{
  "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": [
        [
          0.9999999906867739,
          0.00012207776580994034,
          6.1020254972684623e-05,
          0.00021359091624617577
        ],
        [
          -0.00012206286464687947,
          0.9999999627470906,
          -0.00024414437211839617,
          -0.0002441573888063431
        ],
        [
          -6.105005729908863e-05,
          0.00024413692153755413,
          0.9999999683350265,
          -3.8219619455048814e-05
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9999993890527973,
          -0.00012286638447076757,
          0.0010985435284636322,
          -0.0003680453519336879
        ],
        [
          0.00012127382398133327,
          0.9999989419019538,
          0.0014496508654908322,
          -0.0011012753238901496
        ],
        [
          -0.001098720479457478,
          -0.0014495167552558354,
          0.9999983458558739,
          -0.001790909911505878
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9999999627763658,
          -0.0001222298640206482,
          0.0002439408282190092,
          -0.0008245880017057061
        ],
        [
          0.00012143265472263231,
          0.9999946612359731,
          0.003265387214606972,
          -0.0006808005855418742
        ],
        [
          -0.0002443386537120081,
          -0.003265357470674464,
          0.9999946388552347,
          -0.0028509844560176134
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9999994486594357,
          0.0008529914504731449,
          0.0006124429848325078,
          -0.0009779846295714378
        ],
        [
          -0.0008559902708461448,
          0.9999875645912438,
          0.004913038115933745,
          -0.0009198510670103133
        ],
        [
          -0.0006082445893447124,
          -0.004913559652413444,
          0.9999877434099187,
          -0.0010477490723133087
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9999990910427113,
          0.001343199506460172,
          -0.00011717011841676472,
          -3.137458406854421e-05
        ],
        [
          -0.0013423091866958789,
          0.99997249982274,
          0.007293682492894112,
          -0.0008725686930119991
        ],
        [
          0.00012696376694238526,
          -0.007293518584721821,
          0.999973393879485,
          -0.0024808882735669613
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9999994561210035,
          0.0009750014844843201,
          0.00037031041372263373,
          -0.0007033547735773027
        ],
        [
          -0.0009780859139487932,
          0.9999640515975119,
          0.008422521037829282,
          -0.0005694284336641431
        ],
        [
          -0.00036208513114002153,
          -0.008422878652396246,
          0.9999644613732855,
          -0.00246695545502007
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9999997466822182,
          -0.0003629320172167473,
          -0.000612303723210756,
          -0.0003942559123970568
        ],
        [
          0.000369488369617993,
          0.9999422373127529,
          0.010741765046381298,
          -0.0005894238129258156
        ],
        [
          0.000608369824445911,
          -0.01074198856440547,
          0.9999421181087624,
          -0.0037172704469412565
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9999992768557313,
          -0.00048300095386420825,
          -0.0011013619263178821,
          9.640060306992382e-05
        ],
        [
          0.0004954057993245539,
          0.9999361333690522,
          0.011290870473194157,
          -0.00011025828280253336
        ],
        [
          0.0010958380848336484,
          -0.011291407929351408,
          0.9999356495524422,
          -0.004362943582236767
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.9999996125877775,
          -0.0004929590400681266,
          0.0007292569359866224,
          -0.001161739113740623
        ],
        [
          0.000483571767723747,
          0.9999177415386709,
          0.012817032205165948,
          -3.693673716043122e-05
        ],
        [
          -0.0007355152203259403,
          -0.012816674591625374,
          0.9999175925393914,
          -0.0028370488435029984
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9999996275200639,
          -0.00012786918629673823,
          0.0008535860861212226,
          -0.0015888938214629889
        ],
        [
          0.00011577006217712617,
          0.9998997426319284,
          0.014159494408206278,
          8.924980647861958e-05
        ],
        [
          -0.0008553110708557651,
          -0.014159390314364478,
          0.9998993849927591,
          -0.002304214984178543
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9999996051471528,
          -0.0002517496334941677,
          0.0008522485904325226,
          -0.0008567426702938974
        ],
        [
          0.0002365218596496759,
          0.9998411662562888,
          0.017820951620886153,
          -0.00047659946721978486
        ],
        [
          -0.0008565996426374669,
          -0.017820743008811403,
          0.9998408310104493,
          -0.0027530568186193705
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.999999458010821,
          -0.0003749718398924095,
          0.0009712745149817098,
          -0.0015602477360516787
        ],
        [
          0.0003573646390837418,
          0.9998367487402416,
          0.018065108885837077,
          -0.0003795585944317281
        ],
        [
          -0.0009778898603102358,
          -0.018064751995576767,
          0.9998363408412195,
          -0.004081650637090206
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9999992103231533,
          -0.0006219606777592326,
          0.0010920247182855506,
          -0.0019242428243160248
        ],
        [
          0.0005986281453160403,
          0.9997742654017051,
          0.02123817046793179,
          -0.0008975796517916024
        ],
        [
          -0.0011049875174229977,
          -0.021237499979908165,
          0.9997738482262827,
          -0.001962926471605897
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.9999982046321214,
          -0.0005082495362276128,
          0.0018254903296919527,
          -0.003086012788116932
        ],
        [
          0.0004682449451620737,
          0.9997611854291378,
          0.021848406257613365,
          -0.0004759252769872546
        ],
        [
          -0.0018361588183499235,
          -0.021847512255066846,
          0.9997596284752945,
          -0.0021512405946850777
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9999985399005856,
          -2.0649977511290125e-05,
          0.001708733529633024,
          -0.0026299990713596344
        ],
        [
          -2.064997792337007e-05,
          0.999707950311103,
          0.024166374538848682,
          -0.0005658903974108398
        ],
        [
          -0.0017087335296280437,
          -0.024166374538849032,
          0.9997064902116884,
          -0.0032023752573877573
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9999992476125092,
          0.00010676073724912214,
          0.001222037871561556,
          -0.0020794279407709837
        ],
        [
          -0.00013730329285483866,
          0.9996869313726101,
          0.025020399489614605,
          -0.0005733619327656925
        ],
        [
          -0.0012189840935467118,
          -0.025020548454402734,
          0.9996861938792692,
          -0.003402149071916938
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.999996869472497,
          -3.39013466882633e-05,
          0.00250197839801781,
          -0.002996851457282901
        ],
        [
          -3.390134717133647e-05,
          0.9996328729510864,
          0.0270946150785512,
          -0.00031051214318722486
        ],
        [
          -0.002501978398011263,
          -0.02709461507855182,
          0.9996297424235838,
          -0.0024416616652160883
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.9999979049634569,
          -0.00039445692017843936,
          0.0020085996205950313,
          -0.001956622814759612
        ],
        [
          0.00033767242888893724,
          0.9996024423172268,
          0.02819296527089388,
          -0.0007861341000534594
        ],
        [
          -0.002018921996635694,
          -0.02819222795688858,
          0.9996004813108073,
          -0.0018667305121198297
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9999974003477283,
          -0.0006448794299424463,
          0.0021871050057753133,
          -0.0028118432965129614
        ],
        [
          0.0005756957254081036,
          0.9995039962227356,
          0.03148698317104054,
          -0.0009243903332389891
        ],
        [
          -0.002206325501189721,
          -0.031485642208830426,
          0.9995017691142326,
          -0.002147840103134513
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9999986215341027,
          -0.0005146669795004651,
          0.0015786221192443282,
          -0.001652014092542231
        ],
        [
          0.00046353948128851876,
          0.9994807407598856,
          0.032218534746617636,
          -0.0005152967059984803
        ],
        [
          -0.001594384221084367,
          -0.03221775858078769,
          0.9994796015782339,
          -0.0026982540730386972
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9999992253562472,
          -0.0002651314691446289,
          0.0012161382361501843,
          -0.0019554055761545897
        ],
        [
          0.000223122739005406,
          0.9994076472967736,
          0.03441372896056079,
          -0.000126286264276132
        ],
        [
          -0.0012245420158969705,
          -0.034413430954086215,
          0.999406932268743,
          -0.0018788536544889212
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9999992105426304,
          -0.0006298026771279034,
          0.0010873190442231605,
          -0.0014673291007056832
        ],
        [
          0.0005903873467079052,
          0.9993560232018317,
          0.03587743487207903,
          -2.0890734958811663e-05
        ],
        [
          -0.0011092145405167079,
          -0.03587676460896794,
          0.9993556060803859,
          -0.0022574057802557945
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.999999762615527,
          0.0004777352244776868,
          0.0004965258750153413,
          -0.0017100425902754068
        ],
        [
          -0.0004965259033003297,
          0.999256172952821,
          0.0385597494508171,
          9.497480641584843e-05
        ],
        [
          -0.0004777351950801106,
          -0.03855998683528959,
          0.9992561729528349,
          -0.0023086080327630043
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9999990913875053,
          9.543126796741128e-05,
          0.0013446624251784104,
          -0.002171823289245367
        ],
        [
          -0.00014851829263827393,
          0.9992181672290743,
          0.03953520230993393,
          -0.00014868327707517892
        ],
        [
          -0.0013398382295428648,
          -0.03953536609472248,
          0.9992172735002511,
          -0.0037630689330399036
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.9999988605847373,
          0.0003351243113120308,
          0.001471910637248166,
          -0.0024459874257445335
        ],
        [
          -0.0003969659043100058,
          0.9991083777481544,
          0.042217199475124645,
          -7.010582339717075e-05
        ],
        [
          -0.0014564502390716542,
          -0.04221773567054051,
          0.9991073723817445,
          -0.0031242796685546637
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9999987414637833,
          -3.48517887291088e-05,
          0.001586145076299302,
          -0.0021411061752587557
        ],
        [
          -3.485179236530245e-05,
          0.9990348729835008,
          0.043924040663320514,
          -0.0004401923797558993
        ],
        [
          -0.0015861450762194053,
          -0.043924040663323394,
          0.9990336144472837,
          -0.0030624985229223967
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9999975202557075,
          -0.0004165728038505129,
          0.0021876813146969923,
          -0.002568918978795409
        ],
        [
          0.0003157760831948753,
          0.9989471582619097,
          0.045874560334908256,
          -0.0002992195659317076
        ],
        [
          -0.0022044881267232787,
          -0.04587375576029256,
          0.9989448126721236,
          -0.00250100321136415
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9999965283206588,
          -0.00030550710159930796,
          0.002617252766067124,
          -0.003428584896028042
        ],
        [
          0.0001812726450740596,
          0.998878964717339,
          0.047336888210418086,
          -0.0006224069511517882
        ],
        [
          -0.0026287804888893576,
          -0.047336249435589214,
          0.9988755523099527,
          -0.004085997119545937
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.9999961932944476,
          -0.0009181915137183716,
          0.002601984042521432,
          -0.0023601120337843895
        ],
        [
          0.0007894783631264893,
          0.9987963212429474,
          0.04904370903050985,
          -0.00031985086388885975
        ],
        [
          -0.0026438836070363254,
          -0.04904146812544719,
          0.9987932440117787,
          -0.003980758134275675
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.9999988608340418,
          -0.0004029261689105075,
          0.0014546412343797734,
          -0.0008894380880519748
        ],
        [
          0.00032894565203652745,
          0.9987237538753774,
          0.05050500212685085,
          -0.0002778751659207046
        ],
        [
          -0.001473134541159515,
          -0.05050446609536232,
          0.9987227487040867,
          -0.0030708559788763523
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.9999992107869927,
          -0.0006392368999551939,
          0.0010815736581858445,
          -0.001650466350838542
        ],
        [
          0.0005805369799219317,
          0.9985714908692328,
          0.053428836783266334,
          -0.0006913443212397397
        ],
        [
          -0.00111418230433319,
          -0.05342816672302809,
          0.9985710738842822,
          -0.0026200402062386274
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9999988310101315,
          -0.0007684854171996612,
          0.001321895810620647,
          -0.0013137944042682648
        ],
        [
          0.0006954322914611386,
          0.9985187950939635,
          0.05440342101401423,
          -0.00012702505046036094
        ],
        [
          -0.0013617460477556261,
          -0.05440243812793341,
          0.9985181622651826,
          -0.001190932933241129
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9999997841034798,
          -0.0006167681394761661,
          0.00022669375089033483,
          -0.00079351692693308
        ],
        [
          0.0006029498171471604,
          0.9983970228540822,
          0.056595240149884,
          -8.581214206060395e-05
        ],
        [
          -0.00026123650695916256,
          -0.05659509124621266,
          0.9983971791838757,
          -0.0004267073527444154
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9999996277378649,
          -0.0006275940377087902,
          0.0005921569519952714,
          -0.0009158230968751013
        ],
        [
          0.0005921569810500003,
          0.9983131193010348,
          0.05805656880618937,
          9.983828931581229e-05
        ],
        [
          -0.0006275940102946368,
          -0.05805619654405402,
          0.9983131193010518,
          -0.000375914154574275
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9999996129019096,
          -0.0005100016498576237,
          0.0007170037294771333,
          -0.0007346150814555585
        ],
        [
          0.0004656951550208718,
          0.9981686014295285,
          0.06049153864998286,
          6.889902579132468e-05
        ],
        [
          -0.0007465413943859384,
          -0.06049118132866046,
          0.998168452545666,
          -0.0028928446117788553
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9999992481750737,
          8.456178611775243e-05,
          0.0012233145925420457,
          -0.0014068337623029947
        ],
        [
          -0.00015959321936676025,
          0.9981092180964968,
          0.061465138743887114,
          0.0001519472716609016
        ],
        [
          -0.001215803969531828,
          -0.061465287765577505,
          0.9981084811885943,
          -0.0024995310232043266
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.999999188661346,
          -0.0004052408218874256,
          0.0012076657344167133,
          -0.0014369554119184613
        ],
        [
          0.00032664299919152334,
          0.9979249916709944,
          0.06438636736760336,
          -7.808803638909012e-05
        ],
        [
          -0.001231251802390039,
          -0.06438592065289736,
          0.9979243143849525,
          -0.0021491863299161196
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9999992558105522,
          -0.0007635155190411668,
          0.0009515368590300734,
          -0.0012213041773065925
        ],
        [
          0.0006996909132458238,
          0.9978615102175514,
          0.06535990253185485,
          -4.2240852053510025e-05
        ],
        [
          -0.0009994053070854873,
          -0.06535918811001105,
          0.9978613018444158,
          -0.0006306612049229443
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9999983776796709,
          -0.0009077142074853997,
          0.0015558576233330064,
          -0.002017222112044692
        ],
        [
          0.0007993626456410596,
          0.9976658694722534,
          0.06828011357294626,
          -0.00013601088721770793
        ],
        [
          -0.0016142048777363328,
          -0.06827875910626392,
          0.9976649765314616,
          -0.0019605327397584915
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9999967553933509,
          -0.0008162534925363896,
          0.0024130754248612883,
          -0.0021093368995934725
        ],
        [
          0.000647181463838072,
          0.9975988761028167,
          0.06925361762788354,
          0.00014391708828043193
        ],
        [
          -0.002463809839052797,
          -0.06925183122944917,
          0.9975961675510008,
          -0.001427391660399735
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.9999981769837109,
          -0.0009146399804442402,
          0.0016761452685634492,
          -0.001712414319626987
        ],
        [
          0.0007921323653532472,
          0.997426956047391,
          0.07168570203570138,
          0.0001048816047841683
        ],
        [
          -0.0017373990822245166,
          -0.07168424362258285,
          0.997425862237734,
          -0.001924582407809794
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.9999982795233838,
          -0.001387448118378281,
          0.0012312343360682736,
          -0.00125483691226691
        ],
        [
          0.0012943226870895683,
          0.997356056963653,
          0.07265824362518034,
          4.785571218235418e-05
        ],
        [
          -0.001328788566021648,
          -0.07265652500383711,
          0.9973561368414563,
          -0.002679279772564769
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.9999985640555906,
          -0.0014942885152042383,
          0.0007993676187160199,
          -0.0003379591798875481
        ],
        [
          0.0014313747793617982,
          0.9972845385048849,
          0.07363083882002733,
          6.772702181478962e-05
        ],
        [
          -0.0009072226835405317,
          -0.07362958889558707,
          0.9972852453466206,
          -0.002391574438661337
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9999991034574148,
          -0.0010121005357678022,
          0.0008767764092485583,
          -0.0014063571579754353
        ],
        [
          0.0009420155453950984,
          0.9970654284674202,
          0.07654831129288217,
          4.1197225073119625e-05
        ],
        [
          -0.0009516780330291778,
          -0.07654741672705428,
          0.9970654879702417,
          -0.002634179312735796
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.9999997675435078,
          -0.000621229981162252,
          0.0002810449092294551,
          -0.0011911578476428986
        ],
        [
          0.0005975739121575125,
          0.9969905972243466,
          0.07752026800560023,
          0.0005863844999112189
        ],
        [
          -0.0003283570465322927,
          -0.07752008204040459,
          0.9969907366982395,
          -0.0018971571698784828
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.9999991947142454,
          -0.0007727751480429145,
          0.0010066724548592944,
          -0.0012842387659475207
        ],
        [
          0.0006898180887393798,
          0.9967986201102967,
          0.07995020385973306,
          0.0004464786034077406
        ],
        [
          -0.0010652332445305471,
          -0.07994944505610428,
          0.9967983504768433,
          -0.002055139746516943
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.9999999032986351,
          -0.00037550481164301037,
          0.0002289079680811333,
          -0.00015309681475628167
        ],
        [
          0.00035574973380101186,
          0.9967204030644858,
          0.0809216383737755,
          0.00037179069477133453
        ],
        [
          -0.0002585437067858753,
          -0.08092154911459429,
          0.9967204402659989,
          -0.0014538802206516266
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.9999995072970426,
          -0.0007591226480966071,
          0.0006396393331958925,
          -0.0014370561111718416
        ],
        [
          0.0007031668501633143,
          0.9965200241887239,
          0.08335074653106372,
          0.0005124254967086017
        ],
        [
          -0.0007006868432158952,
          -0.0833502556907293,
          0.9965200669902426,
          -0.003379946341738105
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.9999994570726041,
          -0.0004069495650740787,
          0.0009592948182014949,
          -0.0014989024493843317
        ],
        [
          0.00032412740171316675,
          0.9963972308587797,
          0.08480833259994362,
          0.0005054200883023441
        ],
        [
          -0.0009903514144993125,
          -0.08480797562143956,
          0.9963968217909314,
          -0.0034106706734746695
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.9999991894442484,
          -0.0004187245703097366,
          0.0012024061627847543,
          -0.0019874130375683308
        ],
        [
          0.0003122357804834561,
          0.996187652322942,
          0.08723568001754645,
          0.00047742726746946573
        ],
        [
          -0.0012343498950740707,
          -0.08723523387393746,
          0.9961869755981037,
          -0.0029343413189053535
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.9999996189425162,
          0.0003304637726906841,
          0.0008080275472752679,
          -0.001344607793726027
        ],
        [
          -0.00040044911954125465,
          0.9961021278360962,
          0.08820652221295361,
          0.0008553156512789428
        ],
        [
          -0.0007757288990847862,
          -0.08820681217511847,
          0.9961018805978527,
          -0.0028013449627906084
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.9999987434493639,
          -7.19133247395405e-05,
          0.0015836439518801652,
          -0.0018352747429162264
        ],
        [
          -7.191331747854463e-05,
          0.9958843475099575,
          0.0906331132265719,
          0.0006740207318216562
        ],
        [
          -0.001583643952209887,
          -0.09063311322656616,
          0.995883090959322,
          -0.00269376952201128
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.9999966913635314,
          -0.0003612245686584667,
          0.0025469155463217715,
          -0.0023276042193174362
        ],
        [
          0.0001263990388623009,
          0.9957955234778119,
          0.09160381785074571,
          0.0007491922006011009
        ],
        [
          -0.002569296649293966,
          -0.09160319283933618,
          0.9957922744108665,
          -0.003173581324517727
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.9999985635931403,
          -0.0013882629676227494,
          0.0009723875706741234,
          -0.0007995466003194451
        ],
        [
          0.0012912141830804253,
          0.9956142134856899,
          0.09354501948902846,
          0.0011356218019500375
        ],
        [
          -0.0010979879727422276,
          -0.09354362955969824,
          0.9956145759234385,
          -0.004213282372802496
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.9999997904845733,
          -0.0005065904233581463,
          0.0004029850533501599,
          -0.0007344771875068545
        ],
        [
          0.00046579698876227473,
          0.9954308085478292,
          0.09548449312312764,
          0.000669726578053087
        ],
        [
          -0.0004495152672845102,
          -0.09548428540842856,
          0.9954308359580115,
          -0.0038808153476566076
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.9999991953630359,
          -0.0007813357479772569,
          0.0009993936808778282,
          -0.0011955132940784097
        ],
        [
          0.0006802544375590794,
          0.9952427434546721,
          0.09742391315646248,
          0.0013772430829703808
        ],
        [
          -0.0010707600948052173,
          -0.09742315492359428,
          0.9952424741526822,
          -0.004089174326509237
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.9999999758170873,
          -0.0001310852236308253,
          0.00017658564129063034,
          -0.0006111619877628982
        ],
        [
          0.00011289033121930375,
          0.9950511890655321,
          0.09936356673873586,
          0.0009129742393270135
        ],
        [
          -0.00018873684770485488,
          -0.09936354440102355,
          0.9950511798005509,
          -0.003756095189601183
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.9999999925687676,
          -0.00012175330862191281,
          -6.212545180777329e-06,
          -0.00042733599548228085
        ],
        [
          0.00012175330862191279,
          0.9948062753228796,
          0.10178634365350714,
          0.0006185917882248759
        ],
        [
          -6.212545180777328e-06,
          -0.1017863436535071,
          0.9948062827541116,
          -0.0023487505968660116
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.9999997250479069,
          -0.00015961981012448467,
          0.0007241723737447588,
          -0.0007346103666350245
        ],
        [
          8.400351155029677e-05,
          0.9946564944598092,
          0.1032397741780418,
          0.0008682892075739801
        ],
        [
          -0.0007367818678051979,
          -0.10323968495902809,
          0.9946562343855485,
          -0.0028663044795393944
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.9999998732134068,
          -0.0001472450691848276,
          0.00048155172091250177,
          -0.0008871048339642584
        ],
        [
          9.62619019164136e-05,
          0.9945555279382177,
          0.10420792955038984,
          0.0012381937121972442
        ],
        [
          -0.0004942740298179662,
          -0.10420786998313705,
          0.9945554160160008,
          -0.003995583858340979
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.9999994334641257,
          -0.00029863897930023893,
          0.0010217074864782517,
          -0.0014697803417220712
        ],
        [
          0.00018850251900508729,
          0.9943506128976569,
          0.10614529239139567,
          0.0009898433927446604
        ],
        [
          -0.0010476345871589829,
          -0.10614503966184434,
          0.9943501058565628,
          -0.004523703828454018
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.9999999405699161,
          -0.00025667504122554424,
          0.0002301696929850016,
          -0.0010079297935590148
        ],
        [
          0.0002301696785190433,
          0.994089376138182,
          0.10856453965784378,
          0.0006199806230142713
        ],
        [
          -0.0002566750541976844,
          -0.10856448022775951,
          0.9940893761381784,
          -0.0027536191046237946
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.9999995246104918,
          -5.371941093615826e-05,
          0.0009735979736934243,
          -0.0013448389945551753
        ],
        [
          -5.371941093615739e-05,
          0.993929661752471,
          0.11001738318485783,
          0.0011704262578859925
        ],
        [
          -0.0009735979736934244,
          -0.11001738318485806,
          0.993929186362963,
          -0.002185432007536292
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.9999989823838645,
          -0.0005623884937317792,
          0.0013110874940660798,
          -0.0009811865165829659
        ],
        [
          0.0004114109247669554,
          0.9936590165250816,
          0.11243482387346979,
          0.0005576091352850199
        ],
        [
          -0.0013660059611733033,
          -0.11243417006226081,
          0.9936582367344038,
          -0.003209773451089859
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.9999984774428189,
          -0.0008209810955847676,
          0.0015398383308581314,
          -0.0013480832567438483
        ],
        [
          0.0006394826500936851,
          0.9934379577164164,
          0.1143705173118351,
          0.0003777263918891549
        ],
        [
          -0.0016236298792261191,
          -0.11436935847628621,
          0.9934369701534862,
          -0.003113342449069023
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.9999991627894893,
          -0.0009077481226469587,
          0.0009221787603865938,
          -0.0004616181249730289
        ],
        [
          0.0007953301469387044,
          0.9933262041892426,
          0.11533611542335175,
          0.0012732406612485647
        ],
        [
          -0.0010207204698877317,
          -0.11533528542617486,
          0.9933260945255517,
          -0.0027895185630768538
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 915.2000122070312,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.9999993316816135,
          -0.0010735118616904203,
          -0.0004291953035787417,
          -0.0003055390843655914
        ],
        [
          0.0011162900838929052,
          0.9931564446411966,
          0.1167862593120679,
          0.0009536163415759802
        ],
        [
          0.000300886647105043,
          -0.11678666036812511,
          0.9931569792471303,
          -0.002340038074180484
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.9999993318269109,
          0.000430943997408008,
          -0.0010726756278820347,
          0.0008557180408388376
        ],
        [
          -0.00029892005007590007,
          0.992753521476577,
          0.1201680333643615,
          0.0010060594649985433
        ],
        [
          0.001116688199640647,
          -0.12016763242706334,
          0.9927529869631916,
          -0.0008278755121864378
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.9999998514134224,
          0.0004716074130276211,
          0.00027342198478426155,
          -0.00039630921673960984
        ],
        [
          -0.00050135948138941,
          0.9925769846698792,
          0.12161693197215907,
          0.0014763164799660444
        ],
        [
          -0.0002140369225318571,
          -0.12161705098421999,
          0.9925770736311098,
          -0.0015028422931209207
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.9999999628875617,
          -0.00013668840462934724,
          0.00023567171201990334,
          -0.0005190592491999269
        ],
        [
          0.00010652433114132677,
          0.9923385506550593,
          0.12354832874783724,
          0.0016816959250718355
        ],
        [
          -0.0002507537490874641,
          -0.12354829905788589,
          0.9923385283875967,
          -0.00032457601628266275
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.9999999257841056,
          -9.879620597793048e-05,
          -0.00037238567655158595,
          -3.020053554791957e-05
        ],
        [
          0.00014439445205971117,
          0.9922178916926528,
          0.1245135918493613,
          0.0020015686750411987
        ],
        [
          0.00035718626041715524,
          -0.12451363637889988,
          0.9922178323199391,
          -0.0016967644914984703
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.9999986551703618,
          0.0007622637580693188,
          0.0014521058608528664,
          -0.001801139209419489
        ],
        [
          -0.0009397549413493972,
          0.9919734611866153,
          0.12644275053199688,
          0.002774276304990053
        ],
        [
          -0.001344067750598366,
          -0.12644394511169615,
          0.9919728434924376,
          -0.0023814451415091753
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.9999995530473439,
          0.00018479316823987563,
          0.0009272306067889579,
          -0.0005827420391142368
        ],
        [
          -0.0003005522790349403,
          0.9919737812645342,
          0.12644337448862036,
          0.003498378209769726
        ],
        [
          -0.0008964225793459314,
          -0.12644359665569033,
          0.9919733934392254,
          -0.004413995426148176
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.9999988650693343,
          0.001026384284943893,
          0.0011029031427544707,
          -0.0009148711105808616
        ],
        [
          -0.0011613425926049815,
          0.9914739703213892,
          0.13029972163639922,
          0.002096795244142413
        ],
        [
          -0.0009597621712065528,
          -0.13030085460364468,
          0.991474037050963,
          -0.0018519936129450798
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.9999985444557836,
          0.0008799877541228581,
          0.0014617482229036054,
          -0.001191677525639534
        ],
        [
          -0.0010642484591752263,
          0.9913469868155194,
          0.1312631673662023,
          0.001984027912840247
        ],
        [
          -0.0013335897164087867,
          -0.1312645319701524,
          0.9913464803917575,
          -0.002692825859412551
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.999997529828583,
          0.00021802712662897933,
          0.002211967654319718,
          -0.0016196207143366337
        ],
        [
          -0.00051280764090007,
          0.9909600018157552,
          0.13415666897192385,
          0.0022543834056705236
        ],
        [
          -0.002162721677687183,
          -0.13415747189586993,
          0.99095766578066,
          -0.0015488294884562492
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.9999995697937304,
          0.0008256407262217555,
          0.00042276440932724507,
          -0.00027328135911375284
        ],
        [
          -0.0008754909849323176,
          0.9906971750280578,
          0.136082110899855,
          0.002167416736483574
        ],
        [
          -0.0003064765731536747,
          -0.13608242248290672,
          0.9906974716649346,
          -0.0017145791789516807
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 915.2000122070312,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.9999997626585466,
          -0.000519487959319879,
          0.00045256503583108093,
          0.0007311227382160723
        ],
        [
          0.00045256503903000236,
          0.9905647885262908,
          0.13704449976832545,
          0.002338855294510722
        ],
        [
          -0.0005194879565330623,
          -0.13704426242687126,
          0.9905647885262925,
          -0.0004663988947868347
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.9999999258587021,
          -0.00035596863855720794,
          -0.00014686360335881,
          0.0007925885147415102
        ],
        [
          0.00037292434956552535,
          0.9902962569672555,
          0.1389718833580091,
          0.0021402002312242985
        ],
        [
          9.596884457426724e-05,
          -0.13897192782346718,
          0.9902963162947795,
          0.0007552601164206862
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 903.3143310546875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.9999993328386951,
          0.0011189651755930384,
          -0.0002867736049408306,
          -2.717061943258159e-05
        ],
        [
          -0.0010673984076918436,
          0.9900240707118608,
          0.14089428686697747,
          0.003153204917907715
        ],
        [
          0.0004415685721803693,
          -0.1408938867660718,
          0.9900246045877571,
          6.370649498421699e-05
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 909.2571411132812,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.9999998066281105,
          0.0006169190127789232,
          -7.845172538856703e-05,
          -0.00015075398550834507
        ],
        [
          -0.0005995274643991819,
          0.9898665141398116,
          0.14199973504030639,
          0.0032441322691738605
        ],
        [
          0.0001652590722945699,
          -0.14199966054758523,
          0.9898666925873452,
          0.000690832850523293
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 909.2571411132812,
        "fy": 903.3143310546875,
        "cx": 416.0,
        "cy": 240.0
      }
    }
  ]
}