{ "format_version": "1.0", "camera_model": "opencv_pinhole", "pose_type": "c2w", "coordinate_system": "opencv", "image_hw": [ 480, 832 ], "num_frames": 81, "frames": [ { "frame_index": 0, "c2w": [ [ 0.99999996274709, 0.00024413319624679583, 0.00012208522366733115, 0.00012197624891996384 ], [ -0.00024414809740944403, 0.9999999627470911, 0.00012205541042680284, -0.00024420488625764847 ], [ -0.00012205542134144502, -0.0001220852127549954, 0.9999999850988375, -0.00028227269649505615 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 950.857177734375, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999845030096493, -0.0014520202880383064, 0.0053745118501865394, -0.003451127791777253 ], [ 0.0014775903781527903, 0.9999875949554994, -0.0047567490777891755, 0.00146023731213063 ], [ -0.005367538282961916, 0.004764616689491932, 0.9999742436485964, -7.94184161350131e-05 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999478790312166, -0.0030998659149486883, 0.009727797915312593, -0.00544340955093503 ], [ 0.0032467491380316293, 0.9998804143466581, -0.015120040541945795, 0.007288438268005848 ], [ -0.009679764511934143, 0.01515083619028174, 0.9998383640977818, 0.0013077566400170326 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9999027379580323, -0.00230661524732097, 0.01375478644440535, -0.007747294846922159 ], [ 0.0025747979328106423, 0.999806313588556, -0.019511681733452385, 0.009785451926290989 ], [ -0.01370711638659177, 0.01954519978314726, 0.9997150094530949, 0.004418609198182821 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9997532502074135, -0.00369269159279051, 0.02190439975242445, -0.012179583311080933 ], [ 0.0043619475597861225, 0.9995226568715668, -0.030584829799929224, 0.015231565572321415 ], [ -0.02178100349385061, 0.030672828842568563, 0.9992921321903794, 0.0016507431864738464 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9996627981393281, -0.004425794481870723, 0.02558715223416782, -0.014416144229471684 ], [ 0.0053347391799279656, 0.999353124100626, -0.035565065839963425, 0.017853843048214912 ], [ -0.025413196849912327, 0.03568957401711387, 0.9990397508269354, 0.0010751537047326565 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.999439378479741, -0.006470257092457401, 0.03284911744912679, -0.018564479425549507 ], [ 0.007922765711731374, 0.9989876649700066, -0.0442817684973272, 0.022287752479314804 ], [ -0.032529348710142326, 0.04451719904633881, 0.9984788733175893, 0.00170272053219378 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9993200881340798, -0.006543631331437194, 0.03628418857702772, -0.020249761641025543 ], [ 0.008341543319750776, 0.9987331862007851, -0.049622993020106795, 0.02500860020518303 ], [ -0.03591350869435901, 0.04989191988916696, 0.9981087196408186, 0.003193275537341833 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9990475665956415, -0.006536341861349645, 0.043142043465734185, -0.024258576333522797 ], [ 0.009071656790843093, 0.9982264945782426, -0.05883511336866877, 0.02952016331255436 ], [ -0.04268096440331316, 0.059170446652924084, 0.9973350457697238, 0.004747215658426285 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9988487042379449, -0.009980130249700087, 0.04692188234052151, -0.025619732216000557 ], [ 0.01293544223491272, 0.997922865535735, -0.06310807218681157, 0.03126506507396698 ], [ -0.04619459250135206, 0.06364237142932073, 0.9969030585681273, 0.004414922092109919 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9985135029399536, -0.010147286404715534, 0.05355200299899265, -0.029275625944137573 ], [ 0.013985808693713157, 0.9973211490952526, -0.07179779051271705, 0.0354931578040123 ], [ -0.05267999242374941, 0.07244003137731087, 0.9959805521456171, 0.006043237168341875 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.9983461167411323, -0.00940540794647556, 0.056714808377195926, -0.031092381104826927 ], [ 0.013746483766991247, 0.9969636903238831, -0.076644858665325, 0.03805847093462944 ], [ -0.05582172849299398, 0.07729772620940542, 0.9954441200544157, 0.004382639192044735 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 944.914306640625, "fy": 944.914306640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.9978407726170475, -0.010471627830929565, 0.06483932073660721, -0.03549700602889061 ], [ 0.01605698053265302, 0.9961459253218407, -0.08622916467685669, 0.042674433439970016 ], [ -0.06368646543173859, 0.0870841000140948, 0.9941631624866955, 0.006609329953789711 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.997540943181044, -0.01077832533644444, 0.06925239620702531, -0.037440937012434006 ], [ 0.01701044148410482, 0.9957926775986509, -0.09004214636171562, 0.04474139213562012 ], [ -0.06799052550163831, 0.09099874144102506, 0.993527310896968, 0.007664687931537628 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.9969667863904212, -0.01077272283593568, 0.07707901969444124, -0.04186404496431351 ], [ 0.018378138071377628, 0.9949522101418511, -0.09865264099290724, 0.04872945323586464 ], [ -0.07562718344210176, 0.0997699753259778, 0.9921322901448515, 0.008722185157239437 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.9966317672549694, -0.012356499875160153, 0.08107057054857456, -0.04429909959435463 ], [ 0.020698814148897255, 0.9944780208804319, -0.10288355105928186, 0.050702545791864395 ], [ -0.07935161996497392, 0.10421507998640937, 0.9913841523407364, 0.007559736259281635 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.9959136482141956, -0.011664832829498041, 0.08955410083157518, -0.04946216940879822 ], [ 0.021651784542037072, 0.9935429214278535, -0.11137173567270618, 0.055431947112083435 ], [ -0.08767671028749471, 0.11285563767781283, 0.9897355199837465, 0.008782053366303444 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.9955640497563836, -0.010934266157580707, 0.09344872741918246, -0.051054589450359344 ], [ 0.021812125739892725, 0.992987506165906, -0.11618968873838012, 0.05816155672073364 ], [ -0.09152296981291973, 0.11771259245301544, 0.9888211625843241, 0.010659685358405113 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.994730244790573, -0.011763333008451277, 0.10184971328098136, -0.05584092065691948 ], [ 0.024378473419483238, 0.9920428365658485, -0.12351801671059952, 0.06236222758889198 ], [ -0.09958629490357299, 0.12535004752658335, 0.9871017857609524, 0.011558462865650654 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.994258744659567, -0.012245331097107577, 0.10629957918215702, -0.05804659053683281 ], [ 0.025895597362852286, 0.991435895973758, -0.1280011023856123, 0.06488092988729477 ], [ -0.10382180264858823, 0.13001890647530123, 0.9860609095049676, 0.010578719899058342 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.9931778316390473, -0.01141118009218276, 0.11604990180807376, -0.0630839616060257 ], [ 0.027331258979350917, 0.9902582507842536, -0.13653424125952635, 0.06893772631883621 ], [ -0.11336135595238532, 0.13877457159946358, 0.9838144241949404, 0.013133691623806953 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9927145281497376, -0.011349948107483743, 0.11995434247412959, -0.065201535820961 ], [ 0.02815312778733255, 0.9898456230230309, -0.1393307000554347, 0.07017935067415237 ], [ -0.1171548846452141, 0.1416927000946229, 0.982953667139841, 0.014570235274732113 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9915682086720508, -0.010320412380397976, 0.12917421042607194, -0.06996491551399231 ], [ 0.02942551300168102, 0.9887161569557948, -0.14688260672779832, 0.07375597208738327 ], [ -0.12620073983732671, 0.14944514064653872, 0.9806831920664532, 0.01700439117848873 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.9910450861610703, -0.010695186664872087, 0.1330986482959196, -0.0721515640616417 ], [ 0.03088780967543046, 0.9881138560024995, -0.15058868081408458, 0.0751875564455986 ], [ -0.12990604454547813, 0.15335129786889767, 0.979595732449092, 0.020078293979167938 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9901164383851297, -0.009901220548390394, 0.13989783511976434, -0.0760943815112114 ], [ 0.03234452665579057, 0.9867357081729399, -0.15908008615744038, 0.07944584637880325 ], [ -0.13646710239085988, 0.16203273758132353, 0.977303495295573, 0.017838841304183006 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9891043552848798, -0.010105046462627786, 0.14686886120778167, -0.07902663201093674 ], [ 0.03441538683625448, 0.9858692616769922, -0.16394322196837888, 0.0811181589961052 ], [ -0.14313684188703318, 0.16721150354102507, 0.9754753495492116, 0.01913115754723549 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.9877631851760853, -0.009754907951113377, 0.15565581191095793, -0.08404839783906937 ], [ 0.03672838034675907, 0.9845215663204221, -0.1713718516183092, 0.08480209857225418 ], [ -0.15157478711150457, 0.17499179186707353, 0.9728324401926847, 0.020399833098053932 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.9868450060101687, -0.008879074837160453, 0.16142520293568127, -0.08632935583591461 ], [ 0.037487741862494865, 0.9838439643580613, -0.1750591985765519, 0.08649349212646484 ], [ -0.15726284787845082, 0.1788077622091657, 0.9712343593854726, 0.022129543125629425 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9855403987379906, -0.008681381001309975, 0.16921807255512644, -0.09116014093160629 ], [ 0.03981810249986811, 0.9825855001325761, -0.18149450030930847, 0.08999829739332199 ], [ -0.1646956015462216, 0.18560810476141776, 0.9687233817133775, 0.021679837256669998 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9848757510590089, -0.008203248279832298, 0.17306779507930847, -0.09281345456838608 ], [ 0.040725690629473815, 0.9818531046255218, -0.185218517054795, 0.09246180951595306 ], [ -0.16840775842788955, 0.1894655315747023, 0.9673373967992809, 0.024573350325226784 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9829518954906431, -0.0076255703645263856, 0.1837047136792272, -0.09895781427621841 ], [ 0.04340018207940432, 0.9805286116917972, -0.19152040582985125, 0.09669550508260727 ], [ -0.17866727553423395, 0.19622816395811346, 0.964143408587541, 0.025674941018223763 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.982235916001313, -0.007067093291680695, 0.1875170965791353, -0.10096832364797592 ], [ 0.04449033542618846, 0.9795685388245939, -0.19612773337474537, 0.09901536256074905 ], [ -0.18229979531180868, 0.20098640236955492, 0.9624818183694775, 0.02661135606467724 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9803529337457935, -0.006355871937357451, 0.1971489999668583, -0.10586617141962051 ], [ 0.047042786460385864, 0.9781740364198818, -0.20239202236273646, 0.10202698409557343 ], [ -0.19155965529844493, 0.2076900511963728, 0.9592547842445139, 0.0288223996758461 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9792618074183588, -0.005914854243279948, 0.20251253549104206, -0.1089659184217453 ], [ 0.048435261618396216, 0.9774233741317779, -0.20566373801136761, 0.10299047827720642 ], [ -0.19672401471017045, 0.21120739144294057, 0.9574398674779433, 0.02896522358059883 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 938.971435546875, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9774408960918561, -0.004993450805696003, 0.21115008902721324, -0.11330816149711609 ], [ 0.050771797470495164, 0.9759610191534857, -0.21194884683457138, 0.10644575208425522 ], [ -0.20501589994135572, 0.21788794033158593, 0.9541977395850901, 0.03156339004635811 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9764020540947521, -0.004174779643993846, 0.21592035562788442, -0.11515714973211288 ], [ 0.05163725117937029, 0.9753254213206274, -0.21464835619304914, 0.10819406062364578 ], [ -0.209696502236415, 0.2207326295332514, 0.9525253189333862, 0.03304668515920639 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9742708181019936, -0.0026381786199525235, 0.2253650660782202, -0.12121917307376862 ], [ 0.053726492592312325, 0.9738236756979929, -0.2208640139175624, 0.11056846380233765 ], [ -0.21888315830277957, 0.22728943808197197, 0.9489097292934564, 0.031877871602773666 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 938.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9731748741713463, -0.0014812485637733898, 0.23006188337983477, -0.12370426207780838 ], [ 0.05433143610449028, 0.9731748725058388, -0.22355930437820998, 0.11154337227344513 ], [ -0.22355929712809505, 0.23006189042502784, 0.9471498124592831, 0.0347171388566494 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9706410563958319, -0.0008422259214031731, 0.24053114204668122, -0.12878172099590302 ], [ 0.05750126825634256, 0.9718118022317518, -0.22863819714121772, 0.11414483934640884 ], [ -0.23355843762899192, 0.23575646692842053, 0.9433288633948042, 0.03644919767975807 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.9692409073327152, 0.0004187299365188702, 0.24611356772452703, -0.13203193247318268 ], [ 0.05899272410539092, 0.9704511191466089, -0.2339753915473137, 0.11668558418750763 ], [ -0.23893915973628158, 0.24129743059621242, 0.9405762212240886, 0.0368509367108345 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9667602225212627, 0.0005094760846781229, 0.25568420480107173, -0.13707874715328217 ], [ 0.06268898846733723, 0.9690031346337776, -0.23896237317798302, 0.11908776313066483 ], [ -0.24788054154285563, 0.24704790123381073, 0.9367617475219558, 0.039024367928504944 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9652584917425068, 0.0016386774468949803, 0.2612917121823924, -0.13901224732398987 ], [ 0.06348700157263014, 0.9685442095855366, -0.24060655583264065, 0.11909466981887817 ], [ -0.25346685138356484, 0.24883614852861285, 0.9347914882128254, 0.043559182435274124 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.9637296407791566, 0.0025449368494510653, 0.26686832479728717, -0.14105644822120667 ], [ 0.06475480197466482, 0.9678434725906658, -0.24307576634634337, 0.12001769989728928 ], [ -0.2589053786712435, 0.25154032650863917, 0.9325746452885295, 0.044322069734334946 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9611133547278417, 0.004927494643965798, 0.27611019387253183, -0.14626997709274292 ], [ 0.06691183565068967, 0.9658919204175603, -0.25015116294339396, 0.12400731444358826 ], [ -0.26792522392199, 0.2588986633194752, 0.9280019162252524, 0.04935815930366516 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9593821693852543, 0.005687366056916032, 0.28205231240494744, -0.14896844327449799 ], [ 0.06764117440440624, 0.9659951995412072, -0.24955549681090167, 0.12382704019546509 ], [ -0.27388049326455527, 0.2584974435670071, 0.9263738700322273, 0.05087693780660629 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9566062516340347, 0.007593315266908696, 0.2912847762893546, -0.1556958258152008 ], [ 0.07001294761598242, 0.9643847881020645, -0.25506894684272763, 0.12715759873390198 ], [ -0.28284742618734154, 0.26439425493114177, 0.9220048868951852, 0.050520386546850204 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.9549311694750461, 0.009812490263002988, 0.2966650916435206, -0.15735843777656555 ], [ 0.07045879715779212, 0.9633942391647969, -0.25866406369489964, 0.12901800870895386 ], [ -0.2883435788570593, 0.2679090423612474, 0.9192838112101084, 0.052346810698509216 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9517954392106267, 0.010234759640544986, 0.30656270417803644, -0.1625988632440567 ], [ 0.07454901603480074, 0.9617570793796114, -0.26356358715012623, 0.13039080798625946 ], [ -0.2975363609814656, 0.273712568140923, 0.9146330105214916, 0.05074597895145416 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.9501600004485593, 0.011205678216360152, 0.311561240085003, -0.16628649830818176 ], [ 0.07492397032748227, 0.9618581432524727, -0.26308802885968063, 0.13118618726730347 ], [ -0.3026257956915767, 0.27331912672664693, 0.913079559922038, 0.05235569179058075 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9469082637260355, 0.012791384676362687, 0.32124931216332037, -0.17065635323524475 ], [ 0.07862201225477986, 0.9596574054609229, -0.2699560025874946, 0.13393078744411469 ], [ -0.3117423924915473, 0.28088083705028866, 0.907701843174054, 0.05402808263897896 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.9443421358951056, 0.013800705288337507, 0.32867532749906025, -0.17366844415664673 ], [ 0.08040156993475582, 0.9591361989986847, -0.2712809232555459, 0.13389043509960175 ], [ -0.3189882723942943, 0.28260801882448344, 0.9046431284053418, 0.05825207009911537 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9404118285637673, 0.014755291421233439, 0.3397173443797442, -0.17948921024799347 ], [ 0.08462502270237933, 0.9574689979302254, -0.2758472829938891, 0.13601616024971008 ], [ -0.3293390323511219, 0.2881586357851578, 0.8991665042651797, 0.06219896301627159 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.9391105544290488, 0.016495151889849, 0.34321899207954043, -0.18273676931858063 ], [ 0.0839729938221762, 0.9575442489389374, -0.2757853288927951, 0.13747715950012207 ], [ -0.3331964928814617, 0.28781403942145956, 0.8978547632236501, 0.06173071637749672 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9340023730621915, 0.018262084228309754, 0.35679975251369356, -0.18939660489559174 ], [ 0.08847496787603548, 0.95576138846745, -0.2805215649002882, 0.13957767188549042 ], [ -0.34613833531339666, 0.29357565395381563, 0.8910676675943643, 0.06631007045507431 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.9326409556612691, 0.01958177602996968, 0.36027406494326736, -0.19033381342887878 ], [ 0.08965475008740133, 0.9546307469766373, -0.28397563753532046, 0.13981127738952637 ], [ -0.34948944706528573, 0.2971475912309202, 0.8885721329276888, 0.07288826256990433 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.9283016612609407, 0.02040776438851925, 0.3712674896255268, -0.19698138535022736 ], [ 0.0936260529190855, 0.9534915715140817, -0.2865100090160884, 0.14241908490657806 ], [ -0.3598474508940845, 0.30072802696833717, 0.8832171114062276, 0.07144363224506378 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.9257179308642712, 0.022434760015313845, 0.3775486644386754, -0.2003292441368103 ], [ 0.09381056525185637, 0.953425254844169, -0.2866703006459829, 0.14319536089897156 ], [ -0.3663958110070301, 0.3007938911753135, 0.8804982366297583, 0.07397279888391495 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.9219785916218006, 0.023811709396199417, 0.38650805824291956, -0.2044561803340912 ], [ 0.096748608880431, 0.9522903093609973, -0.2894527135420168, 0.14393079280853271 ], [ -0.37496024225347213, 0.30426332212865675, 0.8756875284805937, 0.07588621973991394 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.9196810264133697, 0.024555913691589933, 0.39189771211123803, -0.20722173154354095 ], [ 0.09846933649943244, 0.9517289368269445, -0.2907160480187083, 0.1444687396287918 ], [ -0.3801191910764482, 0.30595594112392355, 0.8728690409599608, 0.07791467010974884 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.9149792864814139, 0.027263577413473974, 0.4025786912599598, -0.21610628068447113 ], [ 0.10083448910028174, 0.9506095927584565, -0.29355375651400917, 0.14667239785194397 ], [ -0.3906984913175987, 0.3091894233349846, 0.8670389780049863, 0.07675308734178543 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9119103008557007, 0.028171429430386075, 0.4094215111069692, -0.21930032968521118 ], [ 0.1024160665066362, 0.9504535642678714, -0.29351145035894016, 0.14754971861839294 ], [ -0.39740477163035387, 0.30958745571219287, 0.8638431887507574, 0.07828173786401749 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.9078872715786928, 0.02919705712545144, 0.4181964059632875, -0.22264090180397034 ], [ 0.10584715322603928, 0.9492847270097011, -0.2960656805846657, 0.14734214544296265 ], [ -0.40563170766021345, 0.31305916201467565, 0.8587530953768542, 0.07959744334220886 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 933.028564453125, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.9045518472321028, 0.02864422891435771, 0.4254003570977493, -0.22554579377174377 ], [ 0.10862177036276141, 0.9493367090674548, -0.2948917154147169, 0.14781132340431213 ], [ -0.4122951208445837, 0.31295258581273355, 0.8556128869768579, 0.08400509506464005 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.8979574950043424, 0.03224765535196948, 0.43889910673163435, -0.23238366842269897 ], [ 0.11235392618448939, 0.9474634207182084, -0.29948232280367026, 0.14850491285324097 ], [ -0.4254984517439, 0.3182344342230301, 0.84715872918733, 0.09020641446113586 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.8961835650594122, 0.032934743675477364, 0.4424593996927105, -0.23471294343471527 ], [ 0.11292861200877209, 0.9474661166076499, -0.29925755875197585, 0.14786408841609955 ], [ -0.42907126017384933, 0.3181560317508542, 0.8453842872643034, 0.09003102779388428 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.8900946343452931, 0.03547217108564328, 0.4543932954921204, -0.24241547286510468 ], [ 0.1152639592392966, 0.9470395756615093, -0.29971696954185045, 0.14724385738372803 ], [ -0.4409600453671513, 0.31915163670164576, 0.838866181926808, 0.09119855612516403 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.8874504728020237, 0.03666137179587429, 0.45944270822542005, -0.24286778271198273 ], [ 0.11668816766479481, 0.9464842787021103, -0.3009175662814943, 0.14775142073631287 ], [ -0.4458873510770372, 0.32066096424072166, 0.8356799723349323, 0.0936364009976387 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.881812726537185, 0.038523725734368776, 0.4700236567159136, -0.2496534287929535 ], [ 0.11885359315694724, 0.9463334429746758, -0.3005442365133278, 0.14806446433067322 ], [ -0.45637718907800184, 0.32088773311430774, 0.8299101903374979, 0.0953616201877594 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.8781978608922714, 0.03948065725251949, 0.476665285947223, -0.2526778280735016 ], [ 0.12102744771155026, 0.9458120615894015, -0.30131694451596047, 0.14866258203983307 ], [ -0.46273196780065606, 0.3223054790954014, 0.8258318861126742, 0.09761713445186615 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.8742004462393638, 0.040120245741078, 0.4839048932141237, -0.25605741143226624 ], [ 0.12460532499400889, 0.9446717481048418, -0.30342841217605093, 0.14979703724384308 ], [ -0.46930490385040136, 0.32555437981114277, 0.8208332674835658, 0.10401447862386703 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.8704931193311929, 0.04118966627795108, 0.49045401475465655, -0.25927579402923584 ], [ 0.126707084411241, 0.9441499573816386, -0.3041811511850346, 0.15031366050243378 ], [ -0.4755912572336173, 0.326931597384164, 0.8166570189956038, 0.103517547249794 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.8647053143448988, 0.044374253367511364, 0.5003155454128577, -0.26649555563926697 ], [ 0.12708235103716609, 0.9443521477433586, -0.3033959411517775, 0.15122464299201965 ], [ -0.4859370282233652, 0.3259293584361225, 0.8109471363232391, 0.10789141803979874 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.8608369977475733, 0.04525467544859383, 0.5068645555362764, -0.270609050989151 ], [ 0.12836316441687903, 0.9445186860829693, -0.3023364841711726, 0.15009622275829315 ], [ -0.4924251834845869, 0.32532516962285996, 0.8072675966989061, 0.10902094095945358 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.8541689112760804, 0.045538629671802944, 0.5179977839885511, -0.27544236183166504 ], [ 0.13240122271152766, 0.9442792287350937, -0.30134142497165767, 0.15053850412368774 ], [ -0.5028572235077542, 0.32598001685236916, 0.8005445905001177, 0.11186732351779938 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.852117791709711, 0.046452977991525854, 0.5212843656656937, -0.2782551944255829 ], [ 0.13273066192045896, 0.9443043729993638, -0.30111762240100665, 0.1511959582567215 ], [ -0.5062389163605686, 0.3257781023488179, 0.7984928225050493, 0.11164349317550659 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.8455179226273999, 0.04872589808428335, 0.5317191263926162, -0.28155750036239624 ], [ 0.13663425956246125, 0.9429265390295007, -0.30367848311605283, 0.1506631225347519 ], [ -0.5161690824038815, 0.329416649320779, 0.7906036614642045, 0.12035132199525833 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.8392991950344802, 0.049402392553796075, 0.5414205988179932, -0.2876512110233307 ], [ 0.13926508259005646, 0.9430999682844954, -0.3019398724795528, 0.1492990106344223 ], [ -0.5255303016816996, 0.3288188763312478, 0.7846630159390701, 0.12268456071615219 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.8349303673427105, 0.04918131527451072, 0.5481537009971157, -0.2954890727996826 ], [ 0.1417463489706276, 0.9431814371569595, -0.30052745158475835, 0.150632843375206 ], [ -0.531788730834401, 0.32861828133930954, 0.7805195519185508, 0.11972372233867645 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 933.028564453125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.8300819419634767, 0.0518593463424415, 0.5552247993588526, -0.2931745946407318 ], [ 0.14224347343514648, 0.9430383843899628, -0.300741416888784, 0.1487724334001541 ], [ -0.5391945510585655, 0.3286171233580247, 0.7754224799066948, 0.12775945663452148 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.8234703442709324, 0.051832087909746305, 0.5649867491979157, -0.3020569980144501 ], [ 0.14436155756013033, 0.943901436308826, -0.29700137917684555, 0.14871595799922943 ], [ -0.5486860056581773, 0.32613419507474406, 0.7697922797728117, 0.1265266388654709 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 927.0857543945312, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.8188057430827035, 0.05303494870591753, 0.5716156482379944, -0.30414485931396484 ], [ 0.14564489040753534, 0.9439534466778123, -0.29620846781153237, 0.14760607481002808 ], [ -0.5552879622258698, 0.32579009303666606, 0.7651902340504625, 0.1315550059080124 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 921.1428833007812, "fy": 927.0857543945312, "cx": 416.0, "cy": 240.0 } } ] }