328125,
1372
+ "fy": 640.9485054016113,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.999834793375508,
1382
+ -0.0033375366211821455,
1383
+ 0.017867478978801365,
1384
+ -0.06807862504351475
1385
+ ],
1386
+ [
1387
+ 0.0036672810394870066,
1388
+ 0.999822981796889,
1389
+ -0.018454162689093716,
1390
+ -0.17037000189377158
1391
+ ],
1392
+ [
1393
+ -0.01780272466599031,
1394
+ 0.01851663900605041,
1395
+ 0.9996700441017461,
1396
+ 1.7863475192201932
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 640.948486328125,
1407
+ "fy": 640.9485054016113,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.999857240314545,
1417
+ -0.003577957067093599,
1418
+ 0.016513546372849113,
1419
+ -0.06349939783255709
1420
+ ],
1421
+ [
1422
+ 0.0038825482935766187,
1423
+ 0.9998222480812033,
1424
+ -0.018449879690582042,
1425
+ -0.17379258471352754
1426
+ ],
1427
+ [
1428
+ -0.01644459818086926,
1429
+ 0.018511360432851533,
1430
+ 0.9996934053626616,
1431
+ 1.8195904265993628
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 640.948486328125,
1442
+ "fy": 640.9485054016113,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9998859844609845,
1452
+ -0.00361418185620302,
1453
+ 0.014661369922294009,
1454
+ -0.060313171675037476
1455
+ ],
1456
+ [
1457
+ 0.0038813893035928087,
1458
+ 0.9998261409654495,
1459
+ -0.018237945586368643,
1460
+ -0.17358401419923428
1461
+ ],
1462
+ [
1463
+ -0.014592905658641457,
1464
+ 0.018292772661564486,
1465
+ 0.9997261732958633,
1466
+ 1.8542144460191021
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 640.948486328125,
1477
+ "fy": 640.9485054016113,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.9999165425387379,
1487
+ -0.003067866943907046,
1488
+ 0.01254974700109062,
1489
+ -0.0565889248988244
1490
+ ],
1491
+ [
1492
+ 0.0032913696608074285,
1493
+ 0.9998356577977879,
1494
+ -0.01782762692623427,
1495
+ -0.1793815103086885
1496
+ ],
1497
+ [
1498
+ -0.012492991760695953,
1499
+ 0.01786744493428087,
1500
+ 0.9997623115362911,
1501
+ 1.8984865071053945
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 640.948486328125,
1512
+ "fy": 640.9485054016113,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9999106697947777,
1522
+ -0.002749699269452827,
1523
+ 0.013080198182225595,
1524
+ -0.05046802875975048
1525
+ ],
1526
+ [
1527
+ 0.0029821628200128155,
1528
+ 0.9998373693199193,
1529
+ -0.01778599494934373,
1530
+ -0.18468770559781184
1531
+ ],
1532
+ [
1533
+ -0.013029164803380929,
1534
+ 0.017823413403462256,
1535
+ 0.9997562536934568,
1536
+ 1.9322512237389462
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 640.948486328125,
1547
+ "fy": 640.9485054016113,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.9998868968211176,
1557
+ -0.003202281155520018,
1558
+ 0.014694861715468724,
1559
+ -0.04185110444567921
1560
+ ],
1561
+ [
1562
+ 0.0034628878583750048,
1563
+ 0.999836574840697,
1564
+ -0.017743506375673894,
1565
+ -0.18333295604816235
1566
+ ],
1567
+ [
1568
+ -0.014635640509252269,
1569
+ 0.017792386186913284,
1570
+ 0.9997345792862522,
1571
+ 1.9750451486866283
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 640.948486328125,
1582
+ "fy": 640.9485054016113,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9999021030038917,
1592
+ -0.0034784505241418117,
1593
+ 0.013553036203954791,
1594
+ -0.034514389852043345
1595
+ ],
1596
+ [
1597
+ 0.0037206483713151436,
1598
+ 0.9998331039699871,
1599
+ -0.0178863350476806,
1600
+ -0.18656505052075162
1601
+ ],
1602
+ [
1603
+ -0.01348855752449615,
1604
+ 0.01793501011128666,
1605
+ 0.9997481654037762,
1606
+ 2.0122116051738463
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 640.948486328125,
1617
+ "fy": 640.9485054016113,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9999296353376627,
1627
+ -0.0038258031027149477,
1628
+ 0.011228873679411165,
1629
+ -0.029062330957275076
1630
+ ],
1631
+ [
1632
+ 0.0040234280603016785,
1633
+ 0.9998364804240042,
1634
+ -0.01763021383827781,
1635
+ -0.19560009657487878
1636
+ ],
1637
+ [
1638
+ -0.011159587811944186,
1639
+ 0.017674151859681474,
1640
+ 0.9997815201112232,
1641
+ 2.056757602971187
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 640.948486328125,
1652
+ "fy": 640.9485054016113,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9999492351301961,
1662
+ -0.0035423174096900698,
1663
+ 0.00943287601452426,
1664
+ -0.02675309724086461
1665
+ ],
1666
+ [
1667
+ 0.0037080444972276937,
1668
+ 0.9998380568681707,
1669
+ -0.017609952983690485,
1670
+ -0.19640233573450008
1671
+ ],
1672
+ [
1673
+ -0.009368968382002359,
1674
+ 0.017644036540718697,
1675
+ 0.999800435289967,
1676
+ 2.092032386939455
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 640.948486328125,
1687
+ "fy": 640.9485054016113,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9999778554168947,
1697
+ -0.002568535026188094,
1698
+ 0.006139324364100839,
1699
+ -0.027126288829862268
1700
+ ],
1701
+ [
1702
+ 0.0026765388249576825,
1703
+ 0.9998406592897112,
1704
+ -0.017649140801585226,
1705
+ -0.1998092444344894
1706
+ ],
1707
+ [
1708
+ -0.0060930136834649725,
1709
+ 0.01766518210873953,
1710
+ 0.9998253930188602,
1711
+ 2.138427698785234
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 640.948486328125,
1722
+ "fy": 640.9485054016113,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.9999943704455764,
1732
+ -0.0017483149808415676,
1733
+ 0.0028639957896932893,
1734
+ -0.02509399523673607
1735
+ ],
1736
+ [
1737
+ 0.0017987483785684168,
1738
+ 0.9998416793507962,
1739
+ -0.017702563013602332,
1740
+ -0.20742821451051818
1741
+ ],
1742
+ [
1743
+ -0.0028325927039045745,
1744
+ 0.017707614963843342,
1745
+ 0.9998391954663841,
1746
+ 2.1740773364738137
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 640.948486328125,
1757
+ "fy": 640.9485054016113,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9999986481522626,
1767
+ -0.0015063308439607695,
1768
+ 0.0006592882798986433,
1769
+ -0.020411804520036887
1770
+ ],
1771
+ [
1772
+ 0.0015178728286172867,
1773
+ 0.9998391463138685,
1774
+ -0.01787113763673184,
1775
+ -0.2095848852591376
1776
+ ],
1777
+ [
1778
+ -0.0006322623851097209,
1779
+ 0.017872114193441143,
1780
+ 0.9998400811022397,
1781
+ 2.2102049813302775
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 640.948486328125,
1792
+ "fy": 640.9485054016113,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.9999971022667229,
1802
+ -0.0018086907653648936,
1803
+ -0.001588740341591123,
1804
+ -0.01320901070521989
1805
+ ],
1806
+ [
1807
+ 0.0017798396749222204,
1808
+ 0.9998368130203086,
1809
+ -0.01797719388904525,
1810
+ -0.20968489583941646
1811
+ ],
1812
+ [
1813
+ 0.001620996264427555,
1814
+ 0.017974314092839172,
1815
+ 0.9998371349394876,
1816
+ 2.258926992098555
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 640.948486328125,
1827
+ "fy": 640.9485054016113,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.9999923894038892,
1837
+ -0.0021266613812680876,
1838
+ -0.0032708478518201946,
1839
+ -0.0083587024242857
1840
+ ],
1841
+ [
1842
+ 0.002068541055672994,
1843
+ 0.9998417143221187,
1844
+ -0.017671090495720635,
1845
+ -0.21614195388592622
1846
+ ],
1847
+ [
1848
+ 0.003307910549172865,
1849
+ 0.017664190125119685,
1850
+ 0.9998385040170349,
1851
+ 2.2983455854987356
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 640.948486328125,
1862
+ "fy": 640.9485054016113,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9999815212269496,
1872
+ -0.00251733254332812,
1873
+ -0.005533555954566739,
1874
+ -0.004875526944895028
1875
+ ],
1876
+ [
1877
+ 0.002421440822370031,
1878
+ 0.9998479639170826,
1879
+ -0.017268053602196545,
1880
+ -0.22047043064676108
1881
+ ],
1882
+ [
1883
+ 0.005576184087687546,
1884
+ 0.017254335331471745,
1885
+ 0.9998355835252563,
1886
+ 2.344884583787752
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 640.948486328125,
1897
+ "fy": 640.9485054016113,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.9999715318424743,
1907
+ -0.0021012967163993633,
1908
+ -0.007247072286459664,
1909
+ -0.004594240944641559
1910
+ ],
1911
+ [
1912
+ 0.0019759187927622527,
1913
+ 0.9998490054439799,
1914
+ -0.017264473858439208,
1915
+ -0.21858234554469821
1916
+ ],
1917
+ [
1918
+ 0.0072822558002264256,
1919
+ 0.017249662744354483,
1920
+ 0.999824693576662,
1921
+ 2.383911163867322
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 640.948486328125,
1932
+ "fy": 640.9485054016113,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9999545943735283,
1942
+ -0.0012185253099462042,
1943
+ -0.009451157989456518,
1944
+ -0.0029167609486541735
1945
+ ],
1946
+ [
1947
+ 0.0010539946794511812,
1948
+ 0.9998481573617298,
1949
+ -0.017394002287261873,
1950
+ -0.227790284744864
1951
+ ],
1952
+ [
1953
+ 0.009470917932720983,
1954
+ 0.017383251031455625,
1955
+ 0.9998040429489616,
1956
+ 2.4307499915514805
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 640.948486328125,
1967
+ "fy": 640.9485054016113,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.9999369908915714,
1977
+ -0.0009868386484743002,
1978
+ -0.011182146314172301,
1979
+ 0.00207045995313368
1980
+ ],
1981
+ [
1982
+ 0.0007873555633008081,
1983
+ 0.9998407263304431,
1984
+ -0.01782980768907122,
1985
+ -0.23141422402677236
1986
+ ],
1987
+ [
1988
+ 0.011197960436017758,
1989
+ 0.017819879923675168,
1990
+ 0.9997785042506062,
1991
+ 2.465061367061655
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 640.948486328125,
2002
+ "fy": 640.9485054016113,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9999097432552595,
2012
+ -0.0014765067475892406,
2013
+ -0.013353848547346215,
2014
+ 0.009919205020145684
2015
+ ],
2016
+ [
2017
+ 0.0012298858751950191,
2018
+ 0.999828888608179,
2019
+ -0.018457542774370315,
2020
+ -0.23103519254590674
2021
+ ],
2022
+ [
2023
+ 0.013378816238185386,
2024
+ 0.01843945314693572,
2025
+ 0.9997404632421891,
2026
+ 2.5123192798175706
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 640.948486328125,
2037
+ "fy": 640.9485054016113,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.999883444961478,
2047
+ -0.0020258091768474646,
2048
+ -0.015132501086934877,
2049
+ 0.016481201750831245
2050
+ ],
2051
+ [
2052
+ 0.0017459459715758968,
2053
+ 0.9998276216537227,
2054
+ -0.018484551683083432,
2055
+ -0.2374661126458598
2056
+ ],
2057
+ [
2058
+ 0.015167338745851975,
2059
+ 0.018455976686137347,
2060
+ 0.999714623660137,
2061
+ 2.551582800741333
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 640.948486328125,
2072
+ "fy": 640.9485054016113,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.999821118703292,
2082
+ -0.0022874951168031493,
2083
+ -0.018774929054145562,
2084
+ 0.022323827090756726
2085
+ ],
2086
+ [
2087
+ 0.001947272482229516,
2088
+ 0.9998339333309987,
2089
+ -0.01811943403486676,
2090
+ -0.24379907834434636
2091
+ ],
2092
+ [
2093
+ 0.0188132592810908,
2094
+ 0.018079632904308036,
2095
+ 0.999659536116806,
2096
+ 2.598780050408788
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 640.948486328125,
2107
+ "fy": 640.9485054016113,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9997158790827299,
2117
+ -0.0018536423810248657,
2118
+ -0.02376394579543118,
2119
+ 0.025465375287169287
2120
+ ],
2121
+ [
2122
+ 0.0014226232072921674,
2123
+ 0.9998344152037782,
2124
+ -0.01814161837678656,
2125
+ -0.24426271648819242
2126
+ ],
2127
+ [
2128
+ 0.02379363891999281,
2129
+ 0.018102656822747164,
2130
+ 0.9995529783672814,
2131
+ 2.637899785550341
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 640.948486328125,
2142
+ "fy": 640.9485054016113,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9995373330947787,
2152
+ -0.0011383627368229568,
2153
+ -0.030394471208713695,
2154
+ 0.028453953069318194
2155
+ ],
2156
+ [
2157
+ 0.0005509081951555274,
2158
+ 0.9998130244740012,
2159
+ -0.019329060823312517,
2160
+ -0.2506812096330539
2161
+ ],
2162
+ [
2163
+ 0.030410791669051026,
2164
+ 0.019303373343284254,
2165
+ 0.9993510712095284,
2166
+ 2.677002043695498
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 640.948486328125,
2177
+ "fy": 640.9485054016113,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9992312091318711,
2187
+ -0.00028219474374714757,
2188
+ -0.03920345728358105,
2189
+ 0.033602028762561964
2190
+ ],
2191
+ [
2192
+ -0.0005007488888334672,
2193
+ 0.9998006532432107,
2194
+ -0.019960035696352414,
2195
+ -0.25828547937558805
2196
+ ],
2197
+ [
2198
+ 0.03920127481867516,
2199
+ 0.019964321690854714,
2200
+ 0.9990318743223435,
2201
+ 2.7221149007824557
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 640.948486328125,
2212
+ "fy": 640.9485054016113,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.9989550883761686,
2222
+ -0.00020241933385372674,
2223
+ -0.045702192877087815,
2224
+ 0.03991941456710357
2225
+ ],
2226
+ [
2227
+ -0.0007615731495472266,
2228
+ 0.9997776176190466,
2229
+ -0.02107451812786085,
2230
+ -0.25569496889105675
2231
+ ],
2232
+ [
2233
+ 0.04569629540454174,
2234
+ 0.021087302681873022,
2235
+ 0.9987327842080204,
2236
+ 2.7597973455977423
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 640.948486328125,
2247
+ "fy": 640.9485054016113,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9986014612128589,
2257
+ -0.0004833136511398653,
2258
+ -0.05286670097006115,
2259
+ 0.048526151516931855
2260
+ ],
2261
+ [
2262
+ -0.0007930351069083551,
2263
+ 0.9997087768887207,
2264
+ -0.024119131555202105,
2265
+ -0.25914101292732133
2266
+ ],
2267
+ [
2268
+ 0.052862962070455856,
2269
+ 0.02412732516406568,
2270
+ 0.9983102621037034,
2271
+ 2.811638787824677
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 640.948486328125,
2282
+ "fy": 640.9485054016113,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9983285518235718,
2292
+ -0.0005851193381610244,
2293
+ -0.05779065884042264,
2294
+ 0.05306276417343495
2295
+ ],
2296
+ [
2297
+ -0.0007915722520210132,
2298
+ 0.999716515075935,
2299
+ -0.02379627907463533,
2300
+ -0.26534179966369814
2301
+ ],
2302
+ [
2303
+ 0.05778819972295243,
2304
+ 0.023802250309334347,
2305
+ 0.9980450775656339,
2306
+ 2.8508769182950195
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 640.948486328125,
2317
+ "fy": 640.9485054016113,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9977123904251132,
2327
+ -0.0003374516949518995,
2328
+ -0.06760082927420837,
2329
+ 0.0564959245288533
2330
+ ],
2331
+ [
2332
+ -0.0012685660445808376,
2333
+ 0.9997180016767978,
2334
+ -0.023713031513094722,
2335
+ -0.2647669470699782
2336
+ ],
2337
+ [
2338
+ 0.06758976795638248,
2339
+ 0.023744541471758536,
2340
+ 0.9974306091242131,
2341
+ 2.899881387110026
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 640.948486328125,
2352
+ "fy": 640.9485054016113,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9969925521635313,
2362
+ 0.0005581100619461881,
2363
+ -0.0774954156296165,
2364
+ 0.05865451562307905
2365
+ ],
2366
+ [
2367
+ -0.0024181101619846577,
2368
+ 0.9997111987776742,
2369
+ -0.02390965875436157,
2370
+ -0.26667737385954954
2371
+ ],
2372
+ [
2373
+ 0.07745969063772952,
2374
+ 0.02402514415491126,
2375
+ 0.9967059690674291,
2376
+ 2.9401557327701924
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 640.948486328125,
2387
+ "fy": 640.9485054016113,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9961652662719439,
2397
+ 0.0016415378734078625,
2398
+ -0.0874760974595753,
2399
+ 0.06284748926850153
2400
+ ],
2401
+ [
2402
+ -0.0037657388986349497,
2403
+ 0.9997018879884784,
2404
+ -0.024123730284082056,
2405
+ -0.27225345629300396
2406
+ ],
2407
+ [
2408
+ 0.08741041976729236,
2409
+ 0.024360634344819467,
2410
+ 0.9958744790436311,
2411
+ 2.9876268871562135
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 640.948486328125,
2422
+ "fy": 640.9485054016113,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9957009574875786,
2432
+ 0.0018276746789325639,
2433
+ -0.09260811445865506,
2434
+ 0.06782037945945901
2435
+ ],
2436
+ [
2437
+ -0.0041140549549594525,
2438
+ 0.9996912695739203,
2439
+ -0.024503879070689343,
2440
+ -0.2712875941451725
2441
+ ],
2442
+ [
2443
+ 0.09253473839670669,
2444
+ 0.024779530725003295,
2445
+ 0.9954010734607943,
2446
+ 3.0264401264149408
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 640.948486328125,
2457
+ "fy": 640.9485054016113,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.995181097551811,
2467
+ 0.0018826738052487642,
2468
+ -0.09803590472330025,
2469
+ 0.07481926612435696
2470
+ ],
2471
+ [
2472
+ -0.0043338981010643445,
2473
+ 0.9996831280564082,
2474
+ -0.024796386966745833,
2475
+ -0.2733237033448786
2476
+ ],
2477
+ [
2478
+ 0.09795815638742168,
2479
+ 0.02510177321820197,
2480
+ 0.9948739118996334,
2481
+ 3.0785720135231176
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 640.948486328125,
2492
+ "fy": 640.9485054016113,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9946133222557811,
2502
+ 0.0016135618488005282,
2503
+ -0.10364234467377492,
2504
+ 0.07684544750927597
2505
+ ],
2506
+ [
2507
+ -0.004155845237219647,
2508
+ 0.999695632362999,
2509
+ -0.024318132837612166,
2510
+ -0.28125541743019455
2511
+ ],
2512
+ [
2513
+ 0.10357156048685248,
2514
+ 0.02461786043716163,
2515
+ 0.9943172998624809,
2516
+ 3.12100625024696
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 640.948486328125,
2527
+ "fy": 640.9485054016113,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9938524020498474,
2537
+ 0.002257607821665836,
2538
+ -0.11069013572433731,
2539
+ 0.07653558949636788
2540
+ ],
2541
+ [
2542
+ -0.004796851185430969,
2543
+ 0.9997312865284268,
2544
+ -0.02267917447619184,
2545
+ -0.2812657346661116
2546
+ ],
2547
+ [
2548
+ 0.11060919111201153,
2549
+ 0.02307071613843565,
2550
+ 0.9935961699294167,
2551
+ 3.161184375592885
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 640.948486328125,
2562
+ "fy": 640.9485054016113,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.9924865840017482,
2572
+ 0.003520107183548351,
2573
+ -0.12230285941856557,
2574
+ 0.07325158391281532
2575
+ ],
2576
+ [
2577
+ -0.006338490643670466,
2578
+ 0.99972307044382,
2579
+ -0.022662876223926525,
2580
+ -0.2828462599995182
2581
+ ],
2582
+ [
2583
+ 0.12218921438859152,
2584
+ 0.023267816137257997,
2585
+ 0.9922340472989736,
2586
+ 3.2123100492530945
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 640.948486328125,
2597
+ "fy": 640.9485054016113,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.9912583586609638,
2607
+ 0.004521196603385367,
2608
+ -0.13185759426762467,
2609
+ 0.07021499636234217
2610
+ ],
2611
+ [
2612
+ -0.007596126390365388,
2613
+ 0.9997105850255652,
2614
+ -0.022826411275181712,
2615
+ -0.29030810911794475
2616
+ ],
2617
+ [
2618
+ 0.13171623001222582,
2619
+ 0.02362847792634314,
2620
+ 0.9910058172292686,
2621
+ 3.2518674978361317
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 640.948486328125,
2632
+ "fy": 640.9485054016113,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9893201009271031,
2642
+ 0.005734910872887596,
2643
+ -0.14564631371533868,
2644
+ 0.06612542923571713
2645
+ ],
2646
+ [
2647
+ -0.009252887500632426,
2648
+ 0.9996812911013292,
2649
+ -0.023488301234452738,
2650
+ -0.29311033289033667
2651
+ ],
2652
+ [
2653
+ 0.14546519162496388,
2654
+ 0.02458509750356483,
2655
+ 0.9890578602924366,
2656
+ 3.2996835421603192
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 640.948486328125,
2667
+ "fy": 640.9485054016113,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9874889020206424,
2677
+ 0.005975629392250468,
2678
+ -0.15757525262373226,
2679
+ 0.06233306136075052
2680
+ ],
2681
+ [
2682
+ -0.009928939412626608,
2683
+ 0.9996550842096115,
2684
+ -0.024313139986751667,
2685
+ -0.2951340179586096
2686
+ ],
2687
+ [
2688
+ 0.1573756161170051,
2689
+ 0.025573511046421946,
2690
+ 0.9872076331676899,
2691
+ 3.3414146336568638
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 640.948486328125,
2702
+ "fy": 640.9485054016113,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.984220300129452,
2712
+ 0.0062752607075667825,
2713
+ -0.17683614425830282,
2714
+ 0.052911187672981724
2715
+ ],
2716
+ [
2717
+ -0.01093320192085625,
2718
+ 0.9996181285428636,
2719
+ -0.025378380252112143,
2720
+ -0.30438870728617695
2721
+ ],
2722
+ [
2723
+ 0.17660935962980276,
2724
+ 0.026911302300614864,
2725
+ 0.9839130631817203,
2726
+ 3.391433592759337
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 640.948486328125,
2737
+ "fy": 640.9485054016113,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.9801986224801554,
2747
+ 0.007235287327236911,
2748
+ -0.19788459036847175,
2749
+ 0.04173519539249712
2750
+ ],
2751
+ [
2752
+ -0.012751303091762464,
2753
+ 0.9995644314589134,
2754
+ -0.02661487613499485,
2755
+ -0.30633466978466267
2756
+ ],
2757
+ [
2758
+ 0.19760583179012595,
2759
+ 0.02861115131397956,
2760
+ 0.9798639381378523,
2761
+ 3.4299847663193965
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 640.948486328125,
2772
+ "fy": 640.9485054016113,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.9738912824493655,
2782
+ 0.008599998577941515,
2783
+ -0.22685195611585504,
2784
+ 0.02361592118527818
2785
+ ],
2786
+ [
2787
+ -0.01580157009427515,
2788
+ 0.9994265253378414,
2789
+ -0.029948803543465956,
2790
+ -0.3073465022149271
2791
+ ],
2792
+ [
2793
+ 0.2264643025990766,
2794
+ 0.03275149577635827,
2795
+ 0.9734686739555235,
2796
+ 3.48129220735029
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 640.948486328125,
2807
+ "fy": 640.9485054016113,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.9689504672912345,
2817
+ 0.00964607627024854,
2818
+ -0.2470666815835092,
2819
+ 0.008709251929635495
2820
+ ],
2821
+ [
2822
+ -0.018339073684931935,
2823
+ 0.9992901250023657,
2824
+ -0.03290781744715367,
2825
+ -0.3136411622139726
2826
+ ],
2827
+ [
2828
+ 0.2465738638065219,
2829
+ 0.036417019171605766,
2830
+ 0.9684395336840488,
2831
+ 3.5202421966948974
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 640.948486328125,
2842
+ "fy": 640.9485054016113,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ }
2847
+ ]
2848
+ }
spatialvid_eval/camera_controls/scene_035/orbit_left/transforms.json ADDED
@@ -0,0 +1,2848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 81,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 0.9999999755008188,
17
+ -0.0002198320912991082,
18
+ -2.592708844443234e-05,
19
+ -0.00016600281001606768
20
+ ],
21
+ [
22
+ 0.00021982904934223676,
23
+ 0.9999999689612438,
24
+ -0.00011727191022597567,
25
+ 0.0002378761507749253
26
+ ],
27
+ [
28
+ 2.5952867768963377e-05,
29
+ 0.00011726620782570491,
30
+ 0.9999999927875427,
31
+ -0.00012196656193358196
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 640.948486328125,
42
+ "fy": 640.9485054016113,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9999552806557439,
52
+ 0.0015487508177259696,
53
+ -0.009329419038564143,
54
+ -0.006855394185767477
55
+ ],
56
+ [
57
+ -0.0015332478643913412,
58
+ 0.9999974323744473,
59
+ 0.001668650802068339,
60
+ -0.007292254151883886
61
+ ],
62
+ [
63
+ 0.009331979408403631,
64
+ -0.0016542718692817877,
65
+ 0.9999550877638974,
66
+ 0.0387854590421519
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 640.948486328125,
77
+ "fy": 640.9485054016113,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.9999519874914606,
87
+ 0.0014875230936507737,
88
+ -0.009685555581593173,
89
+ -0.01017205991625627
90
+ ],
91
+ [
92
+ -0.0014624697946577466,
93
+ 0.9999955681469119,
94
+ 0.0025932351676809123,
95
+ -0.007459716111870772
96
+ ],
97
+ [
98
+ 0.00968937015383295,
99
+ -0.00257894582747272,
100
+ 0.9999497313087501,
101
+ 0.09708736758162596
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 640.948486328125,
112
+ "fy": 640.9485054016113,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9999669530280908,
122
+ 0.0007234149642081765,
123
+ -0.008097501003763245,
124
+ -0.014301708217409774
125
+ ],
126
+ [
127
+ -0.0007165918785056931,
128
+ 0.9999993858246825,
129
+ 0.0008454858588304869,
130
+ -0.010844955908571863
131
+ ],
132
+ [
133
+ 0.008098107667600298,
134
+ -0.000839655314627572,
135
+ 0.9999668572663579,
136
+ 0.1513157097011292
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 640.948486328125,
147
+ "fy": 640.9485054016113,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9999777626070181,
157
+ 0.0002276169135815048,
158
+ -0.006665019280027737,
159
+ -0.024435326300110187
160
+ ],
161
+ [
162
+ -0.0002362270569899046,
163
+ 0.9999991386516583,
164
+ -0.0012910819954770978,
165
+ -0.020513340882020455
166
+ ],
167
+ [
168
+ 0.0066647196670254465,
169
+ 0.001292627743068694,
170
+ 0.999976955047104,
171
+ 0.2172394967113368
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 640.948486328125,
182
+ "fy": 640.9485054016113,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.9999870158501928,
192
+ 0.0007937864890595683,
193
+ -0.0050336899026523965,
194
+ -0.036126854523161646
195
+ ],
196
+ [
197
+ -0.0008035306600189792,
198
+ 0.9999978068649603,
199
+ -0.0019340640496706204,
200
+ -0.029644235084667396
201
+ ],
202
+ [
203
+ 0.0050321436291790875,
204
+ 0.0019380836616630722,
205
+ 0.9999854605754105,
206
+ 0.26845572063239215
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 640.948486328125,
217
+ "fy": 640.9485054016113,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.9999906667347908,
227
+ 0.002162406405346935,
228
+ -0.003740379906752254,
229
+ -0.04762510712787331
230
+ ],
231
+ [
232
+ -0.002179996207261265,
233
+ 0.9999865551535706,
234
+ -0.004705011012876198,
235
+ -0.03721174992599884
236
+ ],
237
+ [
238
+ 0.0037301554719673486,
239
+ 0.004713121113771038,
240
+ 0.9999819360516078,
241
+ 0.3289800546324486
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 640.948486328125,
252
+ "fy": 640.9485054016113,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.9999943862878282,
262
+ 0.0027438126123493015,
263
+ -0.0019232486002158573,
264
+ -0.05472351717942442
265
+ ],
266
+ [
267
+ -0.002757316044328512,
268
+ 0.9999713185362425,
269
+ -0.007054028148543466,
270
+ -0.044278391528623014
271
+ ],
272
+ [
273
+ 0.0019038385072289892,
274
+ 0.007059291553482395,
275
+ 0.9999732705436188,
276
+ 0.3779832133961722
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 640.948486328125,
287
+ "fy": 640.9485054016113,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9999967734868127,
297
+ 0.0023773510838008653,
298
+ -0.000895107696904461,
299
+ -0.06386484092705856
300
+ ],
301
+ [
302
+ -0.002384929457776167,
303
+ 0.9999604948048216,
304
+ -0.00856276480923422,
305
+ -0.05300677985738681
306
+ ],
307
+ [
308
+ 0.0008747156373006225,
309
+ 0.008564871950074871,
310
+ 0.9999629382337293,
311
+ 0.43644280484312586
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 640.948486328125,
322
+ "fy": 640.9485054016113,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.999997194846646,
332
+ 0.002185877147710907,
333
+ 0.000912271853634534,
334
+ -0.0725928574080197
335
+ ],
336
+ [
337
+ -0.002176524440348794,
338
+ 0.9999463196984918,
339
+ -0.010130175852493779,
340
+ -0.059083642978115865
341
+ ],
342
+ [
343
+ -0.0009343662025046331,
344
+ 0.010128161853811329,
345
+ 0.9999482723107547,
346
+ 0.48386339596542477
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 640.948486328125,
357
+ "fy": 640.9485054016113,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.999995415130276,
367
+ 0.0017351399638618524,
368
+ 0.0024817348234030387,
369
+ -0.08310218585886162
370
+ ],
371
+ [
372
+ -0.0017088808331198139,
373
+ 0.9999429478868898,
374
+ -0.01054422579309634,
375
+ -0.058437695099431794
376
+ ],
377
+ [
378
+ -0.0024998889427487667,
379
+ 0.010539936460122133,
380
+ 0.9999413284261688,
381
+ 0.5303265928140669
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 640.948486328125,
392
+ "fy": 640.9485054016113,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9999774303876354,
402
+ 0.0024878581304352606,
403
+ 0.00624093560812773,
404
+ -0.09724269241891537
405
+ ],
406
+ [
407
+ -0.0024050308077756717,
408
+ 0.999909399387215,
409
+ -0.013244200387816958,
410
+ -0.06370324450936588
411
+ ],
412
+ [
413
+ -0.006273319867153231,
414
+ 0.013228891828941233,
415
+ 0.9998928151951202,
416
+ 0.5885574559445996
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 640.948486328125,
427
+ "fy": 640.9485054016113,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9999362691946819,
437
+ 0.0029534745952809163,
438
+ 0.010896537837136901,
439
+ -0.10529953749456905
440
+ ],
441
+ [
442
+ -0.0028093638413329227,
443
+ 0.9999087042773256,
444
+ -0.013217056603026316,
445
+ -0.07311706096887156
446
+ ],
447
+ [
448
+ -0.010934579270741833,
449
+ 0.0131856019299697,
450
+ 0.9998532766750914,
451
+ 0.6302625338162108
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 640.948486328125,
462
+ "fy": 640.9485054016113,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.9998716708355798,
472
+ 0.002630782474418637,
473
+ 0.015802558148552647,
474
+ -0.11379681630639665
475
+ ],
476
+ [
477
+ -0.002413387698178163,
478
+ 0.9999024102589179,
479
+ -0.013760287723199857,
480
+ -0.07529454872996846
481
+ ],
482
+ [
483
+ -0.015837216304779647,
484
+ 0.013720384177538696,
485
+ 0.9997804427161677,
486
+ 0.6824588041745483
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 640.948486328125,
497
+ "fy": 640.9485054016113,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9997884002262716,
507
+ 0.0023768488878354245,
508
+ 0.020432947960515414,
509
+ -0.1226225204386836
510
+ ],
511
+ [
512
+ -0.002086167662519456,
513
+ 0.999896491494144,
514
+ -0.014235666552197036,
515
+ -0.07986146848892214
516
+ ],
517
+ [
518
+ -0.020464669004813977,
519
+ 0.014190027733090546,
520
+ 0.9996898721280805,
521
+ 0.725920482901356
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 640.948486328125,
532
+ "fy": 640.9485054016113,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9996745933929483,
542
+ 0.0018670041769457508,
543
+ 0.02544055070250758,
544
+ -0.13471048786476175
545
+ ],
546
+ [
547
+ -0.0015010940242357082,
548
+ 0.9998952675817923,
549
+ -0.014394463667210785,
550
+ -0.08631947788876046
551
+ ],
552
+ [
553
+ -0.02546476077590355,
554
+ 0.014351590954995707,
555
+ 0.9995726976041746,
556
+ 0.7763444690191007
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 640.948486328125,
567
+ "fy": 640.9485054016113,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9995436701054908,
577
+ 0.001802857406130619,
578
+ 0.03015296431893613,
579
+ -0.14616854751050412
580
+ ],
581
+ [
582
+ -0.0013688070741882058,
583
+ 0.9998952423055729,
584
+ -0.01440939908094128,
585
+ -0.08450805955854448
586
+ ],
587
+ [
588
+ -0.030175783655764895,
589
+ 0.01436155005051123,
590
+ 0.9994414279791025,
591
+ 0.8179444941230833
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 640.948486328125,
602
+ "fy": 640.9485054016113,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9993748774838552,
612
+ 0.0025141185015119523,
613
+ 0.035263769825276035,
614
+ -0.1587241505048062
615
+ ],
616
+ [
617
+ -0.0020096171525138267,
618
+ 0.9998952339680572,
619
+ -0.014334661728294062,
620
+ -0.0896038217833636
621
+ ],
622
+ [
623
+ -0.03529611441830412,
624
+ 0.014254834131783209,
625
+ 0.9992752293591819,
626
+ 0.87058613297149
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 640.948486328125,
637
+ "fy": 640.9485054016113,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9992034932993563,
647
+ 0.002357338641613192,
648
+ 0.039834933574596026,
649
+ -0.16371751092811773
650
+ ],
651
+ [
652
+ -0.0017834957314489775,
653
+ 0.9998942205049949,
654
+ -0.014434920979522392,
655
+ -0.09551175987490257
656
+ ],
657
+ [
658
+ -0.039864747852452594,
659
+ 0.014352378034246091,
660
+ 0.9991020023618324,
661
+ 0.9098740625060834
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 640.948486328125,
672
+ "fy": 640.9485054016113,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9989926180953763,
682
+ 0.0013746334183024846,
683
+ 0.044853755404771,
684
+ -0.16873518237822455
685
+ ],
686
+ [
687
+ -0.0007062803185894154,
688
+ 0.9998885431521212,
689
+ -0.014913163354582,
690
+ -0.09391855417023993
691
+ ],
692
+ [
693
+ -0.044869256279297866,
694
+ 0.014866460779020683,
695
+ 0.9988822444036377,
696
+ 0.961302961523254
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 640.948486328125,
707
+ "fy": 640.9485054016113,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9987697972334105,
717
+ 0.0006661308133245048,
718
+ 0.04958274300673803,
719
+ -0.17336213904411474
720
+ ],
721
+ [
722
+ 0.0001365947579876807,
723
+ 0.9998690136029085,
724
+ -0.016184467202202322,
725
+ -0.09832166703999105
726
+ ],
727
+ [
728
+ -0.04958702931417429,
729
+ 0.016171329768655762,
730
+ 0.9986388809861696,
731
+ 1.0037752455903146
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 640.948486328125,
742
+ "fy": 640.9485054016113,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.9985279351196282,
752
+ 0.0003366809949940779,
753
+ 0.054238818494133444,
754
+ -0.1793971678854479
755
+ ],
756
+ [
757
+ 0.000585096250910282,
758
+ 0.9998556919576379,
759
+ -0.01697801290760181,
760
+ -0.10274528593543218
761
+ ],
762
+ [
763
+ -0.05423670757069528,
764
+ 0.01698475510041675,
765
+ 0.9983836425172792,
766
+ 1.0444180317110563
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 640.948486328125,
777
+ "fy": 640.9485054016113,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.9982475038145098,
787
+ 0.00028638167532959595,
788
+ 0.05917633913682531,
789
+ -0.18829062083690604
790
+ ],
791
+ [
792
+ 0.0007181454433932942,
793
+ 0.9998560265528544,
794
+ -0.016953183567102643,
795
+ -0.10057047769940687
796
+ ],
797
+ [
798
+ -0.059172674396402426,
799
+ 0.016965970395877182,
800
+ 0.9981035770165858,
801
+ 1.0946886880461741
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 640.948486328125,
812
+ "fy": 640.9485054016113,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.9979626675354009,
822
+ 0.0006218338567941266,
823
+ 0.06379755111508376,
824
+ -0.19640595586466064
825
+ ],
826
+ [
827
+ 0.00046378481024589275,
828
+ 0.9998553752035406,
829
+ -0.017000399414047677,
830
+ -0.10393342987688588
831
+ ],
832
+ [
833
+ -0.0637988958311738,
834
+ 0.01699535228354835,
835
+ 0.9978180489906371,
836
+ 1.1341358087828057
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 640.948486328125,
847
+ "fy": 640.9485054016113,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9976271385973341,
857
+ 0.0008804979313370295,
858
+ 0.06884269792424799,
859
+ -0.2030662617119087
860
+ ],
861
+ [
862
+ 0.0003049807722546677,
863
+ 0.9998518900247199,
864
+ -0.017207701785094655,
865
+ -0.10952878130398595
866
+ ],
867
+ [
868
+ -0.06884765297978503,
869
+ 0.017187865992877246,
870
+ 0.9974791115315582,
871
+ 1.182520876235795
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 640.948486328125,
882
+ "fy": 640.9485054016113,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9972920473794533,
892
+ 0.0005603605991569754,
893
+ 0.07354086095292361,
894
+ -0.20809105580832693
895
+ ],
896
+ [
897
+ 0.000713778907793164,
898
+ 0.9998501206085002,
899
+ -0.01729817443658979,
900
+ -0.1078223375276218
901
+ ],
902
+ [
903
+ -0.07353953190882523,
904
+ 0.0173038237152027,
905
+ 0.997142173880668,
906
+ 1.2223426320318689
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 640.948486328125,
917
+ "fy": 640.9485054016113,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9969158044937783,
927
+ 0.00013962251307405552,
928
+ 0.07847839993321157,
929
+ -0.21171543733310744
930
+ ],
931
+ [
932
+ 0.0011950959834193177,
933
+ 0.9998554505752413,
934
+ -0.01696023881234336,
935
+ -0.11119015946095245
936
+ ],
937
+ [
938
+ -0.07846942395681056,
939
+ 0.01700171934055924,
940
+ 0.9967715340254012,
941
+ 1.2744317952559998
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 640.948486328125,
952
+ "fy": 640.9485054016113,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9965571904498142,
962
+ -0.0007015203416160514,
963
+ 0.08290521112682528,
964
+ -0.21627041604328023
965
+ ],
966
+ [
967
+ 0.002081436876977278,
968
+ 0.999860719703475,
969
+ -0.016559251630927366,
970
+ -0.1199580863307315
971
+ ],
972
+ [
973
+ -0.08288204741257502,
974
+ 0.016674803245001434,
975
+ 0.9964198498391331,
976
+ 1.3122917458055356
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 640.948486328125,
987
+ "fy": 640.9485054016113,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9961193677275324,
997
+ -0.001027075523548833,
998
+ 0.08800653585938972,
999
+ -0.2255441799500123
1000
+ ],
1001
+ [
1002
+ 0.002521783414298292,
1003
+ 0.9998544343768132,
1004
+ -0.016874556747798152,
1005
+ -0.12064044477277285
1006
+ ],
1007
+ [
1008
+ -0.08797639368894643,
1009
+ 0.017031006220779122,
1010
+ 0.9959769570530211,
1011
+ 1.359880856978637
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 640.948486328125,
1022
+ "fy": 640.9485054016113,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9956556723384928,
1032
+ -0.0007597772552072035,
1033
+ 0.0931085650126035,
1034
+ -0.23276517621898143
1035
+ ],
1036
+ [
1037
+ 0.0024100457435994,
1038
+ 0.9998419749671372,
1039
+ -0.017612971734732644,
1040
+ -0.12336073479575166
1041
+ ],
1042
+ [
1043
+ -0.09308046959323693,
1044
+ 0.017760851115225375,
1045
+ 0.9955001649160915,
1046
+ 1.4009292161426437
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 640.948486328125,
1057
+ "fy": 640.9485054016113,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9948869951189074,
1067
+ -0.0007020016162752823,
1068
+ 0.10099195085254083,
1069
+ -0.23653605419002338
1070
+ ],
1071
+ [
1072
+ 0.0026480710268798223,
1073
+ 0.9998133682544682,
1074
+ -0.019136780802734753,
1075
+ -0.12948758029309185
1076
+ ],
1077
+ [
1078
+ -0.10095966849741472,
1079
+ 0.019306368208082656,
1080
+ 0.9947031765725424,
1081
+ 1.4512744046133546
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 640.948486328125,
1092
+ "fy": 640.9485054016113,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9942018926391758,
1102
+ -0.001258565581523185,
1103
+ 0.10752214974300744,
1104
+ -0.23761543363352494
1105
+ ],
1106
+ [
1107
+ 0.0032986454518130434,
1108
+ 0.9998178636569894,
1109
+ -0.018797831006711757,
1110
+ -0.13108874736618042
1111
+ ],
1112
+ [
1113
+ -0.10747890774874828,
1114
+ 0.01904351661460314,
1115
+ 0.9940249639038676,
1116
+ 1.4920472945118926
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 640.948486328125,
1127
+ "fy": 640.9485054016113,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.9936117092659006,
1137
+ -0.001987573567857316,
1138
+ 0.11283537016825751,
1139
+ -0.23736421119053475
1140
+ ],
1141
+ [
1142
+ 0.004081911927761335,
1143
+ 0.9998236037223799,
1144
+ -0.018333014880464255,
1145
+ -0.13592828828674205
1146
+ ],
1147
+ [
1148
+ -0.1127790282131804,
1149
+ 0.018676482294738454,
1150
+ 0.9934445529592404,
1151
+ 1.5334515440599041
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 640.948486328125,
1162
+ "fy": 640.9485054016113,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9930382546173457,
1172
+ -0.002766507354167767,
1173
+ 0.11775980342882433,
1174
+ -0.23850124059571204
1175
+ ],
1176
+ [
1177
+ 0.004749201585602645,
1178
+ 0.9998516032115848,
1179
+ -0.01655948790038642,
1180
+ -0.1461667819052301
1181
+ ],
1182
+ [
1183
+ -0.11769651630713342,
1184
+ 0.017003470007121213,
1185
+ 0.9929040296306999,
1186
+ 1.580849244923454
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 640.948486328125,
1197
+ "fy": 640.9485054016113,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9924830414198494,
1207
+ -0.00288264298714677,
1208
+ 0.1223482850857131,
1209
+ -0.2420445874355046
1210
+ ],
1211
+ [
1212
+ 0.004893891056936274,
1213
+ 0.9998577426157294,
1214
+ -0.016141386610252474,
1215
+ -0.14884301757343676
1216
+ ],
1217
+ [
1218
+ -0.12228435028379189,
1219
+ 0.016618811653889468,
1220
+ 0.9923559607191786,
1221
+ 1.6161110056516321
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 640.948486328125,
1232
+ "fy": 640.9485054016113,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.9918710212681485,
1242
+ -0.0024585894154528273,
1243
+ 0.12722355326969204,
1244
+ -0.2458892045757956
1245
+ ],
1246
+ [
1247
+ 0.0046528599542723275,
1248
+ 0.9998454605232887,
1249
+ -0.016953051796616204,
1250
+ -0.15362933468104628
1251
+ ],
1252
+ [
1253
+ -0.12716221161463762,
1254
+ 0.017407194175370316,
1255
+ 0.9917291775117919,
1256
+ 1.659928046712588
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 640.948486328125,
1267
+ "fy": 640.9485054016113,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.9912658996432256,
1277
+ -0.0019826327415763878,
1278
+ 0.13186351038827596,
1279
+ -0.24820050547110456
1280
+ ],
1281
+ [
1282
+ 0.004325768964199703,
1283
+ 0.9998377624262794,
1284
+ -0.01748532382541779,
1285
+ -0.16116403800043527
1286
+ ],
1287
+ [
1288
+ -0.13180745019677492,
1289
+ 0.01790301633310392,
1290
+ 0.9911136554799364,
1291
+ 1.6923070863646827
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 640.948486328125,
1302
+ "fy": 640.9485054016113,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9906082958518144,
1312
+ -0.002291211319189149,
1313
+ 0.1367112085392235,
1314
+ -0.24689418912139943
1315
+ ],
1316
+ [
1317
+ 0.004781011281548112,
1318
+ 0.9998285920727583,
1319
+ -0.017886542565052718,
1320
+ -0.16188500269330713
1321
+ ],
1322
+ [
1323
+ -0.1366467933055509,
1324
+ 0.018372175279387917,
1325
+ 0.9904494520442796,
1326
+ 1.731459396003006
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 640.948486328125,
1337
+ "fy": 640.9485054016113,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.989976112747389,
1347
+ -0.0027855395079918574,
1348
+ 0.14120742529774674,
1349
+ -0.2452192821668469
1350
+ ],
1351
+ [
1352
+ 0.005382235682156145,
1353
+ 0.9998233084133872,
1354
+ -0.01801064941558138,
1355
+ -0.16275821472153473
1356
+ ],
1357
+ [
1358
+ -0.14113230575821764,
1359
+ 0.018590124339516213,
1360
+ 0.9898161847274526,
1361
+ 1.7640573757169113
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 640.948486328125,
1372
+ "fy": 640.9485054016113,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.9894286441863543,
1382
+ -0.0033375366211821455,
1383
+ 0.14498213308147734,
1384
+ -0.242677211333943
1385
+ ],
1386
+ [
1387
+ 0.00598631827798843,
1388
+ 0.999822981796889,
1389
+ -0.017837294196506967,
1390
+ -0.17131804344888285
1391
+ ],
1392
+ [
1393
+ -0.14489693598219242,
1394
+ 0.01851663900605041,
1395
+ 0.9892734768621326,
1396
+ 1.8060673268282839
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 640.948486328125,
1407
+ "fy": 640.9485054016113,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.9891478726891577,
1417
+ -0.0035779570670936,
1418
+ 0.14687982903632604,
1419
+ -0.24260196521296443
1420
+ ],
1421
+ [
1422
+ 0.006257525097631934,
1423
+ 0.9998222480812036,
1424
+ -0.017785264167321582,
1425
+ -0.17480348305192167
1426
+ ],
1427
+ [
1428
+ -0.1467900859532647,
1429
+ 0.018511360432851537,
1430
+ 0.988994438912959,
1431
+ 1.83957260748354
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 640.948486328125,
1442
+ "fy": 640.9485054016113,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9889381653595353,
1452
+ -0.00361418185620302,
1453
+ 0.1482843308810038,
1454
+ -0.24393093372121988
1455
+ ],
1456
+ [
1457
+ 0.00628619463307958,
1458
+ 0.9998261409654495,
1459
+ -0.017554816979177813,
1460
+ -0.174616270855668
1461
+ ],
1462
+ [
1463
+ -0.1481951040093827,
1464
+ 0.018292772661564486,
1465
+ 0.988788948975463,
1466
+ 1.874356237099153
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 640.948486328125,
1477
+ "fy": 640.9485054016113,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.988767199817084,
1487
+ -0.003067866943907046,
1488
+ 0.1494323015893738,
1489
+ -0.24472870017505022
1490
+ ],
1491
+ [
1492
+ 0.0057029347858578786,
1493
+ 0.9998356577977879,
1494
+ -0.01720854238142583,
1495
+ -0.18032045589083048
1496
+ ],
1497
+ [
1498
+ -0.14935495003752414,
1499
+ 0.01786744493428087,
1500
+ 0.9886221994831036,
1501
+ 1.9187246260800572
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 640.948486328125,
1512
+ "fy": 640.9485054016113,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9881926779865137,
1522
+ -0.002749699269452827,
1523
+ 0.15319161311171708,
1524
+ -0.24307647470322083
1525
+ ],
1526
+ [
1527
+ 0.0054472294154352075,
1528
+ 0.9998373693199193,
1529
+ -0.01719193424599934,
1530
+ -0.18558860929241866
1531
+ ],
1532
+ [
1533
+ -0.15311942680645738,
1534
+ 0.017823413403462256,
1535
+ 0.9880469457819863,
1536
+ 1.9530745008814145
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 640.948486328125,
1547
+ "fy": 640.9485054016113,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.9874308498644851,
1557
+ -0.003202281155520018,
1558
+ 0.15801918279532287,
1559
+ -0.23890386488709803
1560
+ ],
1561
+ [
1562
+ 0.005973114024604475,
1563
+ 0.999836574840697,
1564
+ -0.017062986833269678,
1565
+ -0.1843488860363811
1566
+ ],
1567
+ [
1568
+ -0.15793871800400852,
1569
+ 0.017792386186913284,
1570
+ 0.987288606411026,
1571
+ 1.9966693206359085
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 640.948486328125,
1582
+ "fy": 640.9485054016113,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9870910291233175,
1592
+ -0.0034784505241418117,
1593
+ 0.16012245503432937,
1594
+ -0.2360705763253816
1595
+ ],
1596
+ [
1597
+ 0.0063048483985574,
1598
+ 0.9998331039699871,
1599
+ -0.0171468099777208,
1600
+ -0.1876588326613152
1601
+ ],
1602
+ [
1603
+ -0.16003608690211385,
1604
+ 0.01793501011128666,
1605
+ 0.9869482186525121,
1606
+ 2.0340959736659174
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 640.948486328125,
1617
+ "fy": 640.9485054016113,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9869375131587668,
1627
+ -0.0038258031027149477,
1628
+ 0.16105808998807988,
1629
+ -0.23514876079658897
1630
+ ],
1631
+ [
1632
+ 0.006621873241647949,
1633
+ 0.9998364804240042,
1634
+ -0.016827453999680768,
1635
+ -0.1967756366854042
1636
+ ],
1637
+ [
1638
+ -0.16096737531177155,
1639
+ 0.017674151859681474,
1640
+ 0.9868014635382742,
1641
+ 2.0786484290243963
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 640.948486328125,
1652
+ "fy": 640.9485054016113,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9866996859068694,
1662
+ -0.0035423174096900698,
1663
+ 0.16251517411815672,
1664
+ -0.23735975193450856
1665
+ ],
1666
+ [
1667
+ 0.006362140954113488,
1668
+ 0.9998380568681707,
1669
+ -0.016833989442826734,
1670
+ -0.19753654066433662
1671
+ ],
1672
+ [
1673
+ -0.16242922456801234,
1674
+ 0.017644036540718697,
1675
+ 0.9865624333922232,
1676
+ 2.114022005512552
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 640.948486328125,
1687
+ "fy": 640.9485054016113,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9867060667259907,
1697
+ -0.002568535026188094,
1698
+ 0.1624947399577733,
1699
+ -0.24228743290956622
1700
+ ],
1701
+ [
1702
+ 0.0054045200902766094,
1703
+ 0.9998406592897112,
1704
+ -0.01701314767200599,
1705
+ -0.20074630823141326
1706
+ ],
1707
+ [
1708
+ -0.16242514906478897,
1709
+ 0.01766518210873953,
1710
+ 0.9865627259796238,
1711
+ 2.1601804068696477
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 640.948486328125,
1722
+ "fy": 640.9485054016113,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.9867082826631041,
1732
+ -0.001748314980841568,
1733
+ 0.1624921792541303,
1734
+ -0.24480965028967988
1735
+ ],
1736
+ [
1737
+ 0.004602166768885173,
1738
+ 0.9998416793507964,
1739
+ -0.01718826035442019,
1740
+ -0.20819299755750267
1741
+ ],
1742
+ [
1743
+ -0.16243640289374797,
1744
+ 0.017707614963843345,
1745
+ 0.9865601124043242,
1746
+ 2.1955669495898946
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 640.948486328125,
1757
+ "fy": 640.9485054016113,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9865346032168654,
1767
+ -0.0015063308439607695,
1768
+ 0.16354573556999527,
1769
+ -0.24465936410155664
1770
+ ],
1771
+ [
1772
+ 0.004408726530743344,
1773
+ 0.9998391463138685,
1774
+ -0.017385184173082196,
1775
+ -0.21030587646363602
1776
+ ],
1777
+ [
1778
+ -0.16349324079642988,
1779
+ 0.017872114193441143,
1780
+ 0.9863825564901975,
1781
+ 2.231639726575221
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 640.948486328125,
1792
+ "fy": 640.9485054016113,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.9863660452108473,
1802
+ -0.0018086907653648936,
1803
+ 0.16455623200847894,
1804
+ -0.2419900001815415
1805
+ ],
1806
+ [
1807
+ 0.004741540937938835,
1808
+ 0.9998368130203086,
1809
+ -0.01743172736496883,
1810
+ -0.21048253481941748
1811
+ ],
1812
+ [
1813
+ -0.16449784996967867,
1814
+ 0.017974314092839172,
1815
+ 0.986213659096367,
1816
+ 2.280274941776423
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 640.948486328125,
1827
+ "fy": 640.9485054016113,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.986102474849839,
1837
+ -0.0021266613812680876,
1838
+ 0.16612461107973076,
1839
+ -0.24166175013811048
1840
+ ],
1841
+ [
1842
+ 0.005031253578750415,
1843
+ 0.9998417143221187,
1844
+ -0.01706554390675152,
1845
+ -0.21701578771274327
1846
+ ],
1847
+ [
1848
+ -0.16606202329987638,
1849
+ 0.017664190125119685,
1850
+ 0.9859570887238323,
1851
+ 2.319718709715476
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 640.948486328125,
1862
+ "fy": 640.9485054016113,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9859333331735217,
1872
+ -0.00251733254332812,
1873
+ 0.1671200932689297,
1874
+ -0.24271366686269163
1875
+ ],
1876
+ [
1877
+ 0.0053651248519281216,
1878
+ 0.9998479639170826,
1879
+ -0.01659109659389024,
1880
+ -0.2214358612506678
1881
+ ],
1882
+ [
1883
+ -0.167052919677187,
1884
+ 0.017254335331471745,
1885
+ 0.985796941534917,
1886
+ 2.366129455115311
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 640.948486328125,
1897
+ "fy": 640.9485054016113,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.9856725516276539,
1907
+ -0.0021012967163993633,
1908
+ 0.1686570648385061,
1909
+ -0.24695688446979067
1910
+ ],
1911
+ [
1912
+ 0.004980177235320791,
1913
+ 0.9998490054439799,
1914
+ -0.016648247577120974,
1915
+ -0.21945800277829527
1916
+ ],
1917
+ [
1918
+ -0.16859661563191353,
1919
+ 0.017249662744354483,
1920
+ 0.9855341852684112,
1921
+ 2.4051434159137837
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 640.948486328125,
1932
+ "fy": 640.9485054016113,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9854932504215288,
1942
+ -0.0012185253099462044,
1943
+ 0.16971024886458486,
1944
+ -0.24981505620359112
1945
+ ],
1946
+ [
1947
+ 0.004150788150150625,
1948
+ 0.99984815736173,
1949
+ -0.016924336858091426,
1950
+ -0.22845776448353725
1951
+ ],
1952
+ [
1953
+ -0.1696638568798401,
1954
+ 0.01738325103145563,
1955
+ 0.9853486683668046,
1956
+ 2.451835032800367
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 640.948486328125,
1967
+ "fy": 640.9485054016113,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.9852307378585642,
1977
+ -0.0009868386484743002,
1978
+ 0.17122914275365406,
1979
+ -0.24935376108812662
1980
+ ],
1981
+ [
1982
+ 0.004023395595255126,
1983
+ 0.9998407263304431,
1984
+ -0.01738776175637352,
1985
+ -0.23203726192183913
1986
+ ],
1987
+ [
1988
+ -0.17118471154444093,
1989
+ 0.017819879923675168,
1990
+ 0.9850777869858566,
1991
+ 2.4860953765305345
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 640.948486328125,
2002
+ "fy": 640.9485054016113,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9850410893450192,
2012
+ -0.0014765067475892406,
2013
+ 0.1723132967295387,
2014
+ -0.24604049242065715
2015
+ ],
2016
+ [
2017
+ 0.004631544006010306,
2018
+ 0.999828888608179,
2019
+ -0.01790927984744512,
2020
+ -0.2317977328416983
2021
+ ],
2022
+ [
2023
+ -0.17225736878896683,
2024
+ 0.01843945314693572,
2025
+ 0.9848793760991972,
2026
+ 2.533170418569582
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 640.948486328125,
2037
+ "fy": 640.9485054016113,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.9847816688770261,
2047
+ -0.0020258091768474646,
2048
+ 0.1737842361693328,
2049
+ -0.24400611479323855
2050
+ ],
2051
+ [
2052
+ 0.005202015010416927,
2053
+ 0.9998276216537227,
2054
+ -0.017823187652371324,
2055
+ -0.23837694790208094
2056
+ ],
2057
+ [
2058
+ -0.17371817315298602,
2059
+ 0.018455976686137347,
2060
+ 0.9846224521312471,
2061
+ 2.5723338375545883
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 640.948486328125,
2072
+ "fy": 640.9485054016113,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.984845428937813,
2082
+ -0.0022874951168031493,
2083
+ 0.17341928516282668,
2084
+ -0.24272968987857563
2085
+ ],
2086
+ [
2087
+ 0.005387840196541837,
2088
+ 0.9998339333309987,
2089
+ -0.017409105028130086,
2090
+ -0.2447697192010098
2091
+ ],
2092
+ [
2093
+ -0.17335066275705935,
2094
+ 0.018079632904308036,
2095
+ 0.984694203596088,
2096
+ 2.618922662913046
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 640.948486328125,
2107
+ "fy": 640.9485054016113,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9851427346273218,
2117
+ -0.0018536423810248657,
2118
+ 0.1717275645344274,
2119
+ -0.24417975015536791
2120
+ ],
2121
+ [
2122
+ 0.0049345420722931915,
2123
+ 0.9998344152037782,
2124
+ -0.017515492247026757,
2125
+ -0.24510918520575442
2126
+ ],
2127
+ [
2128
+ -0.17166666160189467,
2129
+ 0.018102656822747164,
2130
+ 0.9849887568446752,
2131
+ 2.657040783816376
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 640.948486328125,
2142
+ "fy": 640.9485054016113,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9857153088856442,
2152
+ -0.0011383627368229568,
2153
+ 0.16841625206243882,
2154
+ -0.24580867907730164
2155
+ ],
2156
+ [
2157
+ 0.004372899228564435,
2158
+ 0.9998130244740012,
2159
+ -0.018835972087673757,
2160
+ -0.2513341369561782
2161
+ ],
2162
+ [
2163
+ -0.16836332017638622,
2164
+ 0.019303373343284254,
2165
+ 0.9855359821928137,
2166
+ 2.694646362908461
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 640.948486328125,
2177
+ "fy": 640.9485054016113,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9866341038716537,
2187
+ -0.00028219474374714757,
2188
+ 0.16295111366144546,
2189
+ -0.24530420686337395
2190
+ ],
2191
+ [
2192
+ 0.003531576189653761,
2193
+ 0.9998006532432107,
2194
+ -0.01965150742477536,
2195
+ -0.2586733230768246
2196
+ ],
2197
+ [
2198
+ -0.16291308433331986,
2199
+ 0.019964321690854714,
2200
+ 0.9864384181551469,
2201
+ 2.737595542546619
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 640.948486328125,
2212
+ "fy": 640.9485054016113,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.9871556458253332,
2222
+ -0.00020241933385372674,
2223
+ 0.1597613530913616,
2224
+ -0.2435816685371695
2225
+ ],
2226
+ [
2227
+ 0.003568711107652618,
2228
+ 0.9997776176190466,
2229
+ -0.020784119154146602,
2230
+ -0.25604527239105423
2231
+ ],
2232
+ [
2233
+ -0.15972161787372288,
2234
+ 0.021087302681873022,
2235
+ 0.986936842178568,
2236
+ 2.7736843515700165
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 640.948486328125,
2247
+ "fy": 640.9485054016113,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9877712285612729,
2257
+ -0.0004833136511398654,
2258
+ 0.15590948154127374,
2259
+ -0.23956873800527428
2260
+ ],
2261
+ [
2262
+ 0.004238944035577959,
2263
+ 0.999708776888721,
2264
+ -0.023756951932459122,
2265
+ -0.2595708396301814
2266
+ ],
2267
+ [
2268
+ -0.1558525950378029,
2269
+ 0.024127325164065686,
2270
+ 0.9874856154903778,
2271
+ 2.8236774755982097
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 640.948486328125,
2282
+ "fy": 640.9485054016113,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9880284736076735,
2292
+ -0.0005851193381610244,
2293
+ 0.15427051881630216,
2294
+ -0.2395903649489078
2295
+ ],
2296
+ [
2297
+ 0.004249937639042433,
2298
+ 0.999716515075935,
2299
+ -0.02342706798752988,
2300
+ -0.2657698306333494
2301
+ ],
2302
+ [
2303
+ -0.1542130778194741,
2304
+ 0.023802250309334347,
2305
+ 0.9877508691515573,
2306
+ 2.861660462740011
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 640.948486328125,
2317
+ "fy": 640.9485054016113,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9890188988065907,
2327
+ -0.0003374516949518995,
2328
+ 0.14778871381046924,
2329
+ -0.24075293640680928
2330
+ ],
2331
+ [
2332
+ 0.0038428276696274534,
2333
+ 0.9997180016767978,
2334
+ -0.023433945439298786,
2335
+ -0.265058020516013
2336
+ ],
2337
+ [
2338
+ -0.14773912981637857,
2339
+ 0.023744541471758536,
2340
+ 0.9887412939042223,
2341
+ 2.9079120425805742
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 640.948486328125,
2352
+ "fy": 640.9485054016113,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9899794782357495,
2362
+ 0.0005581100619461882,
2363
+ 0.14121020212871366,
2364
+ -0.2431641596557425
2365
+ ],
2366
+ [
2367
+ 0.0028402384067914284,
2368
+ 0.9997111987776744,
2369
+ -0.023863195182081118,
2370
+ -0.26663301808948425
2371
+ ],
2372
+ [
2373
+ -0.14118273873907533,
2374
+ 0.024025144154911266,
2375
+ 0.9896919857867245,
2376
+ 2.945321365854076
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 640.948486328125,
2387
+ "fy": 640.9485054016113,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9909078927506774,
2397
+ 0.0016415378734078625,
2398
+ 0.13453197923847768,
2399
+ -0.2435126942776293
2400
+ ],
2401
+ [
2402
+ 0.001651160881023635,
2403
+ 0.9997018879884784,
2404
+ -0.024359983990487503,
2405
+ -0.27180361703246453
2406
+ ],
2407
+ [
2408
+ -0.13453186147584895,
2409
+ 0.024360634344819467,
2410
+ 0.9906097807624156,
2411
+ 2.9898106023004734
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 640.948486328125,
2422
+ "fy": 640.9485054016113,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9911588077728549,
2432
+ 0.0018276746789325639,
2433
+ 0.13266829832164553,
2434
+ -0.24305223067704174
2435
+ ],
2436
+ [
2437
+ 0.0014765065209042876,
2438
+ 0.9996912695739203,
2439
+ -0.024802932612437604,
2440
+ -0.27073451443455987
2441
+ ],
2442
+ [
2443
+ -0.1326726712732764,
2444
+ 0.024779530725003295,
2445
+ 0.9908501083182369,
2446
+ 3.0270561606736845
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 640.948486328125,
2457
+ "fy": 640.9485054016113,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.99144558800542,
2467
+ 0.0018826738052487642,
2468
+ 0.13050709392186308,
2469
+ -0.24055735450382879
2470
+ ],
2471
+ [
2472
+ 0.001409987298002563,
2473
+ 0.9996831280564082,
2474
+ -0.025132755821327735,
2475
+ -0.27270230566125236
2476
+ ],
2477
+ [
2478
+ -0.13051305666639806,
2479
+ 0.02510177321820197,
2480
+ 0.9911287721688316,
2481
+ 3.077478486087771
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 640.948486328125,
2492
+ "fy": 640.9485054016113,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9917516284314201,
2502
+ 0.0016135618488005282,
2503
+ 0.12816436291647726,
2504
+ -0.24302528768315432
2505
+ ],
2506
+ [
2507
+ 0.0015553709228080881,
2508
+ 0.999695632362999,
2509
+ -0.024621605464225024,
2510
+ -0.28066738110862594
2511
+ ],
2512
+ [
2513
+ -0.12816508231542195,
2514
+ 0.02461786043716163,
2515
+ 0.9914472616446008,
2516
+ 3.1180926693664555
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 640.948486328125,
2527
+ "fy": 640.9485054016113,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9922322800776773,
2537
+ 0.002257607821665836,
2538
+ 0.12437847715251034,
2539
+ -0.2478107708138495
2540
+ ],
2541
+ [
2542
+ 0.0006300343322091558,
2543
+ 0.9997312865284268,
2544
+ -0.02317234975044524,
2545
+ -0.28041214997809194
2546
+ ],
2547
+ [
2548
+ -0.12439736905816867,
2549
+ 0.02307071613843565,
2550
+ 0.9919642315266541,
2551
+ 3.1559349313353704
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 640.948486328125,
2562
+ "fy": 640.9485054016113,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.9932407847833534,
2572
+ 0.003520107183548351,
2573
+ 0.11601875834693597,
2574
+ -0.2555134583056742
2575
+ ],
2576
+ [
2577
+ -0.0007958525126608786,
2578
+ 0.99972307044382,
2579
+ -0.023519120756503708,
2580
+ -0.28147554595376306
2581
+ ],
2582
+ [
2583
+ -0.11606941914960411,
2584
+ 0.023267816137257997,
2585
+ 0.9929685285397902,
2586
+ 3.2031537852335967
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 640.948486328125,
2597
+ "fy": 640.9485054016113,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.9939546774225765,
2607
+ 0.004521196603385368,
2608
+ 0.10969803102633982,
2609
+ -0.26294717119369754
2610
+ ],
2611
+ [
2612
+ -0.001900605265818023,
2613
+ 0.9997105850255654,
2614
+ -0.023981949200715384,
2615
+ -0.2885063536816796
2616
+ ],
2617
+ [
2618
+ -0.10977470988076363,
2619
+ 0.023628477926343146,
2620
+ 0.9936756050650929,
2621
+ 3.2393850043869055
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 640.948486328125,
2632
+ "fy": 640.9485054016113,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9950605848216709,
2642
+ 0.005734910872887597,
2643
+ 0.099103699888727,
2644
+ -0.2713273879917384
2645
+ ],
2646
+ [
2647
+ -0.0032683983983372235,
2648
+ 0.9996812911013294,
2649
+ -0.02503265455139548,
2650
+ -0.2907480505769174
2651
+ ],
2652
+ [
2653
+ -0.09921567470044526,
2654
+ 0.024585097503564836,
2655
+ 0.9947621941320831,
2656
+ 3.282345087335859
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 640.948486328125,
2667
+ "fy": 640.9485054016113,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9958924341639986,
2677
+ 0.00597562939225047,
2678
+ 0.0903468396141941,
2679
+ -0.2793810564719367
2680
+ ],
2681
+ [
2682
+ -0.0036386755077095255,
2683
+ 0.9996550842096117,
2684
+ -0.026009087919890383,
2685
+ -0.29253648767523455
2686
+ ],
2687
+ [
2688
+ -0.09047109823283918,
2689
+ 0.025573511046421953,
2690
+ 0.9955706785142395,
2691
+ 3.319725103936463
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 640.948486328125,
2702
+ "fy": 640.9485054016113,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.9972282608102108,
2712
+ 0.006275260707566784,
2713
+ 0.07413782398003373,
2714
+ -0.29280200107178356
2715
+ ],
2716
+ [
2717
+ -0.004260500001378875,
2718
+ 0.9996181285428638,
2719
+ -0.02730284285932989,
2720
+ -0.3014450995653326
2721
+ ],
2722
+ [
2723
+ -0.07428084531816158,
2724
+ 0.02691130230061487,
2725
+ 0.9968741835494109,
2726
+ 3.362707994755133
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 640.948486328125,
2737
+ "fy": 640.9485054016113,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.9984034897337093,
2747
+ 0.007235287327236911,
2748
+ 0.05601894594548483,
2749
+ -0.30776007505266867
2750
+ ],
2751
+ [
2752
+ -0.0056181172506119936,
2753
+ 0.9995644314589134,
2754
+ -0.02897212661813912,
2755
+ -0.30275785256034443
2756
+ ],
2757
+ [
2758
+ -0.05620416751548948,
2759
+ 0.02861115131397956,
2760
+ 0.9980092652748166,
2761
+ 3.393406001536672
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 640.948486328125,
2772
+ "fy": 640.9485054016113,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.9995227907837448,
2782
+ 0.008599998577941517,
2783
+ 0.02966868261878739,
2784
+ -0.3290998551142099
2785
+ ],
2786
+ [
2787
+ -0.007619834880942576,
2788
+ 0.9994265253378416,
2789
+ -0.03299331095110918,
2790
+ -0.30275519645142807
2791
+ ],
2792
+ [
2793
+ -0.029935410808306997,
2794
+ 0.032751495776358275,
2795
+ 0.9990151203581203,
2796
+ 3.433803762791766
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 640.948486328125,
2807
+ "fy": 640.9485054016113,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.9998798433555568,
2817
+ 0.00964607627024854,
2818
+ 0.01213474613890935,
2819
+ -0.34738722252190646
2820
+ ],
2821
+ [
2822
+ -0.009197015014413603,
2823
+ 0.9992901250023657,
2824
+ -0.03653301229821057,
2825
+ -0.3081820599944225
2826
+ ],
2827
+ [
2828
+ -0.012478532209033133,
2829
+ 0.036417019171605766,
2830
+ 0.9992587687624077,
2831
+ 3.464765575235886
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 640.948486328125,
2842
+ "fy": 640.9485054016113,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ }
2847
+ ]
2848
+ }
spatialvid_eval/camera_controls/scene_035/orbit_right/transforms.json ADDED
@@ -0,0 +1,2848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 81,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 0.9999999755008188,
17
+ -0.0002198320912991082,
18
+ -2.592708844443234e-05,
19
+ -0.00016600281001606768
20
+ ],
21
+ [
22
+ 0.00021982904934223676,
23
+ 0.9999999689612438,
24
+ -0.00011727191022597567,
25
+ 0.0002378761507749253
26
+ ],
27
+ [
28
+ 2.5952867768963377e-05,
29
+ 0.00011726620782570491,
30
+ 0.9999999927875427,
31
+ -0.00012196656193358196
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 640.948486328125,
42
+ "fy": 640.9485054016113,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9998728028088082,
52
+ 0.0015487508177259696,
53
+ -0.015873864499951457,
54
+ -0.0003854396051159101
55
+ ],
56
+ [
57
+ -0.0015222938087848994,
58
+ 0.9999974323744473,
59
+ 0.0016786500745060253,
60
+ -0.007302139609543071
61
+ ],
62
+ [
63
+ 0.015876423552486914,
64
+ -0.0016542718692817877,
65
+ 0.9998725931636313,
66
+ 0.038867014663635714
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 640.948486328125,
77
+ "fy": 640.9485054016113,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.999739539173369,
87
+ 0.0014875230936507737,
88
+ -0.0227736929035747,
89
+ 0.002767173506365915
90
+ ],
91
+ [
92
+ -0.001428400101756166,
93
+ 0.9999955681469119,
94
+ 0.0026121561370803037,
95
+ -0.007478421817168487
96
+ ],
97
+ [
98
+ 0.022777477616491605,
99
+ -0.00257894582747272,
100
+ 0.9997372332527431,
101
+ 0.09729744804463498
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 640.948486328125,
112
+ "fy": 640.9485054016113,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9996152160358664,
122
+ 0.0007234149642081765,
123
+ -0.02772898375991836,
124
+ 0.005106600124210416
125
+ ],
126
+ [
127
+ -0.0006998537392685482,
128
+ 0.9999993858246825,
129
+ 0.0008593922279462825,
130
+ -0.01085870418744943
131
+ ],
132
+ [
133
+ 0.027729588426658774,
134
+ -0.000839655314627572,
135
+ 0.9996151083815414,
136
+ 0.15166345983799542
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 640.948486328125,
147
+ "fy": 640.9485054016113,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9994606253376104,
157
+ 0.0002276169135815048,
158
+ -0.032839101545169606,
159
+ 0.001441527348176536
160
+ ],
161
+ [
162
+ -0.00026994269453420625,
163
+ 0.9999991386516583,
164
+ -0.0012844558704629945,
165
+ -0.020519891761837685
166
+ ],
167
+ [
168
+ 0.03283878089538308,
169
+ 0.001292627743068694,
170
+ 0.9994598258973809,
171
+ 0.2177507534266284
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 640.948486328125,
182
+ "fy": 640.9485054016113,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.9992869125616107,
192
+ 0.0007937864890595683,
193
+ -0.03774965279434166,
194
+ -0.0037818891928681
195
+ ],
196
+ [
197
+ -0.0008663812414642736,
198
+ 0.9999978068649603,
199
+ -0.0019067377413419183,
200
+ -0.02967125151387729
201
+ ],
202
+ [
203
+ 0.037748056461598116,
204
+ 0.0019380836616630722,
205
+ 0.999285408712192,
206
+ 0.2691478339386755
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 640.948486328125,
217
+ "fy": 640.9485054016113,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.9990728635451148,
227
+ 0.002162406405346935,
228
+ -0.04299694554619428,
229
+ -0.00881294716415473
230
+ ],
231
+ [
232
+ -0.0023630333747000133,
233
+ 0.9999865551535706,
234
+ -0.004615797370445725,
235
+ -0.03729995362147134
236
+ ],
237
+ [
238
+ 0.042986386229064845,
239
+ 0.004713121113771038,
240
+ 0.9990645410023982,
241
+ 0.32988706427070574
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 640.948486328125,
252
+ "fy": 640.9485054016113,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.998856990930534,
262
+ 0.0027438126123493015,
263
+ -0.0477198403344721,
264
+ -0.00944431712792955
265
+ ],
266
+ [
267
+ -0.003077489237745298,
268
+ 0.9999713185362425,
269
+ -0.006920344274695939,
270
+ -0.04441056509522214
271
+ ],
272
+ [
273
+ 0.047699483531698325,
274
+ 0.007059291553482395,
275
+ 0.9988367863037346,
276
+ 0.3791068580890282
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 640.948486328125,
287
+ "fy": 640.9485054016113,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9985794663459528,
297
+ 0.0023773510838008653,
298
+ -0.053229668363205786,
299
+ -0.012120149917991974
300
+ ],
301
+ [
302
+ -0.0028298014792161926,
303
+ 0.9999604948048216,
304
+ -0.008426212273913726,
305
+ -0.05314179329127646
306
+ ],
307
+ [
308
+ 0.053207533449886074,
309
+ 0.008564871950074871,
310
+ 0.998546744700847,
311
+ 0.4378430362740399
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 640.948486328125,
322
+ "fy": 640.9485054016113,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.998316516073763,
332
+ 0.002185877147710907,
333
+ -0.0579599488909339,
334
+ -0.014382426810660268
335
+ ],
336
+ [
337
+ -0.002769121092090914,
338
+ 0.9999463196984918,
339
+ -0.009984472435698388,
340
+ -0.059227708524207036
341
+ ],
342
+ [
343
+ 0.05793501275327288,
344
+ 0.010128161853811329,
345
+ 0.9982689791006939,
346
+ 0.4855238120261843
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 640.948486328125,
357
+ "fy": 640.9485054016113,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.9980166614088074,
367
+ 0.0017351399638618524,
368
+ -0.06292640812667129,
369
+ -0.01842711079456142
370
+ ],
371
+ [
372
+ -0.002394847350257713,
373
+ 0.9999429478868898,
374
+ -0.010409883642316374,
375
+ -0.058570531597979474
376
+ ],
377
+ [
378
+ 0.06290475543699026,
379
+ 0.010539936460122133,
380
+ 0.9979638778446992,
381
+ 0.5322818809330112
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 640.948486328125,
392
+ "fy": 640.9485054016113,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9978359072482366,
402
+ 0.0024878581304352606,
403
+ -0.06570626125424943,
404
+ -0.026099183724065618
405
+ ],
406
+ [
407
+ -0.003351491027469119,
408
+ 0.999909399387215,
409
+ -0.01303689092505552,
410
+ -0.06390823821599637
411
+ ],
412
+ [
413
+ 0.0656678742916325,
414
+ 0.013228891828941233,
415
+ 0.9977538407377828,
416
+ 0.5906725369281538
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 640.948486328125,
427
+ "fy": 640.9485054016113,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9977087318938797,
437
+ 0.0029534745952809163,
438
+ -0.06759114801896902,
439
+ -0.027685414072868043
440
+ ],
441
+ [
442
+ -0.0038377018194450624,
443
+ 0.9999087042773256,
444
+ -0.012955892681927343,
445
+ -0.07337531815386021
446
+ ],
447
+ [
448
+ 0.06754671233636896,
449
+ 0.0131856019299697,
450
+ 0.9976289799090104,
451
+ 0.632462074315412
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 640.948486328125,
462
+ "fy": 640.9485054016113,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.9975975423778324,
472
+ 0.002630782474418637,
473
+ -0.06922587973641993,
474
+ -0.029710986579214317
475
+ ],
476
+ [
477
+ -0.0035740364114073483,
478
+ 0.9999024102589179,
479
+ -0.013505414548872496,
480
+ -0.07554659643155635
481
+ ],
482
+ [
483
+ 0.06918359419283532,
484
+ 0.013720384177538696,
485
+ 0.9975095896043215,
486
+ 0.684704483065609
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 640.948486328125,
497
+ "fy": 640.9485054016113,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9974638632897614,
507
+ 0.0023768488878354245,
508
+ -0.07113502667763955,
509
+ -0.03206528540125687
510
+ ],
511
+ [
512
+ -0.003380002570362274,
513
+ 0.999896491494144,
514
+ -0.013985059182063827,
515
+ -0.08010930962124974
516
+ ],
517
+ [
518
+ 0.07109442322495091,
519
+ 0.014190027733090546,
520
+ 0.9973686510509773,
521
+ 0.7282160820284931
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 640.948486328125,
532
+ "fy": 640.9485054016113,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9973544970151698,
542
+ 0.0018670041769457508,
543
+ -0.07266719740722788,
544
+ -0.03768064325100955
545
+ ],
546
+ [
547
+ -0.0029047700114560424,
548
+ 0.9998952675817923,
549
+ -0.014178017446624657,
550
+ -0.08653354602869182
551
+ ],
552
+ [
553
+ 0.07263311637812538,
554
+ 0.014351590954995707,
555
+ 0.9972554648846315,
556
+ 0.7786362424523232
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 640.948486328125,
567
+ "fy": 640.9485054016113,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9972199083198957,
577
+ 0.001802857406130619,
578
+ -0.07449298057959705,
579
+ -0.04266661317395133
580
+ ],
581
+ [
582
+ -0.0028675009483562853,
583
+ 0.9998952423055729,
584
+ -0.014187383585120792,
585
+ -0.0847276479362154
586
+ ],
587
+ [
588
+ 0.07445959903713047,
589
+ 0.01436155005051123,
590
+ 0.997120611556785,
591
+ 0.8202399389124903
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 640.948486328125,
602
+ "fy": 640.9485054016113,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9971107285723678,
612
+ 0.0025141185015119523,
613
+ -0.07592018291628702,
614
+ -0.04874920448099182
615
+ ],
616
+ [
617
+ -0.0035888441966214304,
618
+ 0.9998952339680572,
619
+ -0.014022884342982829,
620
+ -0.08991220892265471
621
+ ],
622
+ [
623
+ 0.07587697386700724,
624
+ 0.014254834131783209,
625
+ 0.9970152880175214,
626
+ 0.8728214998651622
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 640.948486328125,
637
+ "fy": 640.9485054016113,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9969595656950276,
647
+ 0.002357338641613192,
648
+ -0.0778849621153602,
649
+ -0.04727041749573219
650
+ ],
651
+ [
652
+ -0.0034677763984583363,
653
+ 0.9998942205049949,
654
+ -0.01412523725674892,
655
+ -0.09581809525847501
656
+ ],
657
+ [
658
+ 0.07784342551579185,
659
+ 0.014352378034246091,
660
+ 0.9968622825389323,
661
+ 0.9120895661977153
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 640.948486328125,
672
+ "fy": 640.9485054016113,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9968417202400788,
682
+ 0.0013746334183024846,
683
+ -0.07940211062538628,
684
+ -0.045814666934417575
685
+ ],
686
+ [
687
+ -0.0025505723959685003,
688
+ 0.9998885431521212,
689
+ -0.014710399504493333,
690
+ -0.09411913896162692
691
+ ],
692
+ [
693
+ 0.07937303930966559,
694
+ 0.014866460779020683,
695
+ 0.9967341215061578,
696
+ 0.9634279990142871
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 640.948486328125,
707
+ "fy": 640.9485054016113,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9966970298069223,
717
+ 0.0006661308133245048,
718
+ -0.08120706277042139,
719
+ -0.04396889349590587
720
+ ],
721
+ [
722
+ -0.0019770707061162953,
723
+ 0.9998690136029085,
724
+ -0.016063836035333814,
725
+ -0.09844101011954251
726
+ ],
727
+ [
728
+ 0.08118572513368738,
729
+ 0.016171329768655762,
730
+ 0.9965677930417134,
731
+ 1.00582421866858
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 640.948486328125,
742
+ "fy": 640.9485054016113,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.9965425456378817,
752
+ 0.0003366809949940779,
753
+ -0.08308333996342784,
754
+ -0.043531376230486155
755
+ ],
756
+ [
757
+ -0.0017466188982169953,
758
+ 0.9998556919576379,
759
+ -0.016898064455372227,
760
+ -0.10282438649630138
761
+ ],
762
+ [
763
+ 0.0830656611121305,
764
+ 0.01698475510041675,
765
+ 0.9963993245873786,
766
+ 1.0463813050055437
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 640.948486328125,
777
+ "fy": 640.9485054016113,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.996408394601886,
787
+ 0.00028638167532959595,
788
+ -0.08467720562482349,
789
+ -0.04595178373890582
790
+ ],
791
+ [
792
+ -0.0017219431271489319,
793
+ 0.9998560265528544,
794
+ -0.016880790200835098,
795
+ -0.10064210879883655
796
+ ],
797
+ [
798
+ 0.08466018000665643,
799
+ 0.016965970395877182,
800
+ 0.9962654313835078,
801
+ 1.0965074789022675
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 640.948486328125,
812
+ "fy": 640.9485054016113,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.9962442592242978,
822
+ 0.0006218338567941266,
823
+ -0.08658515626413651,
824
+ -0.04759474882867264
825
+ ],
826
+ [
827
+ -0.0020909548569509524,
828
+ 0.9998553752035406,
829
+ -0.01687769487736879,
830
+ -0.1040548521502988
831
+ ],
832
+ [
833
+ 0.08656213878143601,
834
+ 0.01699535228354835,
835
+ 0.9961014778276066,
836
+ 1.1358344417651842
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 640.948486328125,
847
+ "fy": 640.9485054016113,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9961140636755823,
857
+ 0.0008804979313370295,
858
+ -0.0880681376611974,
859
+ -0.04778211426263851
860
+ ],
861
+ [
862
+ -0.002390651670461472,
863
+ 0.9998518900247199,
864
+ -0.017043555925531344,
865
+ -0.10969122547021906
866
+ ],
867
+ [
868
+ 0.08804008707577034,
869
+ 0.017187865992877246,
870
+ 0.9959686342100851,
871
+ 1.1840156945014124
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 640.948486328125,
882
+ "fy": 640.9485054016113,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9959510220469869,
892
+ 0.0005603605991569754,
893
+ -0.08989576007555133,
894
+ -0.04633462303607537
895
+ ],
896
+ [
897
+ -0.0021135491137535146,
898
+ 0.9998501206085002,
899
+ -0.01718339981818647,
900
+ -0.1079359322209585
901
+ ],
902
+ [
903
+ 0.08987265765351511,
904
+ 0.0173038237152027,
905
+ 0.9958029338634866,
906
+ 1.223668104171723
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 640.948486328125,
917
+ "fy": 640.9485054016113,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9958066895811559,
927
+ 0.00013962251307405552,
928
+ -0.09148233431091282,
929
+ -0.04348664162350176
930
+ ],
931
+ [
932
+ -0.0016943739404164375,
933
+ 0.9998554505752413,
934
+ -0.016917655036421002,
935
+ -0.11123230929851373
936
+ ],
937
+ [
938
+ 0.0914667485066011,
939
+ 0.01700171934055924,
940
+ 0.9956629828697537,
941
+ 1.2755290500232639
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 640.948486328125,
952
+ "fy": 640.9485054016113,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9956118026030832,
962
+ -0.0007015203416160514,
963
+ -0.09357695435656085,
964
+ -0.04157011015220871
965
+ ],
966
+ [
967
+ -0.0008620330737154395,
968
+ 0.999860719703475,
969
+ -0.016667276113061555,
970
+ -0.11985115252231593
971
+ ],
972
+ [
973
+ 0.0935756133638428,
974
+ 0.016674803245001434,
975
+ 0.9954725287622564,
976
+ 1.3132295022153921
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 640.948486328125,
987
+ "fy": 640.9485054016113,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9954771741466792,
997
+ -0.001027075523548833,
998
+ -0.09499547814928447,
999
+ -0.04437205946404342
1000
+ ],
1001
+ [
1002
+ -0.0005955877984598788,
1003
+ 0.9998544343768132,
1004
+ -0.01705154926092101,
1005
+ -0.12046522206232176
1006
+ ],
1007
+ [
1008
+ 0.09499916330219221,
1009
+ 0.017031006220779122,
1010
+ 0.9953316551778062,
1011
+ 1.360519706281578
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 640.948486328125,
1022
+ "fy": 640.9485054016113,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9953413295818767,
1032
+ -0.0007597772552072035,
1033
+ -0.0964108933923139,
1034
+ -0.04512168078806009
1035
+ ],
1036
+ [
1037
+ -0.0009562218765207292,
1038
+ 0.9998419749671372,
1039
+ -0.017751358639202686,
1040
+ -0.12322371771742537
1041
+ ],
1042
+ [
1043
+ 0.09640914513626035,
1044
+ 0.017760851115225375,
1045
+ 0.9951833142199272,
1046
+ 1.4012429304844765
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 640.948486328125,
1057
+ "fy": 640.9485054016113,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9954730726900842,
1067
+ -0.0007020016162752823,
1068
+ -0.09504140541202737,
1069
+ -0.0424226857039907
1070
+ ],
1071
+ [
1072
+ -0.0011362116445315879,
1073
+ 0.9998133682544682,
1074
+ -0.019285685954980928,
1075
+ -0.12934013354607793
1076
+ ],
1077
+ [
1078
+ 0.09503720625134889,
1079
+ 0.019306368208082656,
1080
+ 0.9952864881904873,
1081
+ 1.4506968060597516
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 640.948486328125,
1092
+ "fy": 640.9485054016113,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9954745317829794,
1102
+ -0.001258565581523185,
1103
+ -0.09502037983577546,
1104
+ -0.03703479197244998
1105
+ ],
1106
+ [
1107
+ -0.0005568812743933734,
1108
+ 0.9998178636569894,
1109
+ -0.01907693360107674,
1110
+ -0.13081234824356938
1111
+ ],
1112
+ [
1113
+ 0.09502708274331201,
1114
+ 0.01904351661460314,
1115
+ 0.9952925188205953,
1116
+ 1.4907920175136906
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 640.948486328125,
1127
+ "fy": 640.9485054016113,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.9953587020751865,
1137
+ -0.001987573567857316,
1138
+ -0.09621384388180543,
1139
+ -0.03031661374780867
1140
+ ],
1141
+ [
1142
+ 0.00018106423696198783,
1143
+ 0.9998236037223799,
1144
+ -0.01878107173021331,
1145
+ -0.13548452151785056
1146
+ ],
1147
+ [
1148
+ 0.09623420087963616,
1149
+ 0.018676482294738454,
1150
+ 0.9951834843837352,
1151
+ 1.5317292626574346
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 640.948486328125,
1162
+ "fy": 640.9485054016113,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9952028896945908,
1172
+ -0.002766507354167767,
1173
+ -0.09779342912791125,
1174
+ -0.024987111295778186
1175
+ ],
1176
+ [
1177
+ 0.0010900082452088837,
1178
+ 0.9998516032115848,
1179
+ -0.017192540162788962,
1180
+ -0.14553971822817457
1181
+ ],
1182
+ [
1183
+ 0.09782648018589774,
1184
+ 0.017003470007121213,
1185
+ 0.9950582202977649,
1186
+ 1.5787154325970563
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 640.948486328125,
1197
+ "fy": 640.9485054016113,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9950126653814785,
1207
+ -0.00288264298714677,
1208
+ -0.09970700125796247,
1209
+ -0.02206358665393217
1210
+ ],
1211
+ [
1212
+ 0.0012108564372149604,
1213
+ 0.9998577426157294,
1214
+ -0.01682344667620918,
1215
+ -0.14816732883675843
1216
+ ],
1217
+ [
1218
+ 0.09974131319135081,
1219
+ 0.016618811653889468,
1220
+ 0.9948746079492018,
1221
+ 1.613615885866829
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 640.948486328125,
1232
+ "fy": 640.9485054016113,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.9948498030717847,
1242
+ -0.0024585894154528273,
1243
+ -0.10133027517044182,
1244
+ -0.019442456285250168
1245
+ ],
1246
+ [
1247
+ 0.0006816775482634338,
1248
+ 0.9998454605232887,
1249
+ -0.01756674092405921,
1250
+ -0.15302130326753122
1251
+ ],
1252
+ [
1253
+ 0.10135780504604187,
1254
+ 0.017407194175370316,
1255
+ 0.9946977354690166,
1256
+ 1.6569868564419483
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 640.948486328125,
1267
+ "fy": 640.9485054016113,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.9946600690909227,
1277
+ -0.0019826327415763878,
1278
+ -0.10318631752055812,
1279
+ -0.015288104848022385
1280
+ ],
1281
+ [
1282
+ 0.00012437984081461827,
1283
+ 0.9998377624262794,
1284
+ -0.018012033646053277,
1285
+ -0.16064211781930865
1286
+ ],
1287
+ [
1288
+ 0.10320528807041145,
1289
+ 0.01790301633310392,
1290
+ 0.9944989444541812,
1291
+ 1.6889525815398587
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 640.948486328125,
1302
+ "fy": 640.9485054016113,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9944875010326871,
1312
+ -0.002291211319189149,
1313
+ -0.10483015139000779,
1314
+ -0.007518070000983271
1315
+ ],
1316
+ [
1317
+ 0.0003522343855136819,
1318
+ 0.9998285920727583,
1319
+ -0.018511142718465403,
1320
+ -0.16126600162131785
1321
+ ],
1322
+ [
1323
+ 0.10485459561077329,
1324
+ 0.018372175279387917,
1325
+ 0.9943178450348786,
1326
+ 1.7276256803130987
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 640.948486328125,
1337
+ "fy": 640.9485054016113,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.9942741210832942,
1347
+ -0.0027855395079918574,
1348
+ -0.10682327889412786,
1349
+ 0.0006209493217400192
1350
+ ],
1351
+ [
1352
+ 0.0007832485232362882,
1353
+ 0.9998233084133872,
1354
+ -0.018781333154494248,
1355
+ -0.1619943372435582
1356
+ ],
1357
+ [
1358
+ 0.10685672026500745,
1359
+ 0.018590124339516213,
1360
+ 0.9941006229810178,
1361
+ 1.7598107752990848
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 640.948486328125,
1372
+ "fy": 640.9485054016113,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.9939770254907226,
1382
+ -0.0033375366211821455,
1383
+ -0.10953781833649028,
1384
+ 0.009629667985739013
1385
+ ],
1386
+ [
1387
+ 0.0012885895910018698,
1388
+ 0.999822981796889,
1389
+ -0.018770844617227035,
1390
+ -0.17039261032653932
1391
+ ],
1392
+ [
1393
+ 0.10958107653003615,
1394
+ 0.01851663900605041,
1395
+ 0.9938053741786862,
1396
+ 1.801574834734966
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 640.948486328125,
1407
+ "fy": 640.9485054016113,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.9934587733453523,
1417
+ -0.0035779570670936,
1418
+ -0.11413528764748729,
1419
+ 0.01618013096408774
1420
+ ],
1421
+ [
1422
+ 0.0014411400117724574,
1423
+ 0.9998222480812036,
1424
+ -0.01879881265706361,
1425
+ -0.17379860561001376
1426
+ ],
1427
+ [
1428
+ 0.11418226122570482,
1429
+ 0.018511360432851537,
1430
+ 0.9932873404792343,
1431
+ 1.8353164322852726
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 640.948486328125,
1442
+ "fy": 640.9485054016113,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9928606677769658,
1452
+ -0.00361418185620302,
1453
+ -0.11922513187658107,
1454
+ 0.02132834038110576
1455
+ ],
1456
+ [
1457
+ 0.0014068152824013096,
1458
+ 0.9998261409654495,
1459
+ -0.018593243743322205,
1460
+ -0.1735865789456103
1461
+ ],
1462
+ [
1463
+ 0.11927160287444392,
1464
+ 0.018292772661564486,
1465
+ 0.9926931344660914,
1466
+ 1.8704848921436164
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 640.948486328125,
1477
+ "fy": 640.9485054016113,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.9922061402653554,
1487
+ -0.003067866943907046,
1488
+ -0.12456951237016559,
1489
+ 0.027008616783144493
1490
+ ],
1491
+ [
1492
+ 0.0008177249622661513,
1493
+ 0.9998356577977879,
1494
+ -0.01811045891056225,
1495
+ -0.1794259932805064
1496
+ ],
1497
+ [
1498
+ 0.12460460082040488,
1499
+ 0.01786744493428087,
1500
+ 0.9920455875945966,
1501
+ 1.9153295306721814
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 640.948486328125,
1512
+ "fy": 640.9485054016113,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9918617581489068,
1522
+ -0.002749699269452827,
1523
+ -0.12728979486073083,
1524
+ 0.03512914439669343
1525
+ ],
1526
+ [
1527
+ 0.00045814283372421443,
1528
+ 0.9998373693199193,
1529
+ -0.01802845019870135,
1530
+ -0.1847588807189965
1531
+ ],
1532
+ [
1533
+ 0.12731866645116607,
1534
+ 0.017823413403462256,
1535
+ 0.9917017107516484,
1536
+ 1.949449390189053
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 640.948486328125,
1547
+ "fy": 640.9485054016113,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.9916480583391859,
1557
+ -0.003202281155520018,
1558
+ -0.12893360224364905,
1559
+ 0.04576488414324276
1560
+ ],
1561
+ [
1562
+ 0.0008809895182791668,
1563
+ 0.999836574840697,
1564
+ -0.018056784550188977,
1565
+ -0.1833629985746992
1566
+ ],
1567
+ [
1568
+ 0.12897035415005723,
1569
+ 0.017792386186913284,
1570
+ 0.9914888192734119,
1571
+ 1.9925025398847334
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 640.948486328125,
1582
+ "fy": 640.9485054016113,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9910683159883515,
1592
+ -0.0034784505241418117,
1593
+ -0.1333097649310207,
1594
+ 0.05507234460702169
1595
+ ],
1596
+ [
1597
+ 0.0010559075429299202,
1598
+ 0.9998331039699871,
1599
+ -0.01823867497933008,
1600
+ -0.1865754861703609
1601
+ ],
1602
+ [
1603
+ 0.13335095838903327,
1604
+ 0.01793501011128666,
1605
+ 0.9909065835430876,
1606
+ 2.0301684911403295
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 640.948486328125,
1617
+ "fy": 640.9485054016113,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9903054286672217,
1627
+ -0.0038258031027149477,
1628
+ -0.13885431639977738,
1629
+ 0.06247219759938755
1630
+ ],
1631
+ [
1632
+ 0.0013339813035468495,
1633
+ 0.9998364804240042,
1634
+ -0.018034214904497862,
1635
+ -0.19557809590550734
1636
+ ],
1637
+ [
1638
+ 0.13890060635617116,
1639
+ 0.017674151859681474,
1640
+ 0.9901485978932297,
1641
+ 2.0753268680839874
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 640.948486328125,
1652
+ "fy": 640.9485054016113,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9895899461076164,
1662
+ -0.0035423174096900698,
1663
+ -0.14387213263900087,
1664
+ 0.06673718783567859
1665
+ ],
1666
+ [
1667
+ 0.000966400973282767,
1668
+ 0.9998380568681707,
1669
+ -0.017970144886451198,
1670
+ -0.19640887843457172
1671
+ ],
1672
+ [
1673
+ 0.14391248949234423,
1674
+ 0.017644036540718697,
1675
+ 0.9894331121115092,
1676
+ 2.111172786258537
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 640.948486328125,
1687
+ "fy": 640.9485054016113,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9886268705712039,
1697
+ -0.002568535026188094,
1698
+ -0.15036726177066517,
1699
+ 0.0682885434856345
1700
+ ],
1701
+ [
1702
+ -0.00011734770915478299,
1703
+ 0.9998406592897112,
1704
+ -0.017850553510489316,
1705
+ -0.1999150211639868
1706
+ ],
1707
+ [
1708
+ 0.15038915191629898,
1709
+ 0.01766518210873953,
1710
+ 0.9884690406517351,
1711
+ 2.1582880212896263
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 640.948486328125,
1722
+ "fy": 640.9485054016113,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.9876228471594298,
1732
+ -0.001748314980841568,
1733
+ -0.15683767137849836,
1734
+ 0.0722418950919302
1735
+ ],
1736
+ [
1737
+ -0.0010508218578702863,
1738
+ 0.9998416793507964,
1739
+ -0.017762657639074902,
1740
+ -0.2076226983937947
1741
+ ],
1742
+ [
1743
+ 0.156843895456996,
1744
+ 0.017707614963843345,
1745
+ 0.9874646489015025,
1746
+ 2.194668866639878
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 640.948486328125,
1757
+ "fy": 640.9485054016113,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9867493933697806,
1767
+ -0.0015063308439607695,
1768
+ -0.16224477079942787,
1769
+ 0.07886400492166862
1770
+ ],
1771
+ [
1772
+ -0.001413528320127224,
1773
+ 0.9998391463138685,
1774
+ -0.01787969339902299,
1775
+ -0.2098148084685238
1776
+ ],
1777
+ [
1778
+ 0.1622456058636367,
1779
+ 0.017872114193441143,
1780
+ 0.9865885418512615,
1781
+ 2.2314351746417604
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 640.948486328125,
1792
+ "fy": 640.9485054016113,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.985838191385764,
1802
+ -0.0018086907653648936,
1803
+ -0.1676895615205701,
1804
+ 0.08800332608875881
1805
+ ],
1806
+ [
1807
+ -0.0012313234189203816,
1808
+ 0.9998368130203086,
1809
+ -0.01802307332368071,
1810
+ -0.20989519790291633
1811
+ ],
1812
+ [
1813
+ 0.16769479493378378,
1814
+ 0.017974314092839172,
1815
+ 0.9856750883455503,
1816
+ 2.280809861275647
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 640.948486328125,
1827
+ "fy": 640.9485054016113,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.9849946419280962,
1837
+ -0.0021266613812680876,
1838
+ -0.1725718189169677,
1839
+ 0.09480044779778302
1840
+ ],
1841
+ [
1842
+ -0.0009539272370925917,
1843
+ 0.9998417143221187,
1844
+ -0.01776615670969064,
1845
+ -0.21631979654572325
1846
+ ],
1847
+ [
1848
+ 0.1725822858689953,
1849
+ 0.017664190125119685,
1850
+ 0.9848367027032735,
1851
+ 2.320831705039984
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 640.948486328125,
1862
+ "fy": 640.9485054016113,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9840234394397599,
1872
+ -0.00251733254332812,
1873
+ -0.17802116073661475,
1874
+ 0.10021523087577426
1875
+ ],
1876
+ [
1877
+ -0.0005949029565702001,
1878
+ 0.9998479639170826,
1879
+ -0.017426851159542192,
1880
+ -0.22060546387378885
1881
+ ],
1882
+ [
1883
+ 0.17803796427621157,
1884
+ 0.017254335331471745,
1885
+ 0.9838723348019558,
1886
+ 2.3680417251144923
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 640.948486328125,
1897
+ "fy": 640.9485054016113,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.9831245349309039,
1907
+ -0.0021012967163993633,
1908
+ -0.18292548583782378,
1909
+ 0.10243887948179439
1910
+ ],
1911
+ [
1912
+ -0.0010898833233542586,
1913
+ 0.9998490054439799,
1914
+ -0.017342965923560945,
1915
+ -0.21876760546785243
1916
+ ],
1917
+ [
1918
+ 0.18293430780265274,
1919
+ 0.017249662744354483,
1920
+ 0.9829737983099909,
1921
+ 2.407687877678533
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 640.948486328125,
1932
+ "fy": 640.9485054016113,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9821094171441247,
1942
+ -0.0012185253099462044,
1943
+ -0.18830721694321,
1944
+ 0.10604497203115709
1945
+ ],
1946
+ [
1947
+ -0.002076851238857755,
1948
+ 0.99984815736173,
1949
+ -0.017301702496726665,
1950
+ -0.22808267287587902
1951
+ ],
1952
+ [
1953
+ 0.18829970644098146,
1954
+ 0.01738325103145563,
1955
+ 0.981957760363356,
1956
+ 2.455205506961805
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 640.948486328125,
1967
+ "fy": 640.9485054016113,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.9811551692391777,
1977
+ -0.0009868386484743002,
1978
+ -0.1932189432346703,
1979
+ 0.11297007091521573
1980
+ ],
1981
+ [
1982
+ -0.002475053152028523,
1983
+ 0.9998407263304431,
1984
+ -0.0176747300660281,
1985
+ -0.23175196626076958
1986
+ ],
1987
+ [
1988
+ 0.19320561065128386,
1989
+ 0.017819879923675168,
1990
+ 0.9809964545768607,
1991
+ 2.490152920128539
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 640.948486328125,
2002
+ "fy": 640.9485054016113,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9800880871440021,
2012
+ -0.0014765067475892406,
2013
+ -0.19855770286300956,
2014
+ 0.12274335861603977
2015
+ ],
2016
+ [
2017
+ -0.0022144412290844902,
2018
+ 0.999828888608179,
2019
+ -0.01836545002379862,
2020
+ -0.23134412985157893
2021
+ ],
2022
+ [
2023
+ 0.1985508440889985,
2024
+ 0.01843945314693572,
2025
+ 0.9799171132698867,
2026
+ 2.5381047553013834
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 640.948486328125,
2037
+ "fy": 640.9485054016113,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.9790716627806502,
2047
+ -0.0020258091768474646,
2048
+ -0.20350571303310405,
2049
+ 0.13123775894294695
2050
+ ],
2051
+ [
2052
+ -0.00177283350886129,
2053
+ 0.9998276216537227,
2054
+ -0.01848199230629921,
2055
+ -0.23772171600179334
2056
+ ],
2057
+ [
2058
+ 0.20350807404445395,
2059
+ 0.018455976686137347,
2060
+ 0.9788993006041418,
2061
+ 2.5780259519444626
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 640.948486328125,
2072
+ "fy": 640.9485054016113,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.9776403745257867,
2082
+ -0.0022874951168031493,
2083
+ -0.2102714090483307,
2084
+ 0.1389601122652015
2085
+ ],
2086
+ [
2087
+ -0.001565661878477303,
2088
+ 0.9998339333309987,
2089
+ -0.018156389033786954,
2090
+ -0.24402633217451233
2091
+ ],
2092
+ [
2093
+ 0.21027802262709738,
2094
+ 0.018079632904308036,
2095
+ 0.9774744396014063,
2096
+ 2.6261047768715833
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 640.948486328125,
2107
+ "fy": 640.9485054016113,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9758705029521129,
2117
+ -0.0018536423810248657,
2118
+ -0.21834222101534567,
2119
+ 0.14393851364166094
2120
+ ],
2121
+ [
2122
+ -0.0021439662697488085,
2123
+ 0.9998344152037782,
2124
+ -0.018070572286263253,
2125
+ -0.24455688223567634
2126
+ ],
2127
+ [
2128
+ 0.2183395632418114,
2129
+ 0.018102656822747164,
2130
+ 0.9757049394870014,
2131
+ 2.6662781541735563
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 640.948486328125,
2142
+ "fy": 640.9485054016113,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9736609294458382,
2152
+ -0.0011383627368229568,
2153
+ -0.22799802323912072,
2154
+ 0.1487077505189624
2155
+ ],
2156
+ [
2157
+ -0.0032929631507916716,
2158
+ 0.9998130244740012,
2159
+ -0.019054461048225228,
2160
+ -0.25111669401833897
2161
+ ],
2162
+ [
2163
+ 0.2279770840772264,
2164
+ 0.019303373343284254,
2165
+ 0.9734751300948656,
2166
+ 2.7066494733008692
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 640.948486328125,
2177
+ "fy": 640.9485054016113,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9708346932792407,
2187
+ -0.00028219474374714757,
2188
+ -0.23974970008642207,
2189
+ 0.1555568975820556
2190
+ ],
2191
+ [
2192
+ -0.004512530663594871,
2193
+ 0.9998006532432107,
2194
+ -0.019449700292278195,
2195
+ -0.25887420826815283
2196
+ ],
2197
+ [
2198
+ 0.23970739536445854,
2199
+ 0.019964321690854714,
2200
+ 0.9706398871193225,
2201
+ 2.753321899145444
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 640.948486328125,
2212
+ "fy": 640.9485054016113,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.968444290331701,
2222
+ -0.00020241933385372674,
2223
+ -0.24923004544063573,
2224
+ 0.16363237972910366
2225
+ ],
2226
+ [
2227
+ -0.005059601358839408,
2228
+ 0.9997776176190466,
2229
+ -0.020472316480390718,
2230
+ -0.25635572006671714
2231
+ ],
2232
+ [
2233
+ 0.24917876506238992,
2234
+ 0.021087302681873022,
2235
+ 0.9682279012234597,
2236
+ 2.7923119892476054
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 640.948486328125,
2247
+ "fy": 640.9485054016113,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9657880181879882,
2257
+ -0.0004833136511398654,
2258
+ -0.2593323549664275,
2259
+ 0.17396258460127617
2260
+ ],
2261
+ [
2262
+ -0.005790354809818128,
2263
+ 0.999708776888721,
2264
+ -0.023427189392548807,
2265
+ -0.25989924377274587
2266
+ ],
2267
+ [
2268
+ 0.25926815407160003,
2269
+ 0.024127325164065686,
2270
+ 0.9655039598389707,
2271
+ 2.8455685817811953
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 640.948486328125,
2282
+ "fy": 640.9485054016113,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9636279222083756,
2292
+ -0.0005851193381610244,
2293
+ -0.26724686186320157,
2294
+ 0.18028760408362596
2295
+ ],
2296
+ [
2297
+ -0.005797401192584414,
2298
+ 0.999716515075935,
2299
+ -0.023092847893673003,
2300
+ -0.26610275084174567
2301
+ ],
2302
+ [
2303
+ 0.26718461347873546,
2304
+ 0.023802250309334347,
2305
+ 0.9633513560484724,
2306
+ 2.8859650785795545
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 640.948486328125,
2317
+ "fy": 640.9485054016113,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9600439458700893,
2327
+ -0.0003374516949518995,
2328
+ -0.27984908097855715,
2329
+ 0.18532156108487968
2330
+ ],
2331
+ [
2332
+ -0.006321011730724923,
2333
+ 0.9997180016767978,
2334
+ -0.022890214810056386,
2335
+ -0.26559976345232106
2336
+ ],
2337
+ [
2338
+ 0.27977788834875694,
2339
+ 0.023744541471758536,
2340
+ 0.959771082051031,
2341
+ 2.936776349262508
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 640.948486328125,
2352
+ "fy": 640.9485054016113,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9562682813804434,
2362
+ 0.0005581100619461882,
2363
+ -0.29249044862841644,
2364
+ 0.1890539463891187
2365
+ ],
2366
+ [
2367
+ -0.007560676362977734,
2368
+ 0.9997111987776744,
2369
+ -0.02281129569839956,
2370
+ -0.2676813218026392
2371
+ ],
2372
+ [
2373
+ 0.29239324581567866,
2374
+ 0.024025144154911266,
2375
+ 0.9559963296214626,
2376
+ 2.9789018381551053
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 640.948486328125,
2387
+ "fy": 640.9485054016113,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9522963920806391,
2397
+ 0.0016415378734078625,
2398
+ -0.30517025900897965,
2399
+ 0.19479242878973554
2400
+ ],
2401
+ [
2402
+ -0.008996929912671201,
2403
+ 0.9997018879884784,
2404
+ -0.02269780615870865,
2405
+ -0.2734605134404097
2406
+ ],
2407
+ [
2408
+ 0.30504202478075715,
2409
+ 0.024360634344819467,
2410
+ 0.9520272698888274,
2411
+ 3.0282705206399814
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 640.948486328125,
2422
+ "fy": 640.9485054016113,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9496911078488456,
2432
+ 0.0018276746789325639,
2433
+ -0.31318278892381785,
2434
+ 0.20149125934039447
2435
+ ],
2436
+ [
2437
+ -0.009495744779290417,
2438
+ 0.9996912695739203,
2439
+ -0.022960757147140694,
2440
+ -0.2725712871463346
2441
+ ],
2442
+ [
2443
+ 0.3130441350735056,
2444
+ 0.024779530725003295,
2445
+ 0.949415264440766,
2446
+ 3.068369483961551
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 640.948486328125,
2457
+ "fy": 640.9485054016113,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.9469223342298982,
2467
+ 0.0018826738052487642,
2468
+ -0.3214569154271593,
2469
+ 0.21019333289793815
2470
+ ],
2471
+ [
2472
+ -0.009851354480323196,
2473
+ 0.9996831280564082,
2474
+ -0.02316450505100482,
2475
+ -0.2746652725554083
2476
+ ],
2477
+ [
2478
+ 0.32131144354271585,
2479
+ 0.02510177321820197,
2480
+ 0.9466408279964467,
2481
+ 3.121846999956114
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 640.948486328125,
2492
+ "fy": 640.9485054016113,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9440218316736415,
2502
+ 0.0016135618488005282,
2503
+ -0.32987903501390153,
2504
+ 0.2139038571215102
2505
+ ],
2506
+ [
2507
+ -0.009643715141110213,
2508
+ 0.999695632362999,
2509
+ -0.022707738606488188,
2510
+ -0.2825765922238326
2511
+ ],
2512
+ [
2513
+ 0.3297419901708303,
2514
+ 0.02461786043716163,
2515
+ 0.9437500627102902,
2516
+ 3.1656738383498038
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 640.948486328125,
2527
+ "fy": 640.9485054016113,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9405520820588222,
2537
+ 0.002257607821665836,
2538
+ -0.3396419940786741,
2539
+ 0.21519950259464893
2540
+ ],
2541
+ [
2542
+ -0.009958661942883178,
2543
+ 0.9997312865284268,
2544
+ -0.020932744409754112,
2545
+ -0.2826468795760538
2546
+ ],
2547
+ [
2548
+ 0.33950346977184476,
2549
+ 0.02307071613843565,
2550
+ 0.9403218257967523,
2551
+ 3.207464908737082
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 640.948486328125,
2562
+ "fy": 640.9485054016113,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.9353606676123446,
2572
+ 0.003520107183548351,
2573
+ -0.3536778623680105,
2574
+ 0.21328237635014713
2575
+ ],
2576
+ [
2577
+ -0.011521112228655837,
2578
+ 0.99972307044382,
2579
+ -0.020519415084149673,
2580
+ -0.28446949877857264
2581
+ ],
2582
+ [
2583
+ 0.35350768797411436,
2584
+ 0.023267816137257997,
2585
+ 0.935142194147713,
2586
+ 3.2608692200501324
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 640.948486328125,
2597
+ "fy": 640.9485054016113,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.9307145978144842,
2607
+ 0.004521196603385368,
2608
+ -0.36571832904066576,
2609
+ 0.2116824312075694
2610
+ ],
2611
+ [
2612
+ -0.01284835593749839,
2613
+ 0.9997105850255654,
2614
+ -0.020338779155728553,
2615
+ -0.2921434947125196
2616
+ ],
2617
+ [
2618
+ 0.36552052906058025,
2619
+ 0.023628477926343146,
2620
+ 0.9305033250161753,
2621
+ 3.302452741808002
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 640.948486328125,
2632
+ "fy": 640.9485054016113,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9242822498040706,
2642
+ 0.005734910872887597,
2643
+ -0.38166665232163843,
2644
+ 0.20877551917579087
2645
+ ],
2646
+ [
2647
+ -0.014682781717475987,
2648
+ 0.9996812911013294,
2649
+ -0.02053611801233882,
2650
+ -0.29523834465320753
2651
+ ],
2652
+ [
2653
+ 0.38142723895674174,
2654
+ 0.024585097503564836,
2655
+ 0.9240718772706902,
2656
+ 3.352937266070912
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 640.948486328125,
2667
+ "fy": 640.9485054016113,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9183170994975843,
2677
+ 0.00597562939225047,
2678
+ -0.39580045050973744,
2679
+ 0.20622271940167014
2680
+ ],
2681
+ [
2682
+ -0.015608194450937148,
2683
+ 0.9996550842096117,
2684
+ -0.021121005654483594,
2685
+ -0.2974191050487825
2686
+ ],
2687
+ [
2688
+ 0.39553772138233084,
2689
+ 0.025573511046421953,
2690
+ 0.9180936262149046,
2691
+ 3.397115536639529
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 640.948486328125,
2702
+ "fy": 640.9485054016113,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.9090493524747876,
2712
+ 0.006275260707566784,
2713
+ -0.41664120759740214,
2714
+ 0.19756279355950712
2715
+ ],
2716
+ [
2717
+ -0.016915366885853135,
2718
+ 0.9996181285428638,
2719
+ -0.021851028616062765,
2720
+ -0.3068923122613906
2721
+ ],
2722
+ [
2723
+ 0.41634498331105957,
2724
+ 0.02691130230061487,
2725
+ 0.9088083608111222,
2726
+ 3.450699486450073
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 640.948486328125,
2737
+ "fy": 640.9485054016113,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.8984751051554414,
2747
+ 0.007235287327236911,
2748
+ -0.43896484601071495,
2749
+ 0.18694336433551542
2750
+ ],
2751
+ [
2752
+ -0.01905818134538788,
2753
+ 0.9995644314589134,
2754
+ -0.022532933364864394,
2755
+ -0.30919339873588886
2756
+ ],
2757
+ [
2758
+ 0.43861061448592953,
2759
+ 0.02861115131397956,
2760
+ 0.8982216490826547,
2761
+ 3.493137099283361
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 640.948486328125,
2772
+ "fy": 640.9485054016113,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.883530354880634,
2782
+ 0.008599998577941517,
2783
+ -0.46829494128055754,
2784
+ 0.1687218281062879
2785
+ ],
2786
+ [
2787
+ -0.022933058248592167,
2788
+ 0.9994265253378416,
2789
+ -0.024913757053003648,
2790
+ -0.3108324473351967
2791
+ ],
2792
+ [
2793
+ 0.467812127722089,
2794
+ 0.032751495776358275,
2795
+ 0.8832208968771876,
2796
+ 3.549564980025056
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 640.948486328125,
2807
+ "fy": 640.9485054016113,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.8719887181473721,
2817
+ 0.00964607627024854,
2818
+ -0.4894309232530078,
2819
+ 0.15417844687001067
2820
+ ],
2821
+ [
2822
+ -0.02623135479057437,
2823
+ 0.9992901250023657,
2824
+ -0.02704000921981287,
2825
+ -0.3176750630728202
2826
+ ],
2827
+ [
2828
+ 0.4888226584862388,
2829
+ 0.036417019171605766,
2830
+ 0.8716227448071218,
2831
+ 3.592401599191172
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 640.948486328125,
2842
+ "fy": 640.9485054016113,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ }
2847
+ ]
2848
+ }
spatialvid_eval/camera_controls/scene_035/push_in/transforms.json ADDED
@@ -0,0 +1,2848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 81,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 0.9999999755008188,
17
+ -0.0002198320912991082,
18
+ -2.592708844443234e-05,
19
+ -0.00016600281001606768
20
+ ],
21
+ [
22
+ 0.00021982904934223676,
23
+ 0.9999999689612438,
24
+ -0.00011727191022597567,
25
+ 0.0002378761507749253
26
+ ],
27
+ [
28
+ 2.5952867768963377e-05,
29
+ 0.00011726620782570491,
30
+ 0.9999999927875427,
31
+ -0.00012196656193358196
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 640.948486328125,
42
+ "fy": 640.9485054016113,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9999193958989772,
52
+ 0.0015487508177259696,
53
+ -0.012601709246348755,
54
+ -0.0036308016216256953
55
+ ],
56
+ [
57
+ -0.0015277790172310542,
58
+ 0.9999974323744473,
59
+ 0.0016736594000609666,
60
+ -0.0072958176634775355
61
+ ],
62
+ [
63
+ 0.012604268971242524,
64
+ -0.0016542718692817877,
65
+ 0.9999191946293877,
66
+ 0.039650243091996835
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 640.948486328125,
77
+ "fy": 640.9485054016113,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.999867178823477,
87
+ 0.0014875230936507737,
88
+ -0.01622997186157244,
89
+ -0.0037291925625857394
90
+ ],
91
+ [
92
+ -0.0014454659076812567,
93
+ 0.9999955681469119,
94
+ 0.0026027513989842596,
95
+ -0.007464779251104553
96
+ ],
97
+ [
98
+ 0.016233771585534545,
99
+ -0.00257894582747272,
100
+ 0.9998648977229514,
101
+ 0.09884033080212598
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 640.948486328125,
112
+ "fy": 640.9485054016113,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9998392678267999,
122
+ 0.0007234149642081765,
123
+ -0.01791410568123629,
124
+ -0.004641841629822124
125
+ ],
126
+ [
127
+ -0.0007082569405261478,
128
+ 0.9999993858246825,
129
+ 0.0008524801252927747,
130
+ -0.010849722530886088
131
+ ],
132
+ [
133
+ 0.01791471137571407,
134
+ -0.000839655314627572,
135
+ 0.9998391661138694,
136
+ 0.15396140563889596
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 640.948486328125,
147
+ "fy": 640.9485054016113,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9998048496793057,
157
+ 0.0002276169135815048,
158
+ -0.01975375276452047,
159
+ -0.011562013599632374
160
+ ],
161
+ [
162
+ -0.0002531065600150866,
163
+ 0.9999991386516583,
164
+ -0.0012878792687113826,
165
+ -0.020520861547176587
166
+ ],
167
+ [
168
+ 0.019753442606554077,
169
+ 0.001292627743068694,
170
+ 0.9998040461103903,
171
+ 0.22079077046233167
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 640.948486328125,
182
+ "fy": 640.9485054016113,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.999770795614562,
192
+ 0.0007937864890595683,
193
+ -0.02139453526571165,
194
+ -0.02004252513398129
195
+ ],
196
+ [
197
+ -0.0008350677346542449,
198
+ 0.9999978068649603,
199
+ -0.001920657998801006,
200
+ -0.0296656571096217
201
+ ],
202
+ [
203
+ 0.021392963752237145,
204
+ 0.0019380836616630722,
205
+ 0.9997692658476836,
206
+ 0.2729211907198728
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 640.948486328125,
217
+ "fy": 640.9485054016113,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.9997244715471563,
227
+ 0.002162406405346935,
228
+ -0.023373168127094064,
229
+ -0.028334594302646916
230
+ ],
231
+ [
232
+ -0.0022719527314939334,
233
+ 0.9999865551535706,
234
+ -0.004661302702122772,
235
+ -0.03727889929115166
236
+ ],
237
+ [
238
+ 0.023362774247617693,
239
+ 0.004713121113771038,
240
+ 0.9997159432903038,
241
+ 0.33437659192275987
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 640.948486328125,
252
+ "fy": 640.9485054016113,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.9996879708216732,
262
+ 0.0027438126123493015,
263
+ -0.02482805845800338,
264
+ -0.032227138052214235
265
+ ],
266
+ [
267
+ -0.0029181682635620633,
268
+ 0.9999713185362425,
269
+ -0.006989019879374658,
270
+ -0.044384794541591194
271
+ ],
272
+ [
273
+ 0.024808169792051554,
274
+ 0.007059291553482395,
275
+ 0.9996673052142557,
276
+ 0.38431162638976163
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 640.948486328125,
287
+ "fy": 640.9485054016113,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9996306683801034,
297
+ 0.002377351083800865,
298
+ -0.027071664813456773,
299
+ -0.03817096760971005
300
+ ],
301
+ [
302
+ -0.002608259253799728,
303
+ 0.9999604948048214,
304
+ -0.008497400388459786,
305
+ -0.05313030638852346
306
+ ],
307
+ [
308
+ 0.02705039403803151,
309
+ 0.00856487195007487,
310
+ 0.9995973785234064,
311
+ 0.44373284887213715
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 640.948486328125,
322
+ "fy": 640.9485054016113,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.9995903693048334,
332
+ 0.002185877147710907,
333
+ -0.02853621443223344,
334
+ -0.04369928537984578
335
+ ],
336
+ [
337
+ -0.0024738956737404413,
338
+ 0.9999463196984918,
339
+ -0.010061687812555705,
340
+ -0.05923029982298831
341
+ ],
342
+ [
343
+ 0.028512688986181943,
344
+ 0.010128161853811329,
345
+ 0.9995421186244433,
346
+ 0.4921068635049218
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 640.948486328125,
357
+ "fy": 640.9485054016113,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.9995412051486668,
367
+ 0.0017351399638618524,
368
+ -0.030238526737545658,
369
+ -0.05101383580932861
370
+ ],
371
+ [
372
+ -0.0020529632739361902,
373
+ 0.9999429478868898,
374
+ -0.010482667269043294,
375
+ -0.058590498161383765
376
+ ],
377
+ [
378
+ 0.030218612670791546,
379
+ 0.010539936460122133,
380
+ 0.9994877413893929,
381
+ 0.5395407437756503
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 640.948486328125,
392
+ "fy": 640.9485054016113,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9995542170352911,
402
+ 0.0024878581304352606,
403
+ -0.02975193722917837,
404
+ -0.06194063346525143
405
+ ],
406
+ [
407
+ -0.002880126770343646,
408
+ 0.999909399387215,
409
+ -0.013149064106838587,
410
+ -0.06392493501365466
411
+ ],
412
+ [
413
+ 0.029716528679388052,
414
+ 0.013228891828941233,
415
+ 0.9994708221575183,
416
+ 0.5986750006592272
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 640.948486328125,
427
+ "fy": 640.9485054016113,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9995931506374437,
437
+ 0.0029534745952809155,
438
+ -0.028369176698030765,
439
+ -0.06677301499596229
440
+ ],
441
+ [
442
+ -0.003326097130736625,
443
+ 0.9999087042773254,
444
+ -0.013096571624570147,
445
+ -0.07337569990725146
446
+ ],
447
+ [
448
+ 0.028327906321963987,
449
+ 0.013185601929969697,
450
+ 0.9995117156017526,
451
+ 0.6412463494263089
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 640.948486328125,
462
+ "fy": 640.9485054016113,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.9996390714883756,
472
+ 0.002630782474418637,
473
+ -0.02673585116338651,
474
+ -0.07204032119322226
475
+ ],
476
+ [
477
+ -0.0029964231928683556,
478
+ 0.9999024102589179,
479
+ -0.01364519719374561,
480
+ -0.07556675285199209
481
+ ],
482
+ [
483
+ 0.026697344472956568,
484
+ 0.013720384177538696,
485
+ 0.9995493999078351,
486
+ 0.6942897631372494
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 640.948486328125,
497
+ "fy": 640.9485054016113,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9996751094854832,
507
+ 0.0023768488878354245,
508
+ -0.02537766861931298,
509
+ -0.07763668558024846
510
+ ],
511
+ [
512
+ -0.0027359560060793825,
513
+ 0.999896491494144,
514
+ -0.014125184686731762,
515
+ -0.08014835158767868
516
+ ],
517
+ [
518
+ 0.025341468385238954,
519
+ 0.014190027733090546,
520
+ 0.9995781375625491,
521
+ 0.7386004350303019
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 640.948486328125,
532
+ "fy": 640.9485054016113,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9997187502212108,
542
+ 0.0018670041769457508,
543
+ -0.023641800936977334,
544
+ -0.0864878040444604
545
+ ],
546
+ [
547
+ -0.002205588746083912,
548
+ 0.9998952675817923,
549
+ -0.014303469712604542,
550
+ -0.08660331846990191
551
+ ],
552
+ [
553
+ 0.023612620236296164,
554
+ 0.014351590954995707,
555
+ 0.999618165102374,
556
+ 0.78984672826845
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 640.948486328125,
567
+ "fy": 640.9485054016113,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9997519144655164,
577
+ 0.0018028574061306187,
578
+ -0.022200433052261992,
579
+ -0.09471029672081682
580
+ ],
581
+ [
582
+ -0.0021210608514525948,
583
+ 0.9998952423055727,
584
+ -0.014318013673153626,
585
+ -0.0848066391238241
586
+ ],
587
+ [
588
+ 0.022172294049088423,
589
+ 0.014361550050511226,
590
+ 0.9996510067302226,
591
+ 0.8322727802416646
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 640.948486328125,
602
+ "fy": 640.9485054016113,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9997895586743395,
612
+ 0.0025141185015119523,
613
+ -0.020359704662152634,
614
+ -0.10402190144288044
615
+ ],
616
+ [
617
+ -0.0028035680219923712,
618
+ 0.9998952339680572,
619
+ -0.014200742737982336,
620
+ -0.08995695693902965
621
+ ],
622
+ [
623
+ 0.020321869306630876,
624
+ 0.014254834131783209,
625
+ 0.9996918631917335,
626
+ 0.8857087377428429
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 640.948486328125,
637
+ "fy": 640.9485054016113,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9998155994901098,
647
+ 0.002357338641613192,
648
+ -0.01905806839009686,
649
+ -0.10577665846579537
650
+ ],
651
+ [
652
+ -0.0026301978533226416,
653
+ 0.9998942205049949,
654
+ -0.01430488937257221,
655
+ -0.0958771164383574
656
+ ],
657
+ [
658
+ 0.019022330968764812,
659
+ 0.014352378034246091,
660
+ 0.999716039767932,
661
+ 0.92581091319653
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 640.948486328125,
672
+ "fy": 640.9485054016113,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9998492669299993,
682
+ 0.0013746334183024846,
683
+ -0.017307622670616404,
684
+ -0.10754591674616526
685
+ ],
686
+ [
687
+ -0.0016315792030442502,
688
+ 0.9998885431521212,
689
+ -0.0148404589697579,
690
+ -0.09425120932695487
691
+ ],
692
+ [
693
+ 0.017285293426706483,
694
+ 0.014866460779020683,
695
+ 0.9997400697056503,
696
+ 0.9780187941840591
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 640.948486328125,
707
+ "fy": 640.9485054016113,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9998742209790239,
717
+ 0.0006661308133245048,
718
+ -0.0158460875717005,
719
+ -0.10892668287416363
720
+ ],
721
+ [
722
+ -0.0009222125018210257,
723
+ 0.9998690136029085,
724
+ -0.01615874874018893,
725
+ -0.09864765829539038
726
+ ],
727
+ [
728
+ 0.015833248109340878,
729
+ 0.016171329768655762,
730
+ 0.9997438653714369,
731
+ 1.021276967229957
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 640.948486328125,
742
+ "fy": 640.9485054016113,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.999895444333237,
752
+ 0.0003366809949940779,
753
+ -0.014456384317895808,
754
+ -0.1117144474418108
755
+ ],
756
+ [
757
+ -0.000582135425657188,
758
+ 0.9998556919576379,
759
+ -0.01697811468507967,
760
+ -0.10307865147872095
761
+ ],
762
+ [
763
+ 0.014448581936829958,
764
+ 0.01698475510041675,
765
+ 0.9997513473730326,
766
+ 1.0627008946938339
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 640.948486328125,
777
+ "fy": 640.9485054016113,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.999918246086625,
787
+ 0.00028638167532959595,
788
+ -0.012783549138782496,
789
+ -0.11735296294887325
790
+ ],
791
+ [
792
+ -0.0005032023920334466,
793
+ 0.9998560265528544,
794
+ -0.016960924305308288,
795
+ -0.1009137880602215
796
+ ],
797
+ [
798
+ 0.012776851349228539,
799
+ 0.016965970395877182,
800
+ 0.9997744285178162,
801
+ 1.1137235961824683
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 640.948486328125,
812
+ "fy": 640.9485054016113,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.999934526033463,
822
+ 0.0006218338567941264,
823
+ -0.011426152847227315,
824
+ -0.12221691993489725
825
+ ],
826
+ [
827
+ -0.0008158950245306878,
828
+ 0.9998553752035404,
829
+ -0.016987141957854873,
830
+ -0.10431610978242746
831
+ ],
832
+ [
833
+ 0.011413937162197907,
834
+ 0.016995352283548346,
835
+ 0.9997904180573124,
836
+ 1.1539348279840624
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 640.948486328125,
847
+ "fy": 640.9485054016113,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9999531228968654,
857
+ 0.0008804979313370292,
858
+ -0.009642444306267825,
859
+ -0.12561489381977473
860
+ ],
861
+ [
862
+ -0.0010460601032969562,
863
+ 0.9998518900247196,
864
+ -0.017178584698876828,
865
+ -0.10994975710432757
866
+ ],
867
+ [
868
+ 0.009625890455789323,
869
+ 0.017187865992877242,
870
+ 0.9998059409183085,
871
+ 1.2030421952037313
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 640.948486328125,
882
+ "fy": 640.9485054016113,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9999661822918992,
892
+ 0.0005603605991569754,
893
+ -0.008204892964774823,
894
+ -0.12738187515604996
895
+ ],
896
+ [
897
+ -0.0007022339073492378,
898
+ 0.9998501206085002,
899
+ -0.01729864696175016,
900
+ -0.10823551849761398
901
+ ],
902
+ [
903
+ 0.008193969740233847,
904
+ 0.0173038237152027,
905
+ 0.9998167014731898,
906
+ 1.243603412533743
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 640.948486328125,
917
+ "fy": 640.9485054016113,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9999786984702508,
927
+ 0.00013962251307405552,
928
+ -0.006525573637408475,
929
+ -0.1277408557243729
930
+ ],
931
+ [
932
+ -0.00025054533338052004,
933
+ 0.9998554505752413,
934
+ -0.017000446524054136,
935
+ -0.11157548413715704
936
+ ],
937
+ [
938
+ 0.006522256724425897,
939
+ 0.01700171934055924,
940
+ 0.999834187106385,
941
+ 1.2964027634941722
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 640.948486328125,
952
+ "fy": 640.9485054016113,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9999854063454001,
962
+ -0.0007015203416160514,
963
+ -0.005356768189453268,
964
+ -0.12903945100982542
965
+ ],
966
+ [
967
+ 0.000612089642975152,
968
+ 0.999860719703475,
969
+ -0.01667832546505116,
970
+ -0.12027571160727173
971
+ ],
972
+ [
973
+ 0.005367722281769251,
974
+ 0.016674803245001434,
975
+ 0.999846557474819,
976
+ 1.335007176291999
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 640.948486328125,
987
+ "fy": 640.9485054016113,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9999933153197262,
997
+ -0.001027075523548833,
998
+ -0.0035091924614777275,
999
+ -0.13503909095144845
1000
+ ],
1001
+ [
1002
+ 0.0009671550935833235,
1003
+ 0.9998544343768132,
1004
+ -0.017034514024422475,
1005
+ -0.12094588846191977
1006
+ ],
1007
+ [
1008
+ 0.0035261773761002227,
1009
+ 0.017031006220779122,
1010
+ 0.999848744010923,
1011
+ 1.38327083074466
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 640.948486328125,
1022
+ "fy": 640.9485054016113,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9999983358448645,
1032
+ -0.0007597772552072035,
1033
+ -0.0016586277533007275,
1034
+ -0.13898306657538484
1035
+ ],
1036
+ [
1037
+ 0.0007301977081271175,
1038
+ 0.9998419749671372,
1039
+ -0.01776209180028576,
1040
+ -0.12371670671631511
1041
+ ],
1042
+ [
1043
+ 0.0016718608819502644,
1044
+ 0.017760851115225375,
1045
+ 0.9998408658625904,
1046
+ 1.4249803823379037
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 640.948486328125,
1057
+ "fy": 640.9485054016113,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9999952845260027,
1067
+ -0.0007020016162752823,
1068
+ 0.0029896687926529615,
1069
+ -0.13940545880244967
1070
+ ],
1071
+ [
1072
+ 0.0007595873116962658,
1073
+ 0.9998133682544682,
1074
+ -0.019304188321999653,
1075
+ -0.12989109863182274
1076
+ ],
1077
+ [
1078
+ -0.0029755592541447,
1079
+ 0.019306368208082656,
1080
+ 0.9998091868920486,
1081
+ 1.4757030728780256
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 640.948486328125,
1092
+ "fy": 640.9485054016113,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9999794685629181,
1102
+ -0.001258565581523185,
1103
+ 0.0062831891027509326,
1104
+ -0.13716460083507234
1105
+ ],
1106
+ [
1107
+ 0.0013779667142898467,
1108
+ 0.9998178636569894,
1109
+ -0.019035249410185567,
1110
+ -0.1314368271914441
1111
+ ],
1112
+ [
1113
+ -0.0062580875959219445,
1114
+ 0.01904351661460314,
1115
+ 0.9997990702209074,
1116
+ 1.516960780695892
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 640.948486328125,
1127
+ "fy": 640.9485054016113,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.999963108205158,
1137
+ -0.001987573567857316,
1138
+ 0.0083565411500051,
1139
+ -0.13362004771707864
1140
+ ],
1141
+ [
1142
+ 0.002143228914605613,
1143
+ 0.9998236037223799,
1144
+ -0.018659260687736868,
1145
+ -0.13619845577380918
1146
+ ],
1147
+ [
1148
+ -0.008317980433913755,
1149
+ 0.018676482294738454,
1150
+ 0.9997909782602538,
1151
+ 1.5589552219019347
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 640.948486328125,
1162
+ "fy": 640.9485054016113,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9999457540287494,
1172
+ -0.002766507354167767,
1173
+ 0.010041684964957354,
1174
+ -0.13147109831455225
1175
+ ],
1176
+ [
1177
+ 0.0029367127291913906,
1178
+ 0.9998516032115848,
1179
+ -0.016974901283069076,
1180
+ -0.1463148723789228
1181
+ ],
1182
+ [
1183
+ -0.009993233621922394,
1184
+ 0.017003470007121213,
1185
+ 0.9998054897276244,
1186
+ 1.6069714525136942
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 640.948486328125,
1197
+ "fy": 640.9485054016113,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9999309644604072,
1207
+ -0.0028826429871467696,
1208
+ 0.011391079083607604,
1209
+ -0.13173492636683123
1210
+ ],
1211
+ [
1212
+ 0.0030713656531304863,
1213
+ 0.9998577426157291,
1214
+ -0.016584970437223245,
1215
+ -0.14896985880412042
1216
+ ],
1217
+ [
1218
+ -0.011341650069770245,
1219
+ 0.016618811653889464,
1220
+ 0.9997975705476123,
1221
+ 1.6428762501672962
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 640.948486328125,
1232
+ "fy": 640.9485054016113,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.9999120569280813,
1242
+ -0.0024585894154528273,
1243
+ 0.013032027775434489,
1244
+ -0.13228995353082143
1245
+ ],
1246
+ [
1247
+ 0.0026848605508993494,
1248
+ 0.9998454605232887,
1249
+ -0.01737373289753953,
1250
+ -0.15382642171672445
1251
+ ],
1252
+ [
1253
+ -0.012987298936872789,
1254
+ 0.017407194175370316,
1255
+ 0.9997641320117787,
1256
+ 1.6872931975447274
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 640.948486328125,
1267
+ "fy": 640.9485054016113,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.9998937912214274,
1277
+ -0.0019826327415763878,
1278
+ 0.014438678757178285,
1279
+ -0.13131595833714824
1280
+ ],
1281
+ [
1282
+ 0.0022406052542741804,
1283
+ 0.9998377624262794,
1284
+ -0.01787256317672077,
1285
+ -0.16143329648276997
1286
+ ],
1287
+ [
1288
+ -0.014400901532038927,
1289
+ 0.01790301633310392,
1290
+ 0.9997360131760992,
1291
+ 1.7202886241850788
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 640.948486328125,
1302
+ "fy": 640.9485054016113,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9998684352659823,
1312
+ -0.002291211319189149,
1313
+ 0.0160580979398781,
1314
+ -0.12671650700010711
1315
+ ],
1316
+ [
1317
+ 0.002585552959719247,
1318
+ 0.9998285920727583,
1319
+ -0.01833306820197372,
1320
+ -0.1621344901420159
1321
+ ],
1322
+ [
1323
+ -0.016013340521214954,
1324
+ 0.018372175279387917,
1325
+ 0.9997029739381869,
1326
+ 1.76002417628579
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 640.948486328125,
1337
+ "fy": 640.9485054016113,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.9998460157293018,
1347
+ -0.002785539507991857,
1348
+ 0.017325865054601222,
1349
+ -0.12175661098685214
1350
+ ],
1351
+ [
1352
+ 0.003106732564623493,
1353
+ 0.999823308413387,
1354
+ -0.01853915224817911,
1355
+ -0.16295682522460997
1356
+ ],
1357
+ [
1358
+ -0.0172711621789833,
1359
+ 0.01859012433951621,
1360
+ 0.9996780052767134,
1361
+ 1.7932387598054138
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 640.948486328125,
1372
+ "fy": 640.9485054016113,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.999834793375508,
1382
+ -0.0033375366211821455,
1383
+ 0.017867478978801365,
1384
+ -0.11594953162035422
1385
+ ],
1386
+ [
1387
+ 0.0036672810394870066,
1388
+ 0.999822981796889,
1389
+ -0.018454162689093716,
1390
+ -0.17144842227553989
1391
+ ],
1392
+ [
1393
+ -0.01780272466599031,
1394
+ 0.01851663900605041,
1395
+ 0.9996700441017461,
1396
+ 1.8359493166976204
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 640.948486328125,
1407
+ "fy": 640.9485054016113,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.999857240314545,
1417
+ -0.003577957067093599,
1418
+ 0.016513546372849113,
1419
+ -0.11266658252964189
1420
+ ],
1421
+ [
1422
+ 0.0038825482935766187,
1423
+ 0.9998222480812033,
1424
+ -0.018449879690582042,
1425
+ -0.17490920611273547
1426
+ ],
1427
+ [
1428
+ -0.01644459818086926,
1429
+ 0.018511360432851533,
1430
+ 0.9996934053626616,
1431
+ 1.8703973267765392
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 640.948486328125,
1442
+ "fy": 640.9485054016113,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9998859844609845,
1452
+ -0.00361418185620302,
1453
+ 0.014661369922294009,
1454
+ -0.11080593317014538
1455
+ ],
1456
+ [
1457
+ 0.0038813893035928087,
1458
+ 0.9998261409654495,
1459
+ -0.018237945586368643,
1460
+ -0.1747176301123448
1461
+ ],
1462
+ [
1463
+ -0.014592905658641457,
1464
+ 0.018292772661564486,
1465
+ 0.9997261732958633,
1466
+ 1.9061982988155206
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 640.948486328125,
1477
+ "fy": 640.9485054016113,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.9999165425387379,
1487
+ -0.003067866943907046,
1488
+ 0.01254974700109062,
1489
+ -0.10842568166455088
1490
+ ],
1491
+ [
1492
+ 0.0032913696608074285,
1493
+ 0.9998356577977879,
1494
+ -0.01782762692623427,
1495
+ -0.18049025762950818
1496
+ ],
1497
+ [
1498
+ -0.012492991760695953,
1499
+ 0.01786744493428087,
1500
+ 0.9997623115362911,
1501
+ 1.9516299105284862
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 640.948486328125,
1512
+ "fy": 640.9485054016113,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9999106697947777,
1522
+ -0.002749699269452827,
1523
+ 0.013080198182225595,
1524
+ -0.10351016660892516
1525
+ ],
1526
+ [
1527
+ 0.0029821628200128155,
1528
+ 0.9998373693199193,
1529
+ -0.01778599494934373,
1530
+ -0.18580399407791476
1531
+ ],
1532
+ [
1533
+ -0.013029164803380929,
1534
+ 0.017823413403462256,
1535
+ 0.9997562536934568,
1536
+ 1.9866884399831513
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 640.948486328125,
1547
+ "fy": 640.9485054016113,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.9998868968211176,
1557
+ -0.003202281155520018,
1558
+ 0.014694861715468724,
1559
+ -0.09603666637648992
1560
+ ],
1561
+ [
1562
+ 0.0034628878583750048,
1563
+ 0.999836574840697,
1564
+ -0.017743506375673894,
1565
+ -0.18449930773103507
1566
+ ],
1567
+ [
1568
+ -0.014635640509252269,
1569
+ 0.017792386186913284,
1570
+ 0.9997345792862522,
1571
+ 2.0308355107753813
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 640.948486328125,
1582
+ "fy": 640.9485054016113,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9999021030038917,
1592
+ -0.0034784505241418117,
1593
+ 0.013553036203954791,
1594
+ -0.0899965248595398
1595
+ ],
1596
+ [
1597
+ 0.0037206483713151436,
1598
+ 0.9998331039699871,
1599
+ -0.0178863350476806,
1600
+ -0.18778044333807012
1601
+ ],
1602
+ [
1603
+ -0.01348855752449615,
1604
+ 0.01793501011128666,
1605
+ 0.9997481654037762,
1606
+ 2.069206170838562
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 640.948486328125,
1617
+ "fy": 640.9485054016113,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9999296353376627,
1627
+ -0.0038258031027149477,
1628
+ 0.011228873679411165,
1629
+ -0.08591262475262454
1630
+ ],
1631
+ [
1632
+ 0.0040234280603016785,
1633
+ 0.9998364804240042,
1634
+ -0.01763021383827781,
1635
+ -0.1968451809840471
1636
+ ],
1637
+ [
1638
+ -0.011159587811944186,
1639
+ 0.017674151859681474,
1640
+ 0.9997815201112232,
1641
+ 2.114886716676769
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 640.948486328125,
1652
+ "fy": 640.9485054016113,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9999492351301961,
1662
+ -0.0035423174096900698,
1663
+ 0.00943287601452426,
1664
+ -0.08494593333891033
1665
+ ],
1666
+ [
1667
+ 0.0037080444972276937,
1668
+ 0.9998380568681707,
1669
+ -0.017609952983690485,
1670
+ -0.197654768086504
1671
+ ],
1672
+ [
1673
+ -0.009368968382002359,
1674
+ 0.017644036540718697,
1675
+ 0.999800435289967,
1676
+ 2.151321089405183
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 640.948486328125,
1687
+ "fy": 640.9485054016113,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9999778554168947,
1697
+ -0.002568535026188094,
1698
+ 0.006139324364100839,
1699
+ -0.08675660069302991
1700
+ ],
1701
+ [
1702
+ 0.0026765388249576825,
1703
+ 0.9998406592897112,
1704
+ -0.017649140801585226,
1705
+ -0.201028785212082
1706
+ ],
1707
+ [
1708
+ -0.0060930136834649725,
1709
+ 0.01766518210873953,
1710
+ 0.9998253930188602,
1711
+ 2.1987828031873735
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 640.948486328125,
1722
+ "fy": 640.9485054016113,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.9999943704455764,
1732
+ -0.0017483149808415676,
1733
+ 0.0028639957896932893,
1734
+ -0.08616823068440892
1735
+ ],
1736
+ [
1737
+ 0.0017987483785684168,
1738
+ 0.9998416793507962,
1739
+ -0.017702563013602332,
1740
+ -0.20862266983328862
1741
+ ],
1742
+ [
1743
+ -0.0028325927039045745,
1744
+ 0.017707614963843342,
1745
+ 0.9998391954663841,
1746
+ 2.2354909834992442
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 640.948486328125,
1757
+ "fy": 640.9485054016113,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9999986481522626,
1767
+ -0.0015063308439607695,
1768
+ 0.0006592882798986433,
1769
+ -0.08287051451205964
1770
+ ],
1771
+ [
1772
+ 0.0015178728286172867,
1773
+ 0.9998391463138685,
1774
+ -0.01787113763673184,
1775
+ -0.2107966984132219
1776
+ ],
1777
+ [
1778
+ -0.0006322623851097209,
1779
+ 0.017872114193441143,
1780
+ 0.9998400811022397,
1781
+ 2.272734502798237
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 640.948486328125,
1792
+ "fy": 640.9485054016113,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.9999971022667229,
1802
+ -0.0018086907653648936,
1803
+ -0.001588740341591123,
1804
+ -0.07706010817149993
1805
+ ],
1806
+ [
1807
+ 0.0017798396749222204,
1808
+ 0.9998368130203086,
1809
+ -0.01797719388904525,
1810
+ -0.21094440672911938
1811
+ ],
1812
+ [
1813
+ 0.001620996264427555,
1814
+ 0.017974314092839172,
1815
+ 0.9998371349394876,
1816
+ 2.32256327093909
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 640.948486328125,
1827
+ "fy": 640.9485054016113,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.9999923894038892,
1837
+ -0.0021266613812680876,
1838
+ -0.0032708478518201946,
1839
+ -0.07357081284590682
1840
+ ],
1841
+ [
1842
+ 0.002068541055672994,
1843
+ 0.9998417143221187,
1844
+ -0.017671090495720635,
1845
+ -0.2174250299367668
1846
+ ],
1847
+ [
1848
+ 0.003307910549172865,
1849
+ 0.017664190125119685,
1850
+ 0.9998385040170349,
1851
+ 2.3631200740741467
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 640.948486328125,
1862
+ "fy": 640.9485054016113,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9999815212269496,
1872
+ -0.00251733254332812,
1873
+ -0.005533555954566739,
1874
+ -0.07149090080817051
1875
+ ],
1876
+ [
1877
+ 0.002421440822370031,
1878
+ 0.9998479639170826,
1879
+ -0.017268053602196545,
1880
+ -0.2217748596523886
1881
+ ],
1882
+ [
1883
+ 0.005576184087687546,
1884
+ 0.017254335331471745,
1885
+ 0.9998355835252563,
1886
+ 2.4107542690004906
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 640.948486328125,
1897
+ "fy": 640.9485054016113,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.9999715318424743,
1907
+ -0.0021012967163993633,
1908
+ -0.007247072286459664,
1909
+ -0.07258149672334462
1910
+ ],
1911
+ [
1912
+ 0.0019759187927622527,
1913
+ 0.9998490054439799,
1914
+ -0.017264473858439208,
1915
+ -0.2198810720486543
1916
+ ],
1917
+ [
1918
+ 0.0072822558002264256,
1919
+ 0.017249662744354483,
1920
+ 0.999824693576662,
1921
+ 2.450907778417231
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 640.948486328125,
1932
+ "fy": 640.9485054016113,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9999545943735283,
1942
+ -0.0012185253099462042,
1943
+ -0.009451157989456518,
1944
+ -0.0723134064236094
1945
+ ],
1946
+ [
1947
+ 0.0010539946794511812,
1948
+ 0.9998481573617298,
1949
+ -0.017394002287261873,
1950
+ -0.22905858453632555
1951
+ ],
1952
+ [
1953
+ 0.009470917932720983,
1954
+ 0.017383251031455625,
1955
+ 0.9998040429489616,
1956
+ 2.498835393896347
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 640.948486328125,
1967
+ "fy": 640.9485054016113,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.9999369908915714,
1977
+ -0.0009868386484743002,
1978
+ -0.011182146314172301,
1979
+ -0.06870787965126839
1980
+ ],
1981
+ [
1982
+ 0.0007873555633008081,
1983
+ 0.9998407263304431,
1984
+ -0.01782980768907122,
1985
+ -0.2327174254544384
1986
+ ],
1987
+ [
1988
+ 0.011197960436017758,
1989
+ 0.017819879923675168,
1990
+ 0.9997785042506062,
1991
+ 2.5342620051286757
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 640.948486328125,
2002
+ "fy": 640.9485054016113,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9999097432552595,
2012
+ -0.0014765067475892406,
2013
+ -0.013353848547346215,
2014
+ -0.062275825895789984
2015
+ ],
2016
+ [
2017
+ 0.0012298858751950191,
2018
+ 0.999828888608179,
2019
+ -0.018457542774370315,
2020
+ -0.23243792183718828
2021
+ ],
2022
+ [
2023
+ 0.013378816238185386,
2024
+ 0.01843945314693572,
2025
+ 0.9997404632421891,
2026
+ 2.582597547166606
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 640.948486328125,
2037
+ "fy": 640.9485054016113,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.999883444961478,
2047
+ -0.0020258091768474646,
2048
+ -0.015132501086934877,
2049
+ -0.05710745433767869
2050
+ ],
2051
+ [
2052
+ 0.0017459459715758968,
2053
+ 0.9998276216537227,
2054
+ -0.018484551683083432,
2055
+ -0.23893282372582259
2056
+ ],
2057
+ [
2058
+ 0.015167338745851975,
2059
+ 0.018455976686137347,
2060
+ 0.999714623660137,
2061
+ 2.6229624788976187
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 640.948486328125,
2072
+ "fy": 640.9485054016113,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.999821118703292,
2082
+ -0.0022874951168031493,
2083
+ -0.018774929054145562,
2084
+ -0.05279763143135431
2085
+ ],
2086
+ [
2087
+ 0.001947272482229516,
2088
+ 0.9998339333309987,
2089
+ -0.01811943403486676,
2090
+ -0.2452789979499822
2091
+ ],
2092
+ [
2093
+ 0.0188132592810908,
2094
+ 0.018079632904308036,
2095
+ 0.999659536116806,
2096
+ 2.6711174633254218
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 640.948486328125,
2107
+ "fy": 640.9485054016113,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9997158790827299,
2117
+ -0.0018536423810248657,
2118
+ -0.02376394579543118,
2119
+ -0.05129561157869281
2120
+ ],
2121
+ [
2122
+ 0.0014226232072921674,
2123
+ 0.9998344152037782,
2124
+ -0.01814161837678656,
2125
+ -0.24573003460699833
2126
+ ],
2127
+ [
2128
+ 0.02379363891999281,
2129
+ 0.018102656822747164,
2130
+ 0.9995529783672814,
2131
+ 2.7110817360088877
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 640.948486328125,
2142
+ "fy": 640.9485054016113,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9995373330947787,
2152
+ -0.0011383627368229568,
2153
+ -0.030394471208713695,
2154
+ -0.05007834700882311
2155
+ ],
2156
+ [
2157
+ 0.0005509081951555274,
2158
+ 0.9998130244740012,
2159
+ -0.019329060823312517,
2160
+ -0.25219705727071207
2161
+ ],
2162
+ [
2163
+ 0.030410791669051026,
2164
+ 0.019303373343284254,
2165
+ 0.9993510712095284,
2166
+ 2.7508837400104595
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 640.948486328125,
2177
+ "fy": 640.9485054016113,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9992312091318711,
2187
+ -0.00028219474374714757,
2188
+ -0.03920345728358105,
2189
+ -0.0468766578846356
2190
+ ],
2191
+ [
2192
+ -0.0005007488888334672,
2193
+ 0.9998006532432107,
2194
+ -0.019960035696352414,
2195
+ -0.2597935741031707
2196
+ ],
2197
+ [
2198
+ 0.03920127481867516,
2199
+ 0.019964321690854714,
2200
+ 0.9990318743223435,
2201
+ 2.79650177224399
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 640.948486328125,
2212
+ "fy": 640.9485054016113,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.9989550883761686,
2222
+ -0.00020241933385372674,
2223
+ -0.045702192877087815,
2224
+ -0.04234734633159039
2225
+ ],
2226
+ [
2227
+ -0.0007615731495472266,
2228
+ 0.9997776176190466,
2229
+ -0.02107451812786085,
2230
+ -0.25729461330809894
2231
+ ],
2232
+ [
2233
+ 0.04569629540454174,
2234
+ 0.021087302681873022,
2235
+ 0.9987327842080204,
2236
+ 2.834848969091016
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 640.948486328125,
2247
+ "fy": 640.9485054016113,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9986014612128589,
2257
+ -0.0004833136511398653,
2258
+ -0.05286670097006115,
2259
+ -0.035591301457701764
2260
+ ],
2261
+ [
2262
+ -0.0007930351069083551,
2263
+ 0.9997087768887207,
2264
+ -0.024119131555202105,
2265
+ -0.26100710064318483
2266
+ ],
2267
+ [
2268
+ 0.052862962070455856,
2269
+ 0.02412732516406568,
2270
+ 0.9983102621037034,
2271
+ 2.8872745718273367
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 640.948486328125,
2282
+ "fy": 640.9485054016113,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9983285518235718,
2292
+ -0.0005851193381610244,
2293
+ -0.05779065884042264,
2294
+ -0.0327469216930146
2295
+ ],
2296
+ [
2297
+ -0.0007915722520210132,
2298
+ 0.999716515075935,
2299
+ -0.02379627907463533,
2300
+ -0.26721093209303554
2301
+ ],
2302
+ [
2303
+ 0.05778819972295243,
2304
+ 0.023802250309334347,
2305
+ 0.9980450775656339,
2306
+ 2.9272727896197375
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 640.948486328125,
2317
+ "fy": 640.9485054016113,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9977123904251132,
2327
+ -0.0003374516949518995,
2328
+ -0.06760082927420837,
2329
+ -0.03139241609634075
2330
+ ],
2331
+ [
2332
+ -0.0012685660445808376,
2333
+ 0.9997180016767978,
2334
+ -0.023713031513094722,
2335
+ -0.2666186154711306
2336
+ ],
2337
+ [
2338
+ 0.06758976795638248,
2339
+ 0.023744541471758536,
2340
+ 0.9974306091242131,
2341
+ 2.976593256506372
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 640.948486328125,
2352
+ "fy": 640.9485054016113,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9969925521635313,
2362
+ 0.0005581100619461881,
2363
+ -0.0774954156296165,
2364
+ -0.03133385167959708
2365
+ ],
2366
+ [
2367
+ -0.0024181101619846577,
2368
+ 0.9997111987776742,
2369
+ -0.02390965875436157,
2370
+ -0.2684772910541611
2371
+ ],
2372
+ [
2373
+ 0.07745969063772952,
2374
+ 0.02402514415491126,
2375
+ 0.9967059690674291,
2376
+ 3.0171426085886797
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 640.948486328125,
2387
+ "fy": 640.9485054016113,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9961652662719439,
2397
+ 0.0016415378734078625,
2398
+ -0.0874760974595753,
2399
+ -0.02926202664867762
2400
+ ],
2401
+ [
2402
+ -0.0037657388986349497,
2403
+ 0.9997018879884784,
2404
+ -0.024123730284082056,
2405
+ -0.27398388556076697
2406
+ ],
2407
+ [
2408
+ 0.08741041976729236,
2409
+ 0.024360634344819467,
2410
+ 0.9958744790436311,
2411
+ 3.064846332194702
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 640.948486328125,
2422
+ "fy": 640.9485054016113,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9957009574875786,
2432
+ 0.0018276746789325639,
2433
+ -0.09260811445865506,
2434
+ -0.02604627799590365
2435
+ ],
2436
+ [
2437
+ -0.0041140549549594525,
2438
+ 0.9996912695739203,
2439
+ -0.024503879070689343,
2440
+ -0.2730462164751542
2441
+ ],
2442
+ [
2443
+ 0.09253473839670669,
2444
+ 0.024779530725003295,
2445
+ 0.9954010734607943,
2446
+ 3.1043123478142185
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 640.948486328125,
2457
+ "fy": 640.9485054016113,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.995181097551811,
2467
+ 0.0018826738052487642,
2468
+ -0.09803590472330025,
2469
+ -0.020837221574715268
2470
+ ],
2471
+ [
2472
+ -0.0043338981010643445,
2473
+ 0.9996831280564082,
2474
+ -0.024796386966745833,
2475
+ -0.27511417112062575
2476
+ ],
2477
+ [
2478
+ 0.09795815638742168,
2479
+ 0.02510177321820197,
2480
+ 0.9948739118996334,
2481
+ 3.157052142130436
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 640.948486328125,
2492
+ "fy": 640.9485054016113,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9946133222557811,
2502
+ 0.0016135618488005282,
2503
+ -0.10364234467377492,
2504
+ -0.020624742930722147
2505
+ ],
2506
+ [
2507
+ -0.004155845237219647,
2508
+ 0.999695632362999,
2509
+ -0.024318132837612166,
2510
+ -0.2830448204547294
2511
+ ],
2512
+ [
2513
+ 0.10357156048685248,
2514
+ 0.02461786043716163,
2515
+ 0.9943172998624809,
2516
+ 3.2000599346165473
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 640.948486328125,
2527
+ "fy": 640.9485054016113,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9938524020498474,
2537
+ 0.002257607821665836,
2538
+ -0.11069013572433731,
2539
+ -0.02287323890330875
2540
+ ],
2541
+ [
2542
+ -0.004796851185430969,
2543
+ 0.9997312865284268,
2544
+ -0.02267917447619184,
2545
+ -0.28287514376228007
2546
+ ],
2547
+ [
2548
+ 0.11060919111201153,
2549
+ 0.02307071613843565,
2550
+ 0.9935961699294167,
2551
+ 3.2406532036864513
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 640.948486328125,
2562
+ "fy": 640.9485054016113,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.9924865840017482,
2572
+ 0.003520107183548351,
2573
+ -0.12230285941856557,
2574
+ -0.02847295279928833
2575
+ ],
2576
+ [
2577
+ -0.006338490643670466,
2578
+ 0.99972307044382,
2579
+ -0.022662876223926525,
2580
+ -0.28433586018371654
2581
+ ],
2582
+ [
2583
+ 0.12218921438859152,
2584
+ 0.023267816137257997,
2585
+ 0.9922340472989736,
2586
+ 3.291701640256167
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 640.948486328125,
2597
+ "fy": 640.9485054016113,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.9912583586609638,
2607
+ 0.004521196603385367,
2608
+ -0.13185759426762467,
2609
+ -0.03367322928355228
2610
+ ],
2611
+ [
2612
+ -0.007596126390365388,
2613
+ 0.9997105850255652,
2614
+ -0.022826411275181712,
2615
+ -0.29171691046979026
2616
+ ],
2617
+ [
2618
+ 0.13171623001222582,
2619
+ 0.02362847792634314,
2620
+ 0.9910058172292686,
2621
+ 3.331351784653708
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 640.948486328125,
2632
+ "fy": 640.9485054016113,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9893201009271031,
2642
+ 0.005734910872887596,
2643
+ -0.14564631371533868,
2644
+ -0.040277672137011784
2645
+ ],
2646
+ [
2647
+ -0.009252887500632426,
2648
+ 0.9996812911013292,
2649
+ -0.023488301234452738,
2650
+ -0.29444490292788233
2651
+ ],
2652
+ [
2653
+ 0.14546519162496388,
2654
+ 0.02458509750356483,
2655
+ 0.9890578602924366,
2656
+ 3.378770354847895
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 640.948486328125,
2667
+ "fy": 640.9485054016113,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9874889020206424,
2677
+ 0.005975629392250468,
2678
+ -0.15757525262373226,
2679
+ -0.0464480333304651
2680
+ ],
2681
+ [
2682
+ -0.009928939412626608,
2683
+ 0.9996550842096115,
2684
+ -0.024313139986751667,
2685
+ -0.2965005170131515
2686
+ ],
2687
+ [
2688
+ 0.1573756161170051,
2689
+ 0.025573511046421946,
2690
+ 0.9872076331676899,
2691
+ 3.420248675276679
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 640.948486328125,
2702
+ "fy": 640.9485054016113,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.984220300129452,
2712
+ 0.0062752607075667825,
2713
+ -0.17683614425830282,
2714
+ -0.05884049509933968
2715
+ ],
2716
+ [
2717
+ -0.01093320192085625,
2718
+ 0.9996181285428636,
2719
+ -0.025378380252112143,
2720
+ -0.3057790557005603
2721
+ ],
2722
+ [
2723
+ 0.17660935962980276,
2724
+ 0.026911302300614864,
2725
+ 0.9839130631817203,
2726
+ 3.4691365742262086
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 640.948486328125,
2737
+ "fy": 640.9485054016113,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.9801986224801554,
2747
+ 0.007235287327236911,
2748
+ -0.19788459036847175,
2749
+ -0.07312791786024406
2750
+ ],
2751
+ [
2752
+ -0.012751303091762464,
2753
+ 0.9995644314589134,
2754
+ -0.02661487613499485,
2755
+ -0.30768636815637784
2756
+ ],
2757
+ [
2758
+ 0.19760583179012595,
2759
+ 0.02861115131397956,
2760
+ 0.9798639381378523,
2761
+ 3.5062549316883
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 640.948486328125,
2772
+ "fy": 640.9485054016113,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.9738912824493655,
2782
+ 0.008599998577941515,
2783
+ -0.22685195611585504,
2784
+ -0.09495747362303736
2785
+ ],
2786
+ [
2787
+ -0.01580157009427515,
2788
+ 0.9994265253378414,
2789
+ -0.029948803543465956,
2790
+ -0.3087435415180347
2791
+ ],
2792
+ [
2793
+ 0.2264643025990766,
2794
+ 0.03275149577635827,
2795
+ 0.9734686739555235,
2796
+ 3.5550588890217396
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 640.948486328125,
2807
+ "fy": 640.9485054016113,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.9689504672912345,
2817
+ 0.00964607627024854,
2818
+ -0.2470666815835092,
2819
+ -0.11289246295783888
2820
+ ],
2821
+ [
2822
+ -0.018339073684931935,
2823
+ 0.9992901250023657,
2824
+ -0.03290781744715367,
2825
+ -0.31509803659019475
2826
+ ],
2827
+ [
2828
+ 0.2465738638065219,
2829
+ 0.036417019171605766,
2830
+ 0.9684395336840488,
2831
+ 3.59242876368265
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 640.948486328125,
2842
+ "fy": 640.9485054016113,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ }
2847
+ ]
2848
+ }
spatialvid_eval/camera_controls/scene_035/tilt_down/transforms.json ADDED
@@ -0,0 +1,2848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 81,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 0.9999999755008188,
17
+ -0.0002198320912991082,
18
+ -2.592708844443234e-05,
19
+ -0.00016600281001606768
20
+ ],
21
+ [
22
+ 0.00021982904934223676,
23
+ 0.9999999689612438,
24
+ -0.00011727191022597567,
25
+ 0.0002378761507749253
26
+ ],
27
+ [
28
+ 2.5952867768963377e-05,
29
+ 0.00011726620782570491,
30
+ 0.9999999927875427,
31
+ -0.00012196656193358196
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 640.948486328125,
42
+ "fy": 640.9485054016113,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9999193958989772,
52
+ 0.0015899814482553164,
53
+ -0.012596573503104821,
54
+ -0.0036150494850677594
55
+ ],
56
+ [
57
+ -0.0015277790172310542,
58
+ 0.999986600762089,
59
+ 0.004946128542293832,
60
+ -0.007297909737727612
61
+ ],
62
+ [
63
+ 0.012604268971242524,
64
+ -0.004926485083362084,
65
+ 0.999908426881394,
66
+ 0.0384003440987101
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 640.948486328125,
77
+ "fy": 640.9485054016113,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.999867178823477,
87
+ 0.001593715392427396,
88
+ -0.01621988849621099,
89
+ -0.0036886176329318085
90
+ ],
91
+ [
92
+ -0.0014454659076812567,
93
+ 0.9999571150595133,
94
+ 0.009147604613528924,
95
+ -0.007471286129602014
96
+ ],
97
+ [
98
+ 0.016233771585534545,
99
+ -0.009122944322074122,
100
+ 0.9998266032402846,
101
+ 0.0963406685578186
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 640.948486328125,
112
+ "fy": 640.9485054016113,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9998392678267999,
122
+ 0.0008992485982003565,
123
+ -0.017906140386123898,
124
+ -0.004574663733517488
125
+ ],
126
+ [
127
+ -0.0007082569405261478,
128
+ 0.9999428257439897,
129
+ 0.01066975235098278,
130
+ -0.010852919331355935
131
+ ],
132
+ [
133
+ 0.01791471137571407,
134
+ -0.010655355230293392,
135
+ 0.9997827396595929,
136
+ 0.15021200876596894
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 640.948486328125,
147
+ "fy": 640.9485054016113,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9998048496793057,
157
+ 0.0004861660477922214,
158
+ -0.01974908099925469,
159
+ -0.011463244835809771
160
+ ],
161
+ [
162
+ -0.0002531065600150866,
163
+ 0.9999303241182314,
164
+ 0.011801815363672955,
165
+ -0.02051442215083303
166
+ ],
167
+ [
168
+ 0.019753442606554077,
169
+ -0.011794513613664777,
170
+ 0.9997353104466236,
171
+ 0.2157917502317797
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 640.948486328125,
182
+ "fy": 640.9485054016113,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.999770795614562,
192
+ 0.0011437318754317623,
193
+ -0.021378683626994303,
194
+ -0.01990880928857059
195
+ ],
196
+ [
197
+ -0.0008350677346542449,
198
+ 0.9998953703588223,
199
+ 0.014441294847493572,
200
+ -0.02965365299712919
201
+ ],
202
+ [
203
+ 0.021392963752237145,
204
+ -0.014420132190476836,
205
+ 0.999667145048543,
206
+ 0.26667263280832476
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 640.948486328125,
217
+ "fy": 640.9485054016113,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.9997244715471563,
227
+ 0.0026208911757685848,
228
+ -0.023326206704135793,
229
+ -0.02815929554169371
230
+ ],
231
+ [
232
+ -0.0022719527314939334,
233
+ 0.9998853168109769,
234
+ 0.014973024296987363,
235
+ -0.03724393952088574
236
+ ],
237
+ [
238
+ 0.023362774247617693,
239
+ -0.01491590276373157,
240
+ 0.9996157744974805,
241
+ 0.3268787223480826
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 640.948486328125,
252
+ "fy": 640.9485054016113,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.9996879708216732,
262
+ 0.0033117904131308713,
263
+ -0.024758696223856673,
264
+ -0.03200989254070671
265
+ ],
266
+ [
267
+ -0.0029181682635620633,
268
+ 0.9998690485801971,
269
+ 0.015917599860443218,
270
+ -0.04432364061764667
271
+ ],
272
+ [
273
+ 0.024808169792051554,
274
+ -0.015840383063270198,
275
+ 0.9995667246242133,
276
+ 0.37556453746913687
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 640.948486328125,
287
+ "fy": 640.9485054016113,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9996306683801036,
297
+ 0.0030851899953900416,
298
+ -0.0270001562336248,
299
+ -0.03790025096157548
300
+ ],
301
+ [
302
+ -0.0026082592537997286,
303
+ 0.9998402693285426,
304
+ 0.0176814256408471,
305
+ -0.05304533238463886
306
+ ],
307
+ [
308
+ 0.027050394038031517,
309
+ -0.017604471923922695,
310
+ 0.9994790436775889,
311
+ 0.43373687508690306
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 640.948486328125,
322
+ "fy": 640.9485054016113,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.9995903693048334,
332
+ 0.0030252685378177563,
333
+ -0.02845946842970513,
334
+ -0.04337825296748315
335
+ ],
336
+ [
337
+ -0.0024738956737404413,
338
+ 0.9998089498070746,
339
+ 0.019389268317048267,
340
+ -0.05911710583509706
341
+ ],
342
+ [
343
+ 0.028512688986181943,
344
+ -0.01931092012176358,
345
+ 0.9994068815706787,
346
+ 0.4808620146703968
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 640.948486328125,
357
+ "fy": 640.9485054016113,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.9995412051486668,
367
+ 0.002723587808929191,
368
+ -0.030165564463449156,
369
+ -0.05063585422510929
370
+ ],
371
+ [
372
+ -0.0020529632739361902,
373
+ 0.9997505491682402,
374
+ 0.02224016141125577,
375
+ -0.05845946482052072
376
+ ],
377
+ [
378
+ 0.030218612670791546,
379
+ -0.02216802894372644,
380
+ 0.999297460189409,
381
+ 0.5270471470082829
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 640.948486328125,
392
+ "fy": 640.9485054016113,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9995542170352911,
402
+ 0.0035570079735570415,
403
+ -0.029643125699598455,
404
+ -0.06153154432835023
405
+ ],
406
+ [
407
+ -0.002880126770343646,
408
+ 0.999734851179433,
409
+ 0.022845835660442976,
410
+ -0.06374413538218564
411
+ ],
412
+ [
413
+ 0.029716528679388052,
414
+ -0.02275027541620694,
415
+ 0.9992994310474385,
416
+ 0.5849322768545613
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 640.948486328125,
427
+ "fy": 640.9485054016113,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9995931506374439,
437
+ 0.004064966223805159,
438
+ -0.028231352222456242,
439
+ -0.06634747734549183
440
+ ],
441
+ [
442
+ -0.003326097130736626,
443
+ 0.9996519798927982,
444
+ 0.026169756863339992,
445
+ -0.0731792513328829
446
+ ],
447
+ [
448
+ 0.028327906321963994,
449
+ -0.026065209494817956,
450
+ 0.999258792594494,
451
+ 0.6262536736922826
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 640.948486328125,
462
+ "fy": 640.9485054016113,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.9996390714883756,
472
+ 0.0037654663938113454,
473
+ -0.026599774748962468,
474
+ -0.07160586361181723
475
+ ],
476
+ [
477
+ -0.0029964231928683556,
478
+ 0.9995780314671958,
479
+ 0.028892567490882426,
480
+ -0.07534501839759372
481
+ ],
482
+ [
483
+ 0.026697344472956568,
484
+ -0.028802435157518062,
485
+ 0.9992285381868801,
486
+ 0.6780470853887471
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 640.948486328125,
497
+ "fy": 640.9485054016113,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9996751094854832,
507
+ 0.00353662328424528,
508
+ -0.02524218237261987,
509
+ -0.07719257637941047
510
+ ],
511
+ [
512
+ -0.0027359560060793825,
513
+ 0.9994941989203302,
514
+ 0.03168376349710384,
515
+ -0.07990116085566087
516
+ ],
517
+ [
518
+ 0.025341468385238954,
519
+ -0.031604408242410516,
520
+ 0.9991791487815022,
521
+ 0.7211078176229573
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 640.948486328125,
532
+ "fy": 640.9485054016113,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9997187502212108,
542
+ 0.0030248034775387437,
543
+ -0.023521713799437845,
544
+ -0.08604452027689206
545
+ ],
546
+ [
547
+ -0.002205588746083912,
548
+ 0.9993926879353593,
549
+ 0.03477629479431216,
550
+ -0.08633512841279058
551
+ ],
552
+ [
553
+ 0.023612620236296164,
554
+ -0.0347146347418495,
555
+ 0.999118280435463,
556
+ 0.7711038876727805
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 640.948486328125,
567
+ "fy": 640.9485054016113,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9997519144655166,
577
+ 0.0029622675455106455,
578
+ -0.022075653864010943,
579
+ -0.09426628805977158
580
+ ],
581
+ [
582
+ -0.002121060851452595,
583
+ 0.9992742675640102,
584
+ 0.038032082315801144,
585
+ -0.08452027885036104
586
+ ],
587
+ [
588
+ 0.022172294049088426,
589
+ -0.037975823301151124,
590
+ 0.9990326452229681,
591
+ 0.8122797601070602
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 640.948486328125,
602
+ "fy": 640.9485054016113,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9997895586743395,
612
+ 0.0036423034117470327,
613
+ -0.020188412310692003,
614
+ -0.1035892577188097
615
+ ],
616
+ [
617
+ -0.0028035680219923712,
618
+ 0.9991379283556211,
619
+ 0.04141907927011396,
620
+ -0.08965519115584752
621
+ ],
622
+ [
623
+ 0.020321869306630876,
624
+ -0.04135376339699566,
625
+ 0.9989378798908317,
626
+ 0.8644652856500186
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 640.948486328125,
637
+ "fy": 640.9485054016113,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9998155994901098,
647
+ 0.003475213899646327,
648
+ -0.018886235850072316,
649
+ -0.10534785192701819
650
+ ],
651
+ [
652
+ -0.0026301978533226416,
653
+ 0.9990021544860943,
654
+ 0.04458449720917262,
655
+ -0.09555525642747453
656
+ ],
657
+ [
658
+ 0.019022330968764812,
659
+ -0.04452660126816383,
660
+ 0.9988270784795641,
661
+ 0.9033173023017514
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 640.948486328125,
672
+ "fy": 640.9485054016113,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9998492669299993,
682
+ 0.002447426019403589,
683
+ -0.017188761602357955,
684
+ -0.10713486070773812
685
+ ],
686
+ [
687
+ -0.0016315792030442502,
688
+ 0.9988785155315979,
689
+ 0.04731859210390488,
690
+ -0.09389874842642312
691
+ ],
692
+ [
693
+ 0.017285293426706483,
694
+ -0.047283414801292445,
695
+ 0.9987319446757882,
696
+ 0.9542749675285499
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 640.948486328125,
707
+ "fy": 640.9485054016113,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9998742209790239,
717
+ 0.0017010882893641374,
718
+ -0.015768592842173638,
719
+ -0.10853053068487112
720
+ ],
721
+ [
722
+ -0.0009222125018210257,
723
+ 0.998785050025495,
724
+ 0.04927041069111862,
725
+ -0.09824368957688566
726
+ ],
727
+ [
728
+ 0.015833248109340878,
729
+ -0.049249671513643616,
730
+ 0.9986609925846242,
731
+ 0.9962833705956712
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 640.948486328125,
742
+ "fy": 640.9485054016113,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.999895444333237,
752
+ 0.001328581016959199,
753
+ -0.014399141436921498,
754
+ -0.11133496735346604
755
+ ],
756
+ [
757
+ -0.000582135425657188,
758
+ 0.9986614394112445,
759
+ 0.05172031082087472,
760
+ -0.1026329759682376
761
+ ],
762
+ [
763
+ 0.014448581936829958,
764
+ -0.051706520918962176,
765
+ 0.998557797112652,
766
+ 1.0364574218252918
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 640.948486328125,
777
+ "fy": 640.9485054016113,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.999918246086625,
787
+ 0.0012051944074307514,
788
+ -0.012729833050277169,
789
+ -0.11700141534755673
790
+ ],
791
+ [
792
+ -0.0005032023920334466,
793
+ 0.9984859351399396,
794
+ 0.055005309880713234,
795
+ -0.10044736264182552
796
+ ],
797
+ [
798
+ 0.012776851349228539,
799
+ -0.05499440729893299,
800
+ 0.9984049114640007,
801
+ 1.0862297993982284
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 640.948486328125,
812
+ "fy": 640.9485054016113,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.9999345260334632,
822
+ 0.0014792774464657164,
823
+ -0.011347042983528097,
824
+ -0.12188841804053946
825
+ ],
826
+ [
827
+ -0.000815895024530688,
828
+ 0.9983019064791561,
829
+ 0.058246354696163294,
830
+ -0.10382772945113913
831
+ ],
832
+ [
833
+ 0.011413937162197909,
834
+ -0.058233283080371616,
835
+ 0.9982377506286461,
836
+ 1.1251908534649147
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 640.948486328125,
847
+ "fy": 640.9485054016113,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9999531228968657,
857
+ 0.001634321110941927,
858
+ -0.009543636796991762,
859
+ -0.12532562049058668
860
+ ],
861
+ [
862
+ -0.0010460601032969564,
863
+ 0.9981174965528304,
864
+ 0.061321846297803205,
865
+ -0.10943439956336126
866
+ ],
867
+ [
868
+ 0.009625890455789324,
869
+ -0.0613089884895962,
870
+ 0.9980724172941142,
871
+ 1.173048016976182
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 640.948486328125,
882
+ "fy": 640.9485054016113,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9999661822918992,
892
+ 0.001228998993285407,
893
+ -0.008131656291248566,
894
+ -0.12712547225090073
895
+ ],
896
+ [
897
+ -0.0007022339073492378,
898
+ 0.997919525239151,
899
+ 0.06446803870141622,
900
+ -0.10769493578005929
901
+ ],
902
+ [
903
+ 0.008193969740233847,
904
+ -0.06446014821533096,
905
+ 0.9978866409327033,
906
+ 1.2123591406127059
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 640.948486328125,
917
+ "fy": 640.9485054016113,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9999786984702508,
927
+ 0.0006936748809661072,
928
+ -0.006490101763679384,
929
+ -0.12752877458115713
930
+ ],
931
+ [
932
+ -0.00025054533338052004,
933
+ 0.9976831799571472,
934
+ 0.06803094632320554,
935
+ -0.11102296962512528
936
+ ],
937
+ [
938
+ 0.006522256724425897,
939
+ -0.06802787109526852,
940
+ 0.9976621015762134,
941
+ 1.2639081524132147
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 640.948486328125,
952
+ "fy": 640.9485054016113,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9999854063454001,
962
+ -0.00022608981072467802,
963
+ -0.0053977754327802505,
964
+ -0.12885866008343136
965
+ ],
966
+ [
967
+ 0.000612089642975152,
968
+ 0.997432031258314,
969
+ 0.0716168162248429,
970
+ -0.11971281812282625
971
+ ],
972
+ [
973
+ 0.005367722281769251,
974
+ -0.07161907499620088,
975
+ 0.9974176134669944,
976
+ 1.301262354977224
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 640.948486328125,
987
+ "fy": 640.9485054016113,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9999933153197262,
997
+ -0.0007016700769146322,
998
+ -0.003588450217841657,
999
+ -0.13491626921529673
1000
+ ],
1001
+ [
1002
+ 0.0009671550935833235,
1003
+ 0.9972186582161858,
1004
+ 0.07452524616889947,
1005
+ -0.12034968047106498
1006
+ ],
1007
+ [
1008
+ 0.0035261773761002227,
1009
+ -0.07452821857936276,
1010
+ 0.9972126707520814,
1011
+ 1.3482761247042776
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 640.948486328125,
1022
+ "fy": 640.9485054016113,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9999983358448645,
1032
+ -0.0005991869990120769,
1033
+ -0.0017231605966260117,
1034
+ -0.1389229413193277
1035
+ ],
1036
+ [
1037
+ 0.0007301977081271175,
1038
+ 0.9970259774918206,
1039
+ 0.07706274727640239,
1040
+ -0.12307283088855475
1041
+ ],
1042
+ [
1043
+ 0.0016718608819502644,
1044
+ -0.07706387727995415,
1045
+ 0.9970247558108934,
1046
+ 1.3887361509503848
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 640.948486328125,
1057
+ "fy": 640.9485054016113,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9999952845260027,
1067
+ -0.0009916600722047306,
1068
+ 0.0029064645293227017,
1069
+ -0.13951757138217416
1070
+ ],
1071
+ [
1072
+ 0.0007595873116962658,
1073
+ 0.9968911349452372,
1074
+ 0.07878761384071102,
1075
+ -0.12916719156974776
1076
+ ],
1077
+ [
1078
+ -0.0029755592541447,
1079
+ -0.07878503460618828,
1080
+ 0.9968871873834206,
1081
+ 1.4382102283695737
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 640.948486328125,
1092
+ "fy": 640.9485054016113,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9999794685629181,
1102
+ -0.0018884144122811196,
1103
+ 0.006123425808435326,
1104
+ -0.13740807441280395
1105
+ ],
1106
+ [
1107
+ 0.0013779667142898467,
1108
+ 0.9966052015375603,
1109
+ 0.08231751621625462,
1110
+ -0.1306992112767994
1111
+ ],
1112
+ [
1113
+ -0.0062580875959219445,
1114
+ -0.08230738824240823,
1115
+ 0.9965873419727722,
1116
+ 1.4782185667248318
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 640.948486328125,
1127
+ "fy": 640.9485054016113,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.999963108205158,
1137
+ -0.0028501818365322825,
1138
+ 0.008103005132546512,
1139
+ -0.13395430936307884
1140
+ ],
1141
+ [
1142
+ 0.002143228914605613,
1143
+ 0.9962968892533184,
1144
+ 0.08595298153048894,
1145
+ -0.1354520853462997
1146
+ ],
1147
+ [
1148
+ -0.008317980433913755,
1149
+ -0.085932443975833,
1150
+ 0.9962662426650023,
1151
+ 1.5189635827715244
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 640.948486328125,
1162
+ "fy": 640.9485054016113,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9999457540287494,
1172
+ -0.003832708610056491,
1173
+ 0.009685006173798432,
1174
+ -0.13188531781935675
1175
+ ],
1176
+ [
1177
+ 0.0029367127291913906,
1178
+ 0.9958565664843866,
1179
+ 0.09089045443980863,
1180
+ -0.1456146577009962
1181
+ ],
1182
+ [
1183
+ -0.009993233621922394,
1184
+ -0.09085708191791722,
1185
+ 0.9958138008418737,
1186
+ 1.5657294760624296
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 640.948486328125,
1197
+ "fy": 640.9485054016113,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9999309644604074,
1207
+ -0.004129630035672381,
1208
+ 0.011000566760345653,
1209
+ -0.13221904722788455
1210
+ ],
1211
+ [
1212
+ 0.003071365653130487,
1213
+ 0.9955166016359014,
1214
+ 0.09453709631849022,
1215
+ -0.14826499756053843
1216
+ ],
1217
+ [
1218
+ -0.011341650069770247,
1219
+ -0.09449678313612161,
1220
+ 0.9954605592139852,
1221
+ 1.6003848534190226
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 640.948486328125,
1232
+ "fy": 640.9485054016113,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.9999120569280813,
1242
+ -0.0039318710961203755,
1243
+ 0.012665654327233388,
1244
+ -0.1328601047459967
1245
+ ],
1246
+ [
1247
+ 0.0026848605508993494,
1248
+ 0.9952798433225393,
1249
+ 0.0970094067587478,
1250
+ -0.1530663209024571
1251
+ ],
1252
+ [
1253
+ -0.012987298936872789,
1254
+ -0.09696686993785789,
1255
+ 0.9952028718812959,
1256
+ 1.6435535167692121
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 640.948486328125,
1267
+ "fy": 640.9485054016113,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.9998937912214274,
1277
+ -0.00366597476123408,
1278
+ 0.014105562941299329,
1279
+ -0.13196569888122126
1280
+ ],
1281
+ [
1282
+ 0.0022406052542741804,
1283
+ 0.9950080384996242,
1284
+ 0.09976964973991712,
1285
+ -0.16062903113981752
1286
+ ],
1287
+ [
1288
+ -0.014400901532038927,
1289
+ -0.09972744832883883,
1290
+ 0.994910573913497,
1291
+ 1.6753005035921542
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 640.948486328125,
1302
+ "fy": 640.9485054016113,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9998684352659823,
1312
+ -0.0042140388057803815,
1313
+ 0.01566378101542775,
1314
+ -0.12745919402982647
1315
+ ],
1316
+ [
1317
+ 0.002585552959719247,
1318
+ 0.9947227354089861,
1319
+ 0.1025670248001607,
1320
+ -0.1612865857376746
1321
+ ],
1322
+ [
1323
+ -0.016013340521214954,
1324
+ -0.10251303106145906,
1325
+ 0.9946027605973875,
1326
+ 1.713787913741149
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 640.948486328125,
1337
+ "fy": 640.9485054016113,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.999846015729302,
1347
+ -0.004913033495031439,
1348
+ 0.016846570336942014,
1349
+ -0.1225795895769457
1350
+ ],
1351
+ [
1352
+ 0.003106732564623494,
1353
+ 0.994402078526776,
1354
+ 0.10561654432142609,
1355
+ -0.16207621549282147
1356
+ ],
1357
+ [
1358
+ -0.017271162178983303,
1359
+ -0.10554794324620709,
1360
+ 0.9942642197290834,
1361
+ 1.7457540545547698
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 640.948486328125,
1372
+ "fy": 640.9485054016113,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.999834793375508,
1382
+ -0.0055845820793813455,
1383
+ 0.017297352362552292,
1384
+ -0.11682057122057078
1385
+ ],
1386
+ [
1387
+ 0.0036672810394870066,
1388
+ 0.9940399836705512,
1389
+ 0.10895440291253876,
1390
+ -0.17054878184444658
1391
+ ],
1392
+ [
1393
+ -0.01780272466599031,
1394
+ -0.10887296867105752,
1395
+ 0.993896241912212,
1396
+ 1.7872154020476603
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 640.948486328125,
1407
+ "fy": 640.9485054016113,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.9998572403145453,
1417
+ -0.005702797476483299,
1418
+ 0.01590525358252483,
1419
+ -0.11349225984828434
1420
+ ],
1421
+ [
1422
+ 0.0038825482935766196,
1423
+ 0.9936768226902501,
1424
+ 0.11221095252673871,
1425
+ -0.17398671212820638
1426
+ ],
1427
+ [
1428
+ -0.016444598180869262,
1429
+ -0.11213318041129564,
1430
+ 0.9935571070862097,
1431
+ 1.8204126565084062
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 640.948486328125,
1442
+ "fy": 640.9485054016113,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9998859844609845,
1452
+ -0.0055429502707475264,
1453
+ 0.0140461304558969,
1454
+ -0.11155732837866295
1455
+ ],
1456
+ [
1457
+ 0.0038813893035928087,
1458
+ 0.9932798005970134,
1459
+ 0.11567269575414794,
1460
+ -0.17378293540104342
1461
+ ],
1462
+ [
1463
+ -0.014592905658641457,
1464
+ -0.11560498876888377,
1465
+ 0.9931880656130462,
1466
+ 1.8549623324341076
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 640.948486328125,
1477
+ "fy": 640.9485054016113,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.9999165425387379,
1487
+ -0.004758405159330337,
1488
+ 0.01201105897565069,
1489
+ -0.10908454338210814
1490
+ ],
1491
+ [
1492
+ 0.0032913696608074285,
1493
+ 0.9928491530085208,
1494
+ 0.11933032412601176,
1495
+ -0.1795543072158809
1496
+ ],
1497
+ [
1498
+ -0.012492991760695953,
1499
+ -0.11928083228500197,
1500
+ 0.9927819540091696,
1501
+ 1.899142389172831
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 640.948486328125,
1512
+ "fy": 640.9485054016113,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9999106697947777,
1522
+ -0.00455706040275483,
1523
+ 0.01256525491362476,
1524
+ -0.10421322726121979
1525
+ ],
1526
+ [
1527
+ 0.0029821628200128155,
1528
+ 0.9924491854101343,
1529
+ 0.12262023113530628,
1530
+ -0.18484799684938752
1531
+ ],
1532
+ [
1533
+ -0.013029164803380929,
1534
+ -0.12257180580886719,
1535
+ 0.9923741196168306,
1536
+ 1.9329515413471279
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 640.948486328125,
1547
+ "fy": 640.9485054016113,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.9998868968211176,
1557
+ -0.005277746223897288,
1558
+ 0.014083286556478388,
1559
+ -0.09684488377084069
1560
+ ],
1561
+ [
1562
+ 0.0034628878583750048,
1563
+ 0.9920357151372874,
1564
+ 0.12590928599484227,
1565
+ -0.183523414880373
1566
+ ],
1567
+ [
1568
+ -0.014635640509252269,
1569
+ -0.12584627641232302,
1570
+ 0.9919417889876588,
1571
+ 1.9758501089146372
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 640.948486328125,
1582
+ "fy": 640.9485054016113,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9999021030038917,
1592
+ -0.005429444982072742,
1593
+ 0.012895950355877494,
1594
+ -0.09075888314601226
1595
+ ],
1596
+ [
1597
+ 0.0037206483713151436,
1598
+ 0.9916358907600996,
1599
+ 0.12901324324316782,
1600
+ -0.1867743369916381
1601
+ ],
1602
+ [
1603
+ -0.01348855752449615,
1604
+ -0.12895263193750794,
1605
+ 0.9915590136407907,
1606
+ 2.0129703365345994
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 640.948486328125,
1617
+ "fy": 640.9485054016113,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9999296353376627,
1627
+ -0.0054664950020132715,
1628
+ 0.01052814351544849,
1629
+ -0.08655828498919069
1630
+ ],
1631
+ [
1632
+ 0.0040234280603016785,
1633
+ 0.9911733154535951,
1634
+ 0.13251139860167402,
1635
+ -0.19583144368834612
1636
+ ],
1637
+ [
1638
+ -0.011159587811944186,
1639
+ -0.13245971525381264,
1640
+ 0.9911255659273179,
1641
+ 2.0573992792703737
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 640.948486328125,
1652
+ "fy": 640.9485054016113,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9999492351301961,
1662
+ -0.004945630387852324,
1663
+ 0.008778832644670482,
1664
+ -0.08550011480476363
1665
+ ],
1666
+ [
1667
+ 0.0037080444972276937,
1668
+ 0.9907328201970622,
1669
+ 0.13577455354514267,
1670
+ -0.1966201833487122
1671
+ ],
1672
+ [
1673
+ -0.009368968382002359,
1674
+ -0.13573510866552907,
1675
+ 0.9907008643919791,
1676
+ 2.0925828138318976
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 640.948486328125,
1687
+ "fy": 640.9485054016113,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9999778554168947,
1697
+ -0.0034973140203827776,
1698
+ 0.005661931690795227,
1699
+ -0.08712496015487596
1700
+ ],
1701
+ [
1702
+ 0.0026765388249576825,
1703
+ 0.990291895533119,
1704
+ 0.13897768807021005,
1705
+ -0.19996983676398689
1706
+ ],
1707
+ [
1708
+ -0.0060930136834649725,
1709
+ -0.1389594560872521,
1710
+ 0.9902793266286984,
1711
+ 2.138793279606242
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 640.948486328125,
1722
+ "fy": 640.9485054016113,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.9999943704455766,
1732
+ -0.0021831683098377306,
1733
+ 0.002548107785502059,
1734
+ -0.08634365042652763
1735
+ ],
1736
+ [
1737
+ 0.0017987483785684173,
1738
+ 0.9898413269852537,
1739
+ 0.14216508677007622,
1740
+ -0.20753838784870549
1741
+ ],
1742
+ [
1743
+ -0.002832592703904575,
1744
+ -0.1421597030392355,
1745
+ 0.9898396815900901,
1746
+ 2.174250832776928
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 640.948486328125,
1757
+ "fy": 640.9485054016113,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9999986481522626,
1767
+ -0.0015936063595652754,
1768
+ 0.0004051079093678459,
1769
+ -0.0829117200295533
1770
+ ],
1771
+ [
1772
+ 0.0015178728286172867,
1773
+ 0.9893957542934515,
1774
+ 0.14523683227118647,
1775
+ -0.20967975231092617
1776
+ ],
1777
+ [
1778
+ -0.0006322623851097209,
1779
+ -0.14523602103081507,
1780
+ 0.9893968356728322,
1781
+ 2.210244497729347
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 640.948486328125,
1792
+ "fy": 640.9485054016113,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.9999971022667229,
1802
+ -0.0015196320508094904,
1803
+ -0.001867130576009044,
1804
+ -0.07695882597472349
1805
+ ],
1806
+ [
1807
+ 0.0017798396749222204,
1808
+ 0.9889304884532841,
1809
+ 0.14836886862910495,
1810
+ -0.20979836061869275
1811
+ ],
1812
+ [
1813
+ 0.001620996264427555,
1814
+ -0.14837176188877446,
1815
+ 0.9889303274979141,
1816
+ 2.2588236535866977
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 640.948486328125,
1827
+ "fy": 640.9485054016113,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.9999923894038892,
1837
+ -0.0015420275490021864,
1838
+ -0.003583752968391122,
1839
+ -0.0733582077355385
1840
+ ],
1841
+ [
1842
+ 0.002068541055672994,
1843
+ 0.9883926500571011,
1844
+ 0.1519068479397879,
1845
+ -0.21627640905454495
1846
+ ],
1847
+ [
1848
+ 0.003307910549172865,
1849
+ -0.15191310497827026,
1850
+ 0.9883883175471367,
1851
+ 2.2981305713130395
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 640.948486328125,
1862
+ "fy": 640.9485054016113,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9999815212269496,
1872
+ -0.0015246170987433744,
1873
+ -0.005884959416872742,
1874
+ -0.07112430272618046
1875
+ ],
1876
+ [
1877
+ 0.002421440822370031,
1878
+ 0.9878268467163906,
1879
+ 0.15553860463144356,
1880
+ -0.2206308511012431
1881
+ ],
1882
+ [
1883
+ 0.005576184087687546,
1884
+ -0.15554998054983799,
1885
+ 0.9878122846583582,
1886
+ 2.3445151615919424
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 640.948486328125,
1897
+ "fy": 640.9485054016113,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.9999715318424743,
1907
+ -0.0007945639666886176,
1908
+ -0.0075036106454401345,
1909
+ -0.07209231934400859
1910
+ ],
1911
+ [
1912
+ 0.0019759187927622527,
1913
+ 0.9873129553166461,
1914
+ 0.15877412890277492,
1915
+ -0.21871572006320966
1916
+ ],
1917
+ [
1918
+ 0.0072822558002264256,
1919
+ -0.15878443542115017,
1920
+ 0.9872864183297807,
1921
+ 2.3834196116008064
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 640.948486328125,
1932
+ "fy": 640.9485054016113,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9999545943735285,
1942
+ 0.000493075379390449,
1943
+ -0.009516620615685291,
1944
+ -0.07166363931183425
1945
+ ],
1946
+ [
1947
+ 0.0010539946794511815,
1948
+ 0.9868104358483902,
1949
+ 0.16187665920671254,
1950
+ -0.2278627468790763
1951
+ ],
1952
+ [
1953
+ 0.009470917932720984,
1954
+ -0.1618793395630854,
1955
+ 0.9867651094035153,
1956
+ 2.430098865943606
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 640.948486328125,
1967
+ "fy": 640.9485054016113,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.9999369908915714,
1977
+ 0.0010674703656071332,
1978
+ -0.011174737300188777,
1979
+ -0.06792512940927632
1980
+ ],
1981
+ [
1982
+ 0.0007873555633008081,
1983
+ 0.9863475253203589,
1984
+ 0.16467525426007787,
1985
+ -0.23146933891620342
1986
+ ],
1987
+ [
1988
+ 0.011197960436017758,
1989
+ -0.1646736767107084,
1990
+ 0.9862845359634566,
1991
+ 2.4642775098311334
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 640.948486328125,
2002
+ "fy": 640.9485054016113,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9999097432552595,
2012
+ 0.0010256069030360824,
2013
+ -0.01339602454766271,
2014
+ -0.06132436418679157
2015
+ ],
2016
+ [
2017
+ 0.0012298858751950191,
2018
+ 0.9859081287779553,
2019
+ 0.16728314018538945,
2020
+ -0.2311228219145144
2021
+ ],
2022
+ [
2023
+ 0.013378816238185386,
2024
+ -0.16728451733508126,
2025
+ 0.985817882540195,
2026
+ 2.5113660391606
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 640.948486328125,
2037
+ "fy": 640.9485054016113,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.999883444961478,
2047
+ 0.000865575119711868,
2048
+ -0.015242941700315607,
2049
+ -0.056010348008875915
2050
+ ],
2051
+ [
2052
+ 0.0017459459715758968,
2053
+ 0.985359269304379,
2054
+ 0.1704818526078502,
2055
+ -0.23759269372879904
2056
+ ],
2057
+ [
2058
+ 0.015167338745851975,
2059
+ -0.17048859544160883,
2060
+ 0.9852429094693937,
2061
+ 2.5504831686822587
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 640.948486328125,
2072
+ "fy": 640.9485054016113,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.999821118703292,
2082
+ 0.0013575372731936832,
2083
+ -0.018864985752697704,
2084
+ -0.05141298041361107
2085
+ ],
2086
+ [
2087
+ 0.001947272482229516,
2088
+ 0.9847322292814877,
2089
+ 0.1740650589411658,
2090
+ -0.24394268968991079
2091
+ ],
2092
+ [
2093
+ 0.0188132592810908,
2094
+ -0.17407065722534476,
2095
+ 0.984553435608428,
2096
+ 2.5973925725368074
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 640.948486328125,
2107
+ "fy": 640.9485054016113,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9997158790827299,
2117
+ 0.002818090675163702,
2118
+ -0.023668955929476026,
2119
+ -0.049513315644035466
2120
+ ],
2121
+ [
2122
+ 0.0014226232072921674,
2123
+ 0.9841621314434587,
2124
+ 0.1772649857582674,
2125
+ -0.24436941322873934
2126
+ ],
2127
+ [
2128
+ 0.02379363891999281,
2129
+ -0.1772482930739115,
2130
+ 0.9838785013147355,
2131
+ 2.6361152626313418
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 640.948486328125,
2142
+ "fy": 640.9485054016113,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9995373330947787,
2152
+ 0.004911433047650088,
2153
+ -0.030016621648619343,
2154
+ -0.04776076857915869
2155
+ ],
2156
+ [
2157
+ 0.0005509081951555274,
2158
+ 0.9837912669444729,
2159
+ 0.1793165903756535,
2160
+ -0.2507232163829345
2161
+ ],
2162
+ [
2163
+ 0.030410791669051026,
2164
+ -0.1792501629265866,
2165
+ 0.9833333935348958,
2166
+ 2.674683220830733
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 640.948486328125,
2177
+ "fy": 640.9485054016113,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9992312091318711,
2187
+ 0.007623299094840539,
2188
+ -0.03845615695528566,
2189
+ -0.04383838994515807
2190
+ ],
2191
+ [
2192
+ -0.0005007488888334672,
2193
+ 0.9833142153452705,
2194
+ 0.1819145490346089,
2195
+ -0.2582466713367034
2196
+ ],
2197
+ [
2198
+ 0.03920127481867516,
2199
+ -0.18175543791266713,
2200
+ 0.9825620697145626,
2201
+ 2.7190768019840084
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 640.948486328125,
2212
+ "fy": 640.9485054016113,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.9989550883761686,
2222
+ 0.009157545097527134,
2223
+ -0.044775783356050966,
2224
+ -0.03874829864251972
2225
+ ],
2226
+ [
2227
+ -0.0007615731495472266,
2228
+ 0.9829192346483421,
2229
+ 0.1840358610832564,
2230
+ -0.2556349950055299
2231
+ ],
2232
+ [
2233
+ 0.04569629540454174,
2234
+ -0.1838094598384548,
2235
+ 0.9818991450552326,
2236
+ 2.7561987623346345
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 640.948486328125,
2247
+ "fy": 640.9485054016113,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9986014612128591,
2257
+ 0.010518853098377938,
2258
+ -0.05181192327098067,
2259
+ -0.03136196538009687
2260
+ ],
2261
+ [
2262
+ -0.0007930351069083553,
2263
+ 0.9828773909689278,
2264
+ 0.1842590714657841,
2265
+ -0.25907757011876864
2266
+ ],
2267
+ [
2268
+ 0.05286296207045587,
2269
+ -0.18396028933334627,
2270
+ 0.9815111406344451,
2271
+ 2.8074097508590405
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 640.948486328125,
2282
+ "fy": 640.9485054016113,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9983285518235718,
2292
+ 0.011628343795792428,
2293
+ -0.05661169697524413,
2294
+ -0.028051430662230266
2295
+ ],
2296
+ [
2297
+ -0.0007915722520210132,
2298
+ 0.982208548625642,
2299
+ 0.187791747475974,
2300
+ -0.2652774844182214
2301
+ ],
2302
+ [
2303
+ 0.05778819972295243,
2304
+ -0.18743305105364158,
2305
+ 0.9805760426124551,
2306
+ 2.8461816270675295
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 640.948486328125,
2317
+ "fy": 640.9485054016113,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9977123904251132,
2327
+ 0.014157865166027768,
2328
+ -0.06610250257098947,
2329
+ -0.025815347681218556
2330
+ ],
2331
+ [
2332
+ -0.0012685660445808376,
2333
+ 0.981572354680355,
2334
+ 0.1910866381185619,
2335
+ -0.2646622903713003
2336
+ ],
2337
+ [
2338
+ 0.06758976795638248,
2339
+ -0.19056565110534554,
2340
+ 0.9793448605503572,
2341
+ 2.8943052312536244
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 640.948486328125,
2352
+ "fy": 640.9485054016113,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9969925521635316,
2362
+ 0.017400346959286998,
2363
+ -0.07551873182293707,
2364
+ -0.0248436106206167
2365
+ ],
2366
+ [
2367
+ -0.002418110161984658,
2368
+ 0.980977897578403,
2369
+ 0.19410439769850946,
2370
+ -0.26647485713348334
2371
+ ],
2372
+ [
2373
+ 0.07745969063772953,
2374
+ -0.1933380262347608,
2375
+ 0.9780697336785116,
2376
+ 2.9336684836792823
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 640.948486328125,
2387
+ "fy": 640.9485054016113,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9961652662719439,
2397
+ 0.02090681169367135,
2398
+ -0.08495685668709922,
2399
+ -0.021826558364613717
2400
+ ],
2401
+ [
2402
+ -0.0037657388986349497,
2403
+ 0.9803756046442712,
2404
+ 0.1971027473906111,
2405
+ -0.27193336848662
2406
+ ],
2407
+ [
2408
+ 0.08741041976729236,
2409
+ -0.19602698549736744,
2410
+ 0.9766948548410198,
2411
+ 2.9801970014759935
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 640.948486328125,
2422
+ "fy": 640.9485054016113,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9957009574875786,
2432
+ 0.022515128878990355,
2433
+ -0.08984805078509953,
2434
+ -0.01805882812384465
2435
+ ],
2436
+ [
2437
+ -0.0041140549549594525,
2438
+ 0.9798001009505071,
2439
+ 0.19993708192629975,
2440
+ -0.27093275690530727
2441
+ ],
2442
+ [
2443
+ 0.09253473839670669,
2444
+ -0.19870790409276318,
2445
+ 0.9756805271403721,
2446
+ 3.018459005228225
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 640.948486328125,
2457
+ "fy": 640.9485054016113,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.995181097551811,
2467
+ 0.024095119566181104,
2468
+ -0.09504740022043953,
2469
+ -0.012259079911426496
2470
+ ],
2471
+ [
2472
+ -0.0043338981010643445,
2473
+ 0.9791990558752537,
2474
+ 0.20285567850139563,
2475
+ -0.2729444872610355
2476
+ ],
2477
+ [
2478
+ 0.09795815638742168,
2479
+ -0.20146621102830975,
2480
+ 0.9745848169405648,
2481
+ 3.070000674839218
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 640.948486328125,
2492
+ "fy": 640.9485054016113,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9946133222557811,
2502
+ 0.025435101659528066,
2503
+ -0.10048579399540485,
2504
+ -0.011426484840924622
2505
+ ],
2506
+ [
2507
+ -0.004155845237219647,
2508
+ 0.9784320147116295,
2509
+ 0.20652729005559017,
2510
+ -0.2808865861653913
2511
+ ],
2512
+ [
2513
+ 0.10357156048685248,
2514
+ -0.20499719069028988,
2515
+ 0.9732672210998412,
2516
+ 3.111814274253752
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 640.948486328125,
2527
+ "fy": 640.9485054016113,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9938524020498474,
2537
+ 0.028035328947269858,
2538
+ -0.10710473038370916,
2539
+ -0.01291112668811839
2540
+ ],
2541
+ [
2542
+ -0.004796851185430969,
2543
+ 0.9774029796382593,
2544
+ 0.21133008686166135,
2545
+ -0.2808340180594228
2546
+ ],
2547
+ [
2548
+ 0.11060919111201153,
2549
+ -0.20951714899995866,
2550
+ 0.9715287803850566,
2551
+ 3.151229548392804
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 640.948486328125,
2562
+ "fy": 640.9485054016113,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.9924865840017482,
2572
+ 0.032360197424765466,
2573
+ -0.11799660248995003,
2574
+ -0.01731281687734422
2575
+ ],
2576
+ [
2577
+ -0.006338490643670466,
2578
+ 0.9766943318329442,
2579
+ 0.214541384589917,
2580
+ -0.28226787272828324
2581
+ ],
2582
+ [
2583
+ 0.12218921438859152,
2584
+ -0.21218152555778458,
2585
+ 0.9695611358233528,
2586
+ 3.2011602834401356
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 640.948486328125,
2597
+ "fy": 640.9485054016113,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.991258358660964,
2607
+ 0.03600931335408042,
2608
+ -0.12692594587608808,
2609
+ -0.021476401813796994
2610
+ ],
2611
+ [
2612
+ -0.00759612639036539,
2613
+ 0.9760141135675507,
2614
+ 0.21757469747378708,
2615
+ -0.28960546742683596
2616
+ ],
2617
+ [
2618
+ 0.13171623001222585,
2619
+ -0.21470859197693049,
2620
+ 0.9677556795403737,
2621
+ 3.239683746560001
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 640.948486328125,
2632
+ "fy": 640.9485054016113,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9893201009271033,
2642
+ 0.04095221028978638,
2643
+ -0.1398880065408323,
2644
+ -0.026623330226198783
2645
+ ],
2646
+ [
2647
+ -0.009252887500632427,
2648
+ 0.9754292872617316,
2649
+ 0.22011835367586094,
2650
+ -0.2922428746871524
2651
+ ],
2652
+ [
2653
+ 0.1454651916249639,
2654
+ -0.21647314388730043,
2655
+ 0.9653907271157421,
2656
+ 3.286046180445479
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 640.948486328125,
2667
+ "fy": 640.9485054016113,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9874889020206427,
2677
+ 0.04457943204512851,
2678
+ -0.15125588459494838,
2679
+ -0.03147838433121053
2680
+ ],
2681
+ [
2682
+ -0.00992893941262661,
2683
+ 0.9748813661330779,
2684
+ 0.2225033440841842,
2685
+ -0.2941907687144101
2686
+ ],
2687
+ [
2688
+ 0.15737561611700512,
2689
+ -0.21821777243166574,
2690
+ 0.9631271563229622,
2691
+ 3.3264639501257482
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 640.948486328125,
2702
+ "fy": 640.9485054016113,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.9842203001294523,
2712
+ 0.05016654331268661,
2713
+ -0.16968712015102255,
2714
+ -0.041820016214478034
2715
+ ],
2716
+ [
2717
+ -0.010933201920856252,
2718
+ 0.97437780794908,
2719
+ 0.22465162468164734,
2720
+ -0.3033363866012945
2721
+ ],
2722
+ [
2723
+ 0.1766093596298028,
2724
+ -0.21925146592076025,
2725
+ 0.9595508995268303,
2726
+ 3.374434941894968
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 640.948486328125,
2737
+ "fy": 640.9485054016113,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.9801986224801554,
2747
+ 0.0569650497399341,
2748
+ -0.18964610092520323,
2749
+ -0.05383417029931806
2750
+ ],
2751
+ [
2752
+ -0.012751303091762464,
2753
+ 0.9738976686826316,
2754
+ 0.22662906963581905,
2755
+ -0.30509141773321585
2756
+ ],
2757
+ [
2758
+ 0.19760583179012595,
2759
+ -0.21972326695792083,
2760
+ 0.9553395318942216,
2761
+ 3.4107181977198593
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 640.948486328125,
2772
+ "fy": 640.9485054016113,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.9738912824493657,
2782
+ 0.06631041824615752,
2783
+ -0.21711448224646393,
2784
+ -0.07255584295659667
2785
+ ],
2786
+ [
2787
+ -0.015801570094275155,
2788
+ 0.9738698309174048,
2789
+ 0.22655653336741777,
2790
+ -0.30578609716811744
2791
+ ],
2792
+ [
2793
+ 0.22646430259907666,
2794
+ -0.21721068311877717,
2795
+ 0.9494911472927953,
2796
+ 3.4589288574686314
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 640.948486328125,
2807
+ "fy": 640.9485054016113,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.9689504672912345,
2817
+ 0.07326295679587959,
2818
+ -0.2361515003077974,
2819
+ -0.08818579479948796
2820
+ ],
2821
+ [
2822
+ -0.018339073684931935,
2823
+ 0.9737573095834967,
2824
+ 0.22684880517447914,
2825
+ -0.3118072548454794
2826
+ ],
2827
+ [
2828
+ 0.2465738638065219,
2829
+ -0.21547445601331783,
2830
+ 0.9448661749122399,
2831
+ 3.495584810314245
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 640.948486328125,
2842
+ "fy": 640.9485054016113,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ }
2847
+ ]
2848
+ }