{ "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": [ [ 0.9999999329447612, 0.00036621095659892025, -8.940699136585587e-08, -0.0008087157621048391 ], [ -0.0003662109565992883, 0.9999998137354403, -0.0004882812918367361, 4.3027108631576994e-07 ], [ -8.940698426045365e-08, 0.0004882812918367373, 0.9999998807906789, -0.0002746580867096782 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999963864742262, 0.0020753481898544064, -0.0017087914973068974, 0.002694968832656741 ], [ -0.0020750352665453668, 0.9999978300220203, 0.00018487805154428566, -0.0023858738131821156 ], [ 0.0017091714755965845, -0.00018133158086252953, 0.9999985229247718, 0.0005238466546870768 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999890031199918, 0.002934456635836445, -0.003658224068637556, 0.00522360485047102 ], [ -0.002924845547136762, 0.9999922645732184, 0.002629842628622251, -0.005715878214687109 ], [ 0.003665912929865918, -0.0026191139681808967, 0.9999898506107007, 0.002384008141234517 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.999988548655043, 0.002935018208610321, -0.003779977102588758, 0.0060725463554263115 ], [ -0.002924278386276464, 0.9999916811198086, 0.002843639762398314, -0.00681496225297451 ], [ 0.00378829179189351, -0.0028325534935571364, 0.9999888126804247, 0.0029262646567076445 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9999724486194902, 0.005259126198014467, -0.00523866333860151, 0.007305752951651812 ], [ -0.005238663028775848, 0.9999786250312673, 0.0039122743062417744, -0.008702929131686687 ], [ 0.0052591265066342496, -0.003884722925731278, 0.999978625029644, 0.0006674497853964567 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9999695880725936, 0.00501776563799682, -0.0059703398504497105, 0.00910722091794014 ], [ -0.00499166373465998, 0.999977954337584, 0.004378827694833143, -0.009015606716275215 ], [ 0.00599218016149443, -0.0043488925973280915, 0.9999725900793929, 0.0005363362724892795 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9999553420966453, 0.005512602811242741, -0.007676263585005463, 0.010589336976408958 ], [ -0.005473409866226122, 0.9999719265355158, 0.00511741392553474, -0.011391548439860344 ], [ 0.007704258356084078, -0.005075170055715973, 0.9999574426204789, 0.003908923361450434 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9999541945300668, 0.005882237935721543, -0.007550372083105957, 0.012243921868503094 ], [ -0.005836275986382886, 0.9999643935372461, 0.006095042272175468, -0.012145623564720154 ], [ 0.007585955729936641, -0.006050697030623046, 0.9999529200622935, 0.001967048505321145 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9999263330981272, 0.007861206126129432, -0.009248233083984099, 0.014397264458239079 ], [ -0.007793260638863139, 0.9999425453502501, 0.007360101023648553, -0.01425922941416502 ], [ 0.009305561001247718, -0.00728748493693598, 0.99993014710916, 0.0020696278661489487 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9999109237737798, 0.008592106023925856, -0.010213727622208945, 0.01619759574532509 ], [ -0.008496980411431753, 0.9999204597903643, 0.009320698284749863, -0.015863873064517975 ], [ 0.010292999648051953, -0.009233082188587935, 0.9999043976058632, 0.002587028546258807 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9998765977369504, 0.01103619294955225, -0.011179970624367689, 0.01749696396291256 ], [ -0.010934752429874352, 0.9998988576108141, 0.009094269508128364, -0.016409536823630333 ], [ 0.011279205968454782, -0.008970897043739429, 0.9998961458666354, 0.0023132592905312777 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.9998460541622296, 0.011791474860701472, -0.012993425138481465, 0.019399331882596016 ], [ -0.011643212944985139, 0.9998669127060819, 0.011427706153268513, -0.01838267780840397 ], [ 0.013126445388512598, -0.0112746616896989, 0.999850278009285, 0.0032548082526773214 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.99983684987779, 0.01216445007188037, -0.013352894102261864, 0.019724862650036812 ], [ -0.012002201309523468, 0.9998539759906809, 0.012164450639144215, -0.02070676162838936 ], [ 0.013498918111580709, -0.012002201884455608, 0.9998368498708883, 0.0036284844391047955 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.9998258533997179, 0.011812678365370224, -0.014447266293748826, 0.021633537486195564 ], [ -0.011621191791797996, 0.9998444542258819, 0.013267074096658681, -0.022278251126408577 ], [ 0.014601738761682841, -0.013096869228342358, 0.9998076121142262, 0.005797029007226229 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.9997759739425267, 0.014401970133611558, -0.015510808603762295, 0.02372906170785427 ], [ -0.01415786941138122, 0.9997759739351485, 0.015733933893219042, -0.025532638654112816 ], [ 0.015733933424362745, -0.015510809079362437, 0.9997558992777696, 0.005379268433898687 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.9997501239531272, 0.01575839363418378, -0.01585442164752359, 0.024547381326556206 ], [ -0.01548516609610524, 0.9997319568846494, 0.01721115959392002, -0.026439329609274864 ], [ 0.01612139220673486, -0.016961350584828696, 0.9997261691581631, 0.00455358624458313 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.9996185945516503, 0.019710432206607748, -0.019343326725528243, 0.028167318552732468 ], [ -0.019343327086770414, 0.9996326267868086, 0.018985446018422676, -0.03016495332121849 ], [ 0.019710431852093643, -0.0186040405700739, 0.999632626793799, 0.0035600941628217697 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.999599173356247, 0.019857188651251082, -0.020178817715033534, 0.03002619743347168 ], [ -0.019439217422528722, 0.9995966780970792, 0.02070260764456583, -0.03322448208928108 ], [ 0.02058177474144499, -0.02030204906293443, 0.9995820213230823, 0.004988562781363726 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.9995693461023385, 0.02133419528581577, -0.020148807509366075, 0.03157547861337662 ], [ -0.020888884842031632, 0.9995384248711023, 0.022058823546435038, -0.03592453524470329 ], [ 0.020610114570257763, -0.0216284377083293, 0.9995536173010918, 0.007719310000538826 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.9995226111402802, 0.021745667313819037, -0.021947113076503447, 0.03348430246114731 ], [ -0.021206202038592636, 0.9994743776634449, 0.024520713475932855, -0.03744032606482506 ], [ 0.022468796461192844, -0.024043592646423306, 0.9994583827444935, 0.00715077668428421 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.9993585618986157, 0.02593521049789834, -0.024694728513616197, 0.037955597043037415 ], [ -0.025312274838607752, 0.9993616063365451, 0.02521246760900423, -0.03945574536919594 ], [ 0.025332854210023317, -0.024571215616448677, 0.9993770569012997, 0.005307497922331095 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9993737857106377, 0.02485859967023107, -0.02518107338505051, 0.03840971365571022 ], [ -0.024192400222857544, 0.9993580375355001, 0.026424242366641246, -0.04134435951709747 ], [ 0.025821777743703152, -0.025798504523113074, 0.9993336144444084, 0.006428356282413006 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9992950547520174, 0.02627228885559597, -0.02681716589147247, 0.042384665459394455 ], [ -0.025455350965978292, 0.9992147455504584, 0.030363092427008118, -0.04638226702809334 ], [ 0.02759381552742376, -0.02965904773960749, 0.9991791241973673, 0.00593892065808177 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.9992801300772721, 0.0256819853247837, -0.02792234342830734, 0.043603215366601944 ], [ -0.0248250888726714, 0.9992229509157533, 0.030613874725011862, -0.0471106618642807 ], [ 0.02868687147833889, -0.029898662060238043, 0.9991411979354039, 0.0063894023187458515 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9991588901990257, 0.02841324551693176, -0.0295668668520389, 0.04803638532757759 ], [ -0.027460749884112144, 0.9991061545603153, 0.03213719240230662, -0.049539756029844284 ], [ 0.03045356058088933, -0.03129823315932002, 0.9990460456100367, 0.006712537724524736 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1794.742919921875, "fy": 1818.5142822265625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9991071166970159, 0.02870871106985474, -0.03099643970011893, 0.05029597878456116 ], [ -0.027648417272059498, 0.9990355665440794, 0.0341101422204712, -0.0511939562857151 ], [ 0.031945803914216864, -0.03322268334524323, 0.9989372947906268, 0.010428574867546558 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.9990126466246338, 0.028467142229578395, -0.03410797116988228, 0.054518721997737885 ], [ -0.027147990044283796, 0.9988884438353876, 0.03853392542518767, -0.05686476081609726 ], [ 0.03516700898000891, -0.03756991596210218, 0.9986750136525901, 0.010964986868202686 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.9989921833534796, 0.028606085994932175, -0.034587706525563276, 0.05713032931089401 ], [ -0.027251106458040658, 0.9988663133125418, 0.03903159394929278, -0.05863422900438309 ], [ 0.0356650360361582, -0.03804970398650352, 0.998639186709133, 0.011637777090072632 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1818.5142822265625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.998824762903296, 0.0316749551274014, -0.03668501368205463, 0.059138718992471695 ], [ -0.030153475634033283, 0.9986912639832812, 0.04131013375267749, -0.06162622943520546 ], [ 0.03794549931629847, -0.04015540388482555, 0.9984726749493368, 0.015713969245553017 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9986289733163444, 0.03405053275086761, -0.03975845661650171, 0.06321841478347778 ], [ -0.03228129526225411, 0.9984955039382964, 0.044324334075056815, -0.06551606953144073 ], [ 0.041207907364185774, -0.042980109753095845, 0.9982257352604548, 0.016435975208878517 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9984319570775754, 0.03800989575839828, -0.04109592328538942, 0.06519860029220581 ], [ -0.03610558682528877, 0.9982828426366093, 0.04612756981862297, -0.06867124885320663 ], [ 0.042778659238508314, -0.04457144738289447, 0.99808986188216, 0.018398400396108627 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9984226882515009, 0.0366463734404378, -0.04253444366992654, 0.06660650670528412 ], [ -0.03454866761331195, 0.9981987636022036, 0.04904709888645099, -0.07147935777902603 ], [ 0.04425522738379084, -0.047500227964678496, 0.9978903763402635, 0.019124988466501236 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9985193959387593, 0.03574003340366802, -0.041008120493386827, 0.06893465667963028 ], [ -0.03349786026959423, 0.9979724741525947, 0.05411870463256896, -0.07777475565671921 ], [ 0.04285917978046456, -0.05266489196849426, 0.9976920866993443, 0.019467419013381004 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9982748143104148, 0.03643253492586756, -0.04604416914639654, 0.0724688321352005 ], [ -0.03375643232458541, 0.9977677922561435, 0.05761888590572156, -0.08266452699899673 ], [ 0.04804059106861845, -0.05596519574857533, 0.9972762899390524, 0.021824628114700317 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1759.085693359375, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9974143847705603, 0.05228743194648742, -0.049300806415376354, 0.07753267139196396 ], [ -0.04904926960405832, 0.996695385311213, 0.064749347878119, -0.09079696983098984 ], [ 0.052523463367083696, -0.06216376243258367, 0.9966829748902869, 0.02338622324168682 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1806.628662109375, "fy": 1818.5142822265625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9975185755743543, 0.04701189781601592, -0.052407755607806576, 0.08029347658157349 ], [ -0.043614124262719337, 0.9969839863596188, 0.06419298331811489, -0.09242037683725357 ], [ 0.05526752707428807, -0.061747974915945185, 0.9965604286970625, 0.023964086547493935 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1759.085693359375, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9974571305479283, 0.04526320059224765, -0.05505011708651738, 0.08555731177330017 ], [ -0.04145525330278382, 0.9967928658487909, 0.06845030727874704, -0.09778019040822983 ], [ 0.057971843964939984, -0.06599413053521348, 0.996134549166028, 0.02470419369637966 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9970970270172106, 0.04934983472494393, -0.057983726389915086, 0.08868339657783508 ], [ -0.04512597755951798, 0.9963814697971267, 0.0720250844790596, -0.10349862277507782 ], [ 0.06132833653978958, -0.06919942526884548, 0.9957159608441173, 0.026689080521464348 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1747.2000732421875, "fy": 1759.085693359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9972067982491906, 0.04522241348608601, -0.05944354333390942, 0.09363564103841782 ], [ -0.040478134653463754, 0.9960740946955258, 0.07872686003813688, -0.113532155752182 ], [ 0.06277039222892399, -0.07610079628349377, 0.9951223777327314, 0.02624066174030304 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.9969806802751181, 0.04885200423715881, -0.06035730974931953, 0.09882739931344986 ], [ -0.043619687793344276, 0.9954122122280827, 0.08515779813972105, -0.1204051673412323 ], [ 0.06424053233725462, -0.0822679125127587, 0.994537653674218, 0.026373237371444702 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9957851101253076, 0.06504401112894448, -0.06466290334486252, 0.1029140055179596 ], [ -0.05867526930313402, 0.9936566930629612, 0.09593533813660472, -0.12962305545806885 ], [ 0.07049274590292245, -0.09173686798358521, 0.9932850143979965, 0.03161156177520752 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1759.085693359375, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.993343005868089, 0.0917732075464251, -0.06962292057642744, 0.10686475038528442 ], [ -0.08394081480846416, 0.9905880362289002, 0.1081169833535108, -0.13681654632091522 ], [ 0.07888987452291918, -0.10155304454723658, 0.9916972153036158, 0.03133361414074898 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.9961578705015437, 0.058363782027544484, -0.0652929244656095, 0.11001897603273392 ], [ -0.05151807431309495, 0.9934473921940725, 0.10202042423881114, -0.13454686105251312 ], [ 0.07081938334171566, -0.0982646828226599, 0.9926372283230472, 0.03679708018898964 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9937245110259102, 0.08526958551109946, -0.07239263756129878, 0.12210281193256378 ], [ -0.07603616457764137, 0.9896236936093246, 0.12191573615969692, -0.14927002787590027 ], [ 0.08203717366315136, -0.11564619679783827, 0.9898968932689699, 0.03683634102344513 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1818.5142822265625, "fy": 1830.4000244140625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9901728793515532, 0.11683269099232016, -0.07686215786814676, 0.12369844317436218 ], [ -0.10545769621369801, 0.9847586370435067, 0.1383079935416405, -0.1574510931968689 ], [ 0.0918495688936779, -0.1288431181076736, 0.9874022015421768, 0.03843427449464798 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1830.4000244140625, "fy": 1842.2857666015625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9856521494636404, 0.13147086927560533, -0.10585485718484064, 0.1415233612060547 ], [ -0.11780710311943249, 0.9849627492385429, 0.12637194731054513, -0.1569267213344574 ], [ 0.12087732091800324, -0.11208832742247875, 0.9863188531825385, 0.05044931545853615 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1806.628662109375, "fy": 1830.4000244140625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.985636455914989, 0.13405946771873387, -0.10270752594776249, 0.14308315515518188 ], [ -0.11882204978334882, 0.9826598169236797, 0.14234115599082792, -0.16232560575008392 ], [ 0.12000873825111204, -0.12809271376035195, 0.9844745600699316, 0.0559350848197937 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1759.085693359375, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9914904115873621, 0.09317120671361402, -0.09091693994989401, 0.13607476651668549 ], [ -0.08052439910843875, 0.98769964945036, 0.1340344120883164, -0.16437672078609467 ], [ 0.10228677763302776, -0.12557280245007096, 0.9867972873930526, 0.06002545729279518 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1747.2000732421875, "fy": 1759.085693359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.9922624903170397, 0.08728121009565734, -0.08830141943402628, 0.13879428803920746 ], [ -0.0736625485888765, 0.9863597647335487, 0.14720137040859937, -0.17124304175376892 ], [ 0.09994488103558657, -0.1395578907801917, 0.9851571528826081, 0.059224728494882584 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9911021682941311, 0.0933254665090465, -0.09490442193882234, 0.13975316286087036 ], [ -0.07857056233794212, 0.9857388733396766, 0.14881377732227904, -0.17584668099880219 ], [ 0.107439093148503, -0.14003296357605982, 0.9843005691228336, 0.05459842458367348 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.9903191511178759, 0.09859100107862151, -0.09771281101004199, 0.14170202612876892 ], [ -0.08252156502312917, 0.9841951562923079, 0.15668466943799012, -0.1798924207687378 ], [ 0.11161617371735344, -0.14710441474365735, 0.9828031954199292, 0.05311712250113487 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9883706102688107, 0.12190197397720963, -0.09090349551760135, 0.14108571410179138 ], [ -0.10774485329295934, 0.983243153350648, 0.1470508346727516, -0.19165678322315216 ], [ 0.1073060266049282, -0.13554633941768415, 0.9849429458221067, 0.05478239804506302 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1818.5142822265625, "fy": 1830.4000244140625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.9843439173068697, 0.1411495328569316, -0.10556449135592678, 0.14773453772068024 ], [ -0.12298285268005044, 0.9790454649131087, 0.1623120315311009, -0.19845174252986908 ], [ 0.12626270394555358, -0.14678823865468932, 0.9810764203592965, 0.06220024824142456 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1830.4000244140625, "fy": 1842.2857666015625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9676096151542632, 0.20760448050246677, -0.1436384779100595, 0.16403736174106598 ], [ -0.17292508638997847, 0.9595857965005428, 0.22201804803086675, -0.21208244562149048 ], [ 0.18392538475707004, -0.18998810181092599, 0.9644044659852238, 0.08461319655179977 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1889.82861328125, "fy": 1901.71435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.9750786593466952, 0.1683245408448338, -0.14452839525860403, 0.16847452521324158 ], [ -0.13913439087972185, 0.9713621164526968, 0.1926064900128402, -0.20259051024913788 ], [ 0.17280980690105627, -0.16769760782406265, 0.9705742027114189, 0.0790036991238594 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1866.05712890625, "fy": 1866.05712890625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.9802210167681223, 0.15647830526989503, -0.1211664073327662, 0.15532022714614868 ], [ -0.13412824437140353, 0.9754521147565842, 0.1746504677312742, -0.20431268215179443 ], [ 0.14552103747538872, -0.15494422156624316, 0.9771468241033774, 0.08017555624246597 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1830.4000244140625, "fy": 1842.2857666015625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.97752599142742, 0.16351781260069725, -0.13305961463239457, 0.15674720704555511 ], [ -0.13830742013444494, 0.9737822072726382, 0.18060805722608925, -0.2059638649225235 ], [ 0.15910371969125195, -0.15814593817582315, 0.9745131444053978, 0.07951387763023376 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1877.94287109375, "fy": 1877.94287109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.9853911886082036, 0.13504426632464742, -0.10376536775894446, 0.14117313921451569 ], [ -0.1174736761684063, 0.9801056723370256, 0.15997751860891898, -0.192527174949646 ], [ 0.12330507216165817, -0.14545073800302352, 0.9816516398364458, 0.08228150010108948 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1794.742919921875, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.986642570780581, 0.1247115041095607, -0.10480209094391879, 0.1419743001461029 ], [ -0.1063755046431785, 0.9804898027491722, 0.16529972388603031, -0.2018238753080368 ], [ 0.12337215867202603, -0.15194336921241317, 0.9806592287930523, 0.09975963085889816 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1759.085693359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.9881556483166051, 0.12353353745094132, -0.09103779338740206, 0.13653743267059326 ], [ -0.10891574531506326, 0.9825136780414097, 0.15101070453450266, -0.1821296066045761 ], [ 0.10810076374593688, -0.13930663152341094, 0.984331187807816, 0.07730986177921295 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1759.085693359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9875796727071475, 0.13142187968444655, -0.0861085338154695, 0.12988334894180298 ], [ -0.11764544801255547, 0.9817889902429999, 0.14916409487391416, -0.17681962251663208 ], [ 0.10414383619575418, -0.13718115095681274, 0.9850560355657925, 0.06899648159742355 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1794.742919921875, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.9806148408183479, 0.16599872686380895, -0.10411030999089822, 0.14051154255867004 ], [ -0.14851072537127008, 0.9762468661956559, 0.1577549387273211, -0.185235857963562 ], [ 0.12782448285248646, -0.13923533647302425, 0.9819747566311154, 0.0818447396159172 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.985458019683064, 0.1339985420677059, -0.10448388471943075, 0.13602738082408905 ], [ -0.1165751213207399, 0.9805314301281572, 0.15801378300605873, -0.1811346560716629 ], [ 0.1236233494587035, -0.1435357281465512, 0.9818934576694412, 0.08014575392007828 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.9861538283824519, 0.12068758368483797, -0.11373273016572086, 0.14574217796325684 ], [ -0.10162513154887882, 0.9817684615602482, 0.1606331862452374, -0.18396826088428497 ], [ 0.13104563863138047, -0.14685092791650772, 0.9804396185210769, 0.08661559969186783 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1806.628662109375, "fy": 1818.5142822265625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.984247650241948, 0.13673421954087472, -0.11207281650673218, 0.1438588798046112 ], [ -0.1176034448603464, 0.9796844471742319, 0.16244326308560442, -0.187768816947937 ], [ 0.1320075480803402, -0.1467042506932477, 0.980332530358118, 0.09186023473739624 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.981548028051729, 0.15047073748344977, -0.11799163440240555, 0.16046728193759918 ], [ -0.12859054437572065, 0.9761183699020599, 0.1750925464915669, -0.21456444263458252 ], [ 0.14152010643339694, -0.15668913523576647, 0.9774561751680474, 0.11317721754312515 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1759.085693359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.9824853073263338, 0.14328106447264652, -0.11913503872272477, 0.15702617168426514 ], [ -0.12018819742258142, 0.9758412050171622, 0.1824520205176228, -0.21966619789600372 ], [ 0.14239879946189996, -0.16493780389661333, 0.9759703390767422, 0.10974360257387161 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1759.085693359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.9823625132177615, 0.14339393969056688, -0.12000862754194588, 0.156044140458107 ], [ -0.12000862754194598, 0.9756781174417075, 0.1834397461318124, -0.2203313112258911 ], [ 0.1433939396905667, -0.16580225934957402, 0.9756781174417076, 0.12215105444192886 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1747.2000732421875, "fy": 1747.2000732421875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.9828528152603162, 0.1368899283002656, -0.12353740755260399, 0.15922950208187103 ], [ -0.11240997893833553, 0.9758971386322124, 0.18705285735466373, -0.22766877710819244 ], [ 0.14616545477626725, -0.1699585900724327, 0.9745510440662603, 0.13656024634838104 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.9836908806683484, 0.1337965381648086, -0.12021122104463264, 0.14734996855258942 ], [ -0.1095476871501618, 0.9757359557175368, 0.18957491648431396, -0.22275123000144958 ], [ 0.142658878202441, -0.17331425531414688, 0.9744796628842098, 0.12712237238883972 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1747.2000732421875, "fy": 1735.3143310546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.9827388019317532, 0.13765592321283995, -0.12359326026188862, 0.154149129986763 ], [ -0.11185324753203481, 0.9742593822229334, 0.19572303688407805, -0.2328300178050995 ], [ 0.14735432872596427, -0.17852031524453904, 0.9728397601099119, 0.13377203047275543 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1770.971435546875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.9803376092435213, 0.14789414760744848, -0.1306349608878267, 0.17540641129016876 ], [ -0.11877950620896137, 0.9709258238029542, 0.20783280197627768, -0.2480342835187912 ], [ 0.15757411211062897, -0.1882295560639234, 0.9694018946837919, 0.13493512570858002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1735.3143310546875, "fy": 1735.3143310546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.9796814422730479, 0.15188673335961644, -0.13097592105095027, 0.17168863117694855 ], [ -0.12231987639439595, 0.9700279136495157, 0.2099611739813514, -0.25178417563438416 ], [ 0.15894061628375455, -0.18967410727379827, 0.9688971119397704, 0.13670115172863007 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1735.3143310546875, "fy": 1735.3143310546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.9757771643160148, 0.1667749369989922, -0.1415805282811892, 0.19324228167533875 ], [ -0.13183777369781885, 0.9647435461646836, 0.22779089437463249, -0.2800915241241455 ], [ 0.1745787129801371, -0.20360749132233366, 0.9633619581712916, 0.17406435310840607 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1723.4285888671875, "fy": 1735.3143310546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.9769745574390695, 0.16468552502607625, -0.13564435839215916, 0.17366404831409454 ], [ -0.13243308496893733, 0.9665501949127051, 0.21964106792633836, -0.2651437819004059 ], [ 0.16727878563148743, -0.19661993429227315, 0.9661047610464183, 0.15301230549812317 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1747.2000732421875, "fy": 1770.971435546875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.9757717681200039, 0.1764296822737144, -0.12939097245464318, 0.1693759262561798 ], [ -0.14343905120939848, 0.9624213013478204, 0.23058724444364978, -0.2821924686431885 ], [ 0.16521106236602234, -0.20644080489274422, 0.9644104411230349, 0.14408338069915771 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1759.085693359375, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.9765675103994583, 0.17645186813723068, -0.12320972308663733, 0.15142092108726501 ], [ -0.14591465215717103, 0.9636956988908589, 0.22360571152166756, -0.2608743906021118 ], [ 0.158192325724279, -0.2003879691252461, 0.9668608224102384, 0.14629501104354858 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1747.2000732421875, "fy": 1782.857177734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.9679903739415356, 0.22314509775662963, -0.11489517528473792, 0.15223854780197144 ], [ -0.19222421514859858, 0.953462245468409, 0.23229205233249986, -0.267787367105484 ], [ 0.16138304454629626, -0.2027708357075136, 0.9658361668106266, 0.11733482033014297 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1818.5142822265625, "fy": 1842.2857666015625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.9817252043241483, 0.13657091140504024, -0.13252927734167655, 0.16194690763950348 ], [ -0.10886362711251109, 0.9742342797166178, 0.1975253880313876, -0.2652598023414612 ], [ 0.15609078732141274, -0.17948803409430608, 0.9712979520880003, 0.14135043323040009 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1842.2857666015625, "fy": 1854.1715087890625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.9796514683951733, 0.15257918677753074, -0.130393988486774, 0.16773197054862976 ], [ -0.12200215705776753, 0.9685713489589252, 0.21676027230361994, -0.23829646408557892 ], [ 0.1593689873985316, -0.19644117118922666, 0.9674773341620833, 0.12862813472747803 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1842.2857666015625, "fy": 1854.1715087890625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.9792018971471305, 0.1525508208466229, -0.13376057596497506, 0.17600658535957336 ], [ -0.12208764700003838, 0.9696009994040702, 0.21205779496312302, -0.20099608600139618 ], [ 0.1620439788250527, -0.19131688115179313, 0.9680597088573084, 0.11742197722196579 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 1782.857177734375, "fy": 1806.628662109375, "cx": 416.0, "cy": 240.0 } } ] }