{
  "format_version": "1.0",
  "camera_model": "opencv_pinhole",
  "pose_type": "c2w",
  "coordinate_system": "opencv",
  "image_hw": [
    480,
    832
  ],
  "num_frames": 212,
  "frames": [
    {
      "frame_index": 0,
      "c2w": [
        [
          0.9998780488967896,
          0.011349601671099663,
          0.01072912011295557,
          0.001763712614774704
        ],
        [
          0.011342234909534454,
          -0.9999353885650635,
          0.0007472350262105465,
          -0.0006999969482421875
        ],
        [
          0.01073690690100193,
          -0.0006254516774788499,
          -0.9999421834945679,
          8.58306884765625e-06
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9998805522918701,
          0.012971057556569576,
          0.008405450731515884,
          0.000814143568277359
        ],
        [
          0.012958092615008354,
          -0.9999147653579712,
          0.0015950851375237107,
          -0.0009194314479827881
        ],
        [
          0.008425424806773663,
          -0.0014859760412946343,
          -0.9999634027481079,
          -0.00023850798606872559
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9998852610588074,
          0.013570583425462246,
          0.006732915993779898,
          0.00018901005387306213
        ],
        [
          0.01358340959995985,
          -0.9999060034751892,
          -0.001862896024249494,
          -0.0012485682964324951
        ],
        [
          0.006707002408802509,
          0.0019541382789611816,
          -0.9999756217002869,
          -0.0004879385232925415
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9998453259468079,
          0.0148007245734334,
          0.009502178989350796,
          -0.0002029910683631897
        ],
        [
          0.014783184044063091,
          -0.9998888969421387,
          0.0019134620670229197,
          -0.00134335458278656
        ],
        [
          0.009529443457722664,
          -0.0017726935911923647,
          -0.999953031539917,
          -6.051361560821533e-05
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9998151063919067,
          0.015609683468937874,
          0.011228608898818493,
          -0.0003392808139324188
        ],
        [
          0.01553918793797493,
          -0.9998591542243958,
          0.006338340695947409,
          -0.0011551827192306519
        ],
        [
          0.011325967498123646,
          -0.006162685342133045,
          -0.9999168515205383,
          0.00045603513717651367
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9998216032981873,
          0.014062197878956795,
          0.012612502090632915,
          2.8290358386584558e-05
        ],
        [
          0.014002093113958836,
          -0.9998902678489685,
          0.004841162823140621,
          -0.0008516809903085232
        ],
        [
          0.012679195031523705,
          -0.00466369790956378,
          -0.9999087452888489,
          0.0006884518079459667
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9998201727867126,
          0.012297471053898335,
          0.014435950666666031,
          0.0006132764392532408
        ],
        [
          0.012197361327707767,
          -0.9999011158943176,
          0.007002459838986397,
          -0.0005323193036019802
        ],
        [
          0.014520634897053242,
          -0.006825120188295841,
          -0.9998712539672852,
          0.001162025611847639
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9997970461845398,
          0.010993130505084991,
          0.01688292622566223,
          0.0011759661138057709
        ],
        [
          0.010817854665219784,
          -0.9998869895935059,
          0.010438278317451477,
          -0.0002528876066207886
        ],
        [
          0.016995767131447792,
          -0.010253522545099258,
          -0.9998030066490173,
          0.0016226470470428467
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.9997804164886475,
          0.010856237262487411,
          0.017924902960658073,
          0.0013991929590702057
        ],
        [
          0.010698061436414719,
          -0.9999032020568848,
          0.008896774612367153,
          -0.0001926720142364502
        ],
        [
          0.01801975443959236,
          -0.008703058585524559,
          -0.9997997283935547,
          0.0016990602016448975
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9997425675392151,
          0.012248226441442966,
          0.019098401069641113,
          0.0012596286833286285
        ],
        [
          0.012169723398983479,
          -0.9999170303344727,
          0.004221272189170122,
          -1.7762184143066406e-05
        ],
        [
          0.01914851926267147,
          -0.0039877635426819324,
          -0.999808669090271,
          0.0013296008110046387
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9997209906578064,
          0.010992149822413921,
          0.020908070728182793,
          0.001284268219023943
        ],
        [
          0.010938859544694424,
          -0.9999366402626038,
          0.002661470090970397,
          0.00023278083244804293
        ],
        [
          0.02093600109219551,
          -0.0024320168886333704,
          -0.9997778534889221,
          0.0011747959069907665
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9997155070304871,
          0.009344751946628094,
          0.021946290507912636,
          0.0009770356118679047
        ],
        [
          0.009258260950446129,
          -0.9999489784240723,
          0.004039325751364231,
          0.0005260556936264038
        ],
        [
          0.021982917562127113,
          -0.0038349919486790895,
          -0.9997509717941284,
          0.00117415189743042
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9996599555015564,
          0.009582124650478363,
          0.024252282455563545,
          0.0003045573830604553
        ],
        [
          0.009453927166759968,
          -0.9999407529830933,
          0.005395150743424892,
          0.001097753643989563
        ],
        [
          0.024302542209625244,
          -0.005164036527276039,
          -0.9996913075447083,
          0.0015300214290618896
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.9996599555015564,
          0.009136018343269825,
          0.02442382462322712,
          -0.0005162619054317474
        ],
        [
          0.008887996897101402,
          -0.9999080300331116,
          0.010244215838611126,
          0.0017592161893844604
        ],
        [
          0.024515170603990555,
          -0.010023653507232666,
          -0.9996492266654968,
          0.002248898148536682
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9996552467346191,
          0.010471103712916374,
          0.024076934903860092,
          -0.0017925314605236053
        ],
        [
          0.010144050233066082,
          -0.9998551607131958,
          0.013665941543877125,
          0.0023055672645568848
        ],
        [
          0.0242165457457304,
          -0.013416992500424385,
          -0.9996166825294495,
          0.002903863787651062
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9995390176773071,
          0.013844437897205353,
          0.027020923793315887,
          -0.003260299563407898
        ],
        [
          0.013451035134494305,
          -0.9998016357421875,
          0.014687038958072662,
          0.0029611289501190186
        ],
        [
          0.027218898758292198,
          -0.014316809363663197,
          -0.9995269775390625,
          0.0032954663038253784
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.9994063973426819,
          0.015320406295359135,
          0.030856426805257797,
          -0.0042764656245708466
        ],
        [
          0.014747518114745617,
          -0.9997162222862244,
          0.01870904676616192,
          0.0036240220069885254
        ],
        [
          0.03113429993391037,
          -0.018242886289954185,
          -0.9993487000465393,
          0.0038000643253326416
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.9994116425514221,
          0.015239287167787552,
          0.03072672337293625,
          -0.00491790845990181
        ],
        [
          0.014561439864337444,
          -0.9996482729911804,
          0.02216491661965847,
          0.004106387495994568
        ],
        [
          0.0310536939650774,
          -0.021704450249671936,
          -0.9992820620536804,
          0.004057213664054871
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9992882013320923,
          0.014565499499440193,
          0.03479909524321556,
          -0.0054678539745509624
        ],
        [
          0.013865549117326736,
          -0.9996983408927917,
          0.02027139812707901,
          0.004620546940714121
        ],
        [
          0.03508386015892029,
          -0.019774459302425385,
          -0.9991887211799622,
          0.003848645370453596
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9991958737373352,
          0.013195334933698177,
          0.03786136209964752,
          -0.006121493875980377
        ],
        [
          0.012472175993025303,
          -0.999736487865448,
          0.01927322708070278,
          0.0051171183586120605
        ],
        [
          0.03810570016503334,
          -0.018785513937473297,
          -0.9990971088409424,
          0.003638923168182373
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9991050362586975,
          0.013685493730008602,
          0.040022753179073334,
          -0.007332843262702227
        ],
        [
          0.012906933203339577,
          -0.9997236728668213,
          0.019647076725959778,
          0.005731662269681692
        ],
        [
          0.040280573070049286,
          -0.019112922251224518,
          -0.9990056157112122,
          0.003219780046492815
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9990132451057434,
          0.016834070906043053,
          0.04109925404191017,
          -0.009104538708925247
        ],
        [
          0.0161992609500885,
          -0.9997450113296509,
          0.015730304643511772,
          0.0062857866287231445
        ],
        [
          0.041353579610586166,
          -0.01504900585860014,
          -0.9990312457084656,
          0.0025209039449691772
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9916366338729858,
          -0.05818314105272293,
          -0.11520197987556458,
          0.0145496167242527
        ],
        [
          -0.06769733875989914,
          -0.9944552183151245,
          -0.08047288656234741,
          0.037307918071746826
        ],
        [
          -0.10988104343414307,
          0.08759872615337372,
          -0.9900770783424377,
          -0.01583920419216156
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9889905452728271,
          -0.07543879747390747,
          -0.1273052990436554,
          0.021756570786237717
        ],
        [
          -0.08565094321966171,
          -0.9933652877807617,
          -0.07674229145050049,
          0.038536276668310165
        ],
        [
          -0.12067131698131561,
          0.08680122345685959,
          -0.9888902902603149,
          -0.016694094985723495
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.985420286655426,
          -0.09337436407804489,
          -0.14222528040409088,
          0.02831195294857025
        ],
        [
          -0.10477781295776367,
          -0.9916706681251526,
          -0.07490630447864532,
          0.03987577185034752
        ],
        [
          -0.1340463012456894,
          0.08871624618768692,
          -0.9869959354400635,
          -0.017521755769848824
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9807453751564026,
          -0.10925054550170898,
          -0.16187284886837006,
          0.03431972488760948
        ],
        [
          -0.122893325984478,
          -0.9894447922706604,
          -0.07678668946027756,
          0.0409587025642395
        ],
        [
          -0.1517752707004547,
          0.0952012836933136,
          -0.9838196039199829,
          -0.01900254189968109
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9773499965667725,
          -0.12347817420959473,
          -0.1718723475933075,
          0.040065567940473557
        ],
        [
          -0.1382979452610016,
          -0.9873881340026855,
          -0.0770607441663742,
          0.041875213384628296
        ],
        [
          -0.16018939018249512,
          0.09908491373062134,
          -0.9821005463600159,
          -0.02037777006626129
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9740297198295593,
          -0.13761304318904877,
          -0.17980213463306427,
          0.0453181155025959
        ],
        [
          -0.15268933773040771,
          -0.9855872988700867,
          -0.07282603532075882,
          0.042976897209882736
        ],
        [
          -0.1671888828277588,
          0.09838858246803284,
          -0.9810033440589905,
          -0.02169446274638176
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.9698174595832825,
          -0.1513291448354721,
          -0.19118979573249817,
          0.05033661052584648
        ],
        [
          -0.1680516004562378,
          -0.9829651713371277,
          -0.07441869378089905,
          0.04367981478571892
        ],
        [
          -0.17667119204998016,
          0.1043023020029068,
          -0.9787279367446899,
          -0.023473482578992844
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.9652692079544067,
          -0.1632101833820343,
          -0.20400427281856537,
          0.055031102150678635
        ],
        [
          -0.18178929388523102,
          -0.9804120659828186,
          -0.07579436898231506,
          0.04420376941561699
        ],
        [
          -0.18763785064220428,
          0.11024776101112366,
          -0.976031482219696,
          -0.025093238800764084
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.9601914286613464,
          -0.17481891810894012,
          -0.21787793934345245,
          0.059112194925546646
        ],
        [
          -0.19514861702919006,
          -0.9778704643249512,
          -0.07540811598300934,
          0.04497668147087097
        ],
        [
          -0.19987362623214722,
          0.11492480337619781,
          -0.9730584621429443,
          -0.026352718472480774
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9552024006843567,
          -0.18697407841682434,
          -0.22941038012504578,
          0.0632668137550354
        ],
        [
          -0.208738312125206,
          -0.9751396179199219,
          -0.07437112182378769,
          0.04564069211483002
        ],
        [
          -0.20980167388916016,
          0.11892620474100113,
          -0.9704843163490295,
          -0.027500420808792114
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9509336352348328,
          -0.19601984322071075,
          -0.23937714099884033,
          0.0671660304069519
        ],
        [
          -0.21897722780704498,
          -0.9729846715927124,
          -0.07314195483922958,
          0.04642604663968086
        ],
        [
          -0.21857301890850067,
          0.12197128683328629,
          -0.968167781829834,
          -0.02848278358578682
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9469366669654846,
          -0.2068178653717041,
          -0.24604332447052002,
          0.07104216516017914
        ],
        [
          -0.23077943921089172,
          -0.9702948927879333,
          -0.0725855678319931,
          0.04743155837059021
        ],
        [
          -0.22372259199619293,
          0.1255156695842743,
          -0.9665371179580688,
          -0.02900788187980652
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9407418966293335,
          -0.22097696363925934,
          -0.2572428584098816,
          0.07554470002651215
        ],
        [
          -0.2460142970085144,
          -0.9667940139770508,
          -0.06918269395828247,
          0.04847969114780426
        ],
        [
          -0.23341308534145355,
          0.12836848199367523,
          -0.9638671278953552,
          -0.029589742422103882
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9336879849433899,
          -0.2345321923494339,
          -0.27059444785118103,
          0.08033926784992218
        ],
        [
          -0.2612956464290619,
          -0.9629305601119995,
          -0.06700208783149719,
          0.04967978596687317
        ],
        [
          -0.24484951794147491,
          0.1332641839981079,
          -0.9603589773178101,
          -0.030293792486190796
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.9264899492263794,
          -0.2506769597530365,
          -0.2806732654571533,
          0.08571772277355194
        ],
        [
          -0.27847009897232056,
          -0.9583578705787659,
          -0.06328173726797104,
          0.05099212005734444
        ],
        [
          -0.25312215089797974,
          0.1367889940738678,
          -0.9577149748802185,
          -0.03076905384659767
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9175971150398254,
          -0.27016904950141907,
          -0.2915892004966736,
          0.09133069217205048
        ],
        [
          -0.29819807410240173,
          -0.9528888463973999,
          -0.05550476163625717,
          0.05230870470404625
        ],
        [
          -0.2628564238548279,
          0.13788233697414398,
          -0.954931914806366,
          -0.030836092308163643
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.907426118850708,
          -0.2881142199039459,
          -0.30588895082473755,
          0.0963650792837143
        ],
        [
          -0.3165172040462494,
          -0.9474431276321411,
          -0.04656633734703064,
          0.053548797965049744
        ],
        [
          -0.2763959467411041,
          0.13907462358474731,
          -0.950927734375,
          -0.030678868293762207
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.8988370895385742,
          -0.303264319896698,
          -0.3164216876029968,
          0.10028590261936188
        ],
        [
          -0.3317001760005951,
          -0.9425846934318542,
          -0.03884727135300636,
          0.05477172136306763
        ],
        [
          -0.28647324442863464,
          0.13987448811531067,
          -0.9478228688240051,
          -0.030436843633651733
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.8914682865142822,
          -0.31687960028648376,
          -0.32383888959884644,
          0.10361042618751526
        ],
        [
          -0.34459710121154785,
          -0.9382544159889221,
          -0.030520448461174965,
          0.05578649044036865
        ],
        [
          -0.2941719591617584,
          0.1388019621372223,
          -0.9456198215484619,
          -0.03005404770374298
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.8840838670730591,
          -0.32515454292297363,
          -0.33566391468048096,
          0.1062227189540863
        ],
        [
          -0.3537166714668274,
          -0.9349936246871948,
          -0.025912143290042877,
          0.056809376925230026
        ],
        [
          -0.3054181635379791,
          0.14163842797279358,
          -0.9416253566741943,
          -0.030118124559521675
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.8756354451179504,
          -0.33554044365882874,
          -0.3473832905292511,
          0.10915229469537735
        ],
        [
          -0.3659523129463196,
          -0.9303284883499146,
          -0.023829620331525803,
          0.05755653604865074
        ],
        [
          -0.31518474221229553,
          0.14799177646636963,
          -0.9374204277992249,
          -0.03054460510611534
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.8657230734825134,
          -0.3508954346179962,
          -0.35692569613456726,
          0.11194209009408951
        ],
        [
          -0.3809793293476105,
          -0.9244582056999207,
          -0.015225709415972233,
          0.05799349769949913
        ],
        [
          -0.32462024688720703,
          0.14916256070137024,
          -0.9340087175369263,
          -0.030964013189077377
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.8552302122116089,
          -0.3649528920650482,
          -0.36795470118522644,
          0.1153242439031601
        ],
        [
          -0.3951956033706665,
          -0.9185665845870972,
          -0.0074729109182953835,
          0.058330316096544266
        ],
        [
          -0.3352636396884918,
          0.15180514752864838,
          -0.9298136830329895,
          -0.03166787698864937
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.8444525599479675,
          -0.37610533833503723,
          -0.3813720643520355,
          0.11860720813274384
        ],
        [
          -0.4079096019268036,
          -0.913017988204956,
          -0.0028039957396686077,
          0.05856718122959137
        ],
        [
          -0.3471449613571167,
          0.15793316066265106,
          -0.9244173765182495,
          -0.03314855694770813
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.8343345522880554,
          -0.38521963357925415,
          -0.3943243622779846,
          0.1213110163807869
        ],
        [
          -0.4200540781021118,
          -0.9074963331222534,
          -0.002232241677120328,
          0.05875450000166893
        ],
        [
          -0.35698801279067993,
          0.16749998927116394,
          -0.9189686179161072,
          -0.035542603582143784
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.8279291987419128,
          -0.3897005617618561,
          -0.4033196270465851,
          0.12370243668556213
        ],
        [
          -0.4297286570072174,
          -0.9029057025909424,
          -0.009724369272589684,
          0.05898889899253845
        ],
        [
          -0.3603699803352356,
          0.18136908113956451,
          -0.915007472038269,
          -0.038566797971725464
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.8214472532272339,
          -0.394000768661499,
          -0.4122958183288574,
          0.12573127448558807
        ],
        [
          -0.4389181435108185,
          -0.8983851671218872,
          -0.015968283638358116,
          0.05916711315512657
        ],
        [
          -0.3641089200973511,
          0.19408121705055237,
          -0.9109100699424744,
          -0.041477020829916
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.8161529302597046,
          -0.3964802920818329,
          -0.42035433650016785,
          0.12700822949409485
        ],
        [
          -0.4455265998840332,
          -0.8950262665748596,
          -0.020833732560276985,
          0.059733275324106216
        ],
        [
          -0.36796802282333374,
          0.20428255200386047,
          -0.9071208238601685,
          -0.04375431314110756
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.8099475502967834,
          -0.4002785086631775,
          -0.4286747872829437,
          0.12849873304367065
        ],
        [
          -0.45253095030784607,
          -0.891461968421936,
          -0.022612174972891808,
          0.06020313501358032
        ],
        [
          -0.3730960786342621,
          0.2123032808303833,
          -0.9031758308410645,
          -0.045363232493400574
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.7991943955421448,
          -0.41112953424453735,
          -0.43847551941871643,
          0.1304042637348175
        ],
        [
          -0.4638569951057434,
          -0.8857845067977905,
          -0.014914730563759804,
          0.060182034969329834
        ],
        [
          -0.3822629451751709,
          0.21530970931053162,
          -0.8986193537712097,
          -0.04595254361629486
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.7931327819824219,
          -0.42246076464653015,
          -0.43871089816093445,
          0.13250480592250824
        ],
        [
          -0.4744081497192383,
          -0.8802478909492493,
          -0.010025842115283012,
          0.0602414570748806
        ],
        [
          -0.3819388151168823,
          0.21607984602451324,
          -0.8985723257064819,
          -0.04610101878643036
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.7830172181129456,
          -0.43486568331718445,
          -0.44472000002861023,
          0.13443523645401
        ],
        [
          -0.48560112714767456,
          -0.8741804957389832,
          -0.0001865081285359338,
          0.06014220044016838
        ],
        [
          -0.3886844515800476,
          0.21610257029533386,
          -0.8956696391105652,
          -0.04613363370299339
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.7712653875350952,
          -0.4481944143772125,
          -0.45196399092674255,
          0.13593190908432007
        ],
        [
          -0.4985125958919525,
          -0.866836667060852,
          0.00890744011849165,
          0.05993539094924927
        ],
        [
          -0.39577123522758484,
          0.2184397429227829,
          -0.8919916749000549,
          -0.04568551480770111
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.7624760866165161,
          -0.4603632092475891,
          -0.45463821291923523,
          0.13710683584213257
        ],
        [
          -0.5082937479019165,
          -0.8609664440155029,
          0.019345993176102638,
          0.059993550181388855
        ],
        [
          -0.4003344178199768,
          0.2163389027118683,
          -0.8904660940170288,
          -0.04495278000831604
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.7578756213188171,
          -0.4662204384803772,
          -0.4563584625720978,
          0.1376868337392807
        ],
        [
          -0.5128849148750305,
          -0.8580964803695679,
          0.024890830740332603,
          0.06059248372912407
        ],
        [
          -0.40320420265197754,
          0.2151952087879181,
          -0.889447808265686,
          -0.04441746696829796
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.7498639822006226,
          -0.4706636071205139,
          -0.46495136618614197,
          0.13723480701446533
        ],
        [
          -0.5201511383056641,
          -0.8536994457244873,
          0.02529873326420784,
          0.06091885268688202
        ],
        [
          -0.40883591771125793,
          0.22287437319755554,
          -0.8849746584892273,
          -0.04450911283493042
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.7427529692649841,
          -0.4784946143627167,
          -0.4683598577976227,
          0.1376544088125229
        ],
        [
          -0.5280525088310242,
          -0.8486942648887634,
          0.02964187227189541,
          0.06132917478680611
        ],
        [
          -0.4116777777671814,
          0.22530199587345123,
          -0.8830404281616211,
          -0.04425983503460884
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.7376687526702881,
          -0.4858258366584778,
          -0.4688476026058197,
          0.1385287344455719
        ],
        [
          -0.5336546897888184,
          -0.8449400067329407,
          0.035903528332710266,
          0.062021851539611816
        ],
        [
          -0.4135909378528595,
          0.2237178087234497,
          -0.8825490474700928,
          -0.04371286928653717
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.7293446063995361,
          -0.49206405878067017,
          -0.47532033920288086,
          0.1392270177602768
        ],
        [
          -0.5409126877784729,
          -0.8401392698287964,
          0.039742838591337204,
          0.06223958730697632
        ],
        [
          -0.4188913106918335,
          0.2281205803155899,
          -0.8789147138595581,
          -0.043777063488960266
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.7201100587844849,
          -0.5035004615783691,
          -0.47741883993148804,
          0.14063900709152222
        ],
        [
          -0.5528091192245483,
          -0.8321563601493835,
          0.043793220072984695,
          0.06207422912120819
        ],
        [
          -0.41933703422546387,
          0.2323855459690094,
          -0.8775838613510132,
          -0.04374942183494568
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.7144556045532227,
          -0.5104929208755493,
          -0.47848737239837646,
          0.14171312749385834
        ],
        [
          -0.5572774410247803,
          -0.8286949396133423,
          0.05202413722872734,
          0.06232099235057831
        ],
        [
          -0.4230780303478241,
          0.2294812798500061,
          -0.8765519261360168,
          -0.04309757053852081
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.7119041085243225,
          -0.5169479250907898,
          -0.4753497540950775,
          0.14295604825019836
        ],
        [
          -0.5615690350532532,
          -0.8254852890968323,
          0.05669425055384636,
          0.06226125359535217
        ],
        [
          -0.42170220613479614,
          0.22658084332942963,
          -0.8779683113098145,
          -0.042372822761535645
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.7028236389160156,
          -0.5293950438499451,
          -0.47516292333602905,
          0.14468391239643097
        ],
        [
          -0.5716854333877563,
          -0.8178463578224182,
          0.06559810042381287,
          0.06176154315471649
        ],
        [
          -0.42333757877349854,
          0.22553981840610504,
          -0.8774492144584656,
          -0.04238404333591461
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.7002142667770386,
          -0.5337175130844116,
          -0.47417885065078735,
          0.14564268290996552
        ],
        [
          -0.5755591988563538,
          -0.814978837966919,
          0.06738757342100143,
          0.06179053708910942
        ],
        [
          -0.42241165041923523,
          0.2257322520017624,
          -0.877845823764801,
          -0.0427810400724411
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.6986739039421082,
          -0.5370301604270935,
          -0.4727085828781128,
          0.14628152549266815
        ],
        [
          -0.5812518000602722,
          -0.8113119602203369,
          0.0626041516661644,
          0.061571478843688965
        ],
        [
          -0.41713443398475647,
          0.23102281987667084,
          -0.8789921998977661,
          -0.04392614960670471
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.68930983543396,
          -0.5442081093788147,
          -0.47821491956710815,
          0.14733903110027313
        ],
        [
          -0.5904239416122437,
          -0.8045130968093872,
          0.0644846186041832,
          0.061048123985528946
        ],
        [
          -0.41982319951057434,
          0.23789966106414795,
          -0.8758722543716431,
          -0.04531002417206764
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.6872364282608032,
          -0.5482209920883179,
          -0.4766128361225128,
          0.14824354648590088
        ],
        [
          -0.5947362184524536,
          -0.8013539910316467,
          0.06419192254543304,
          0.06079511344432831
        ],
        [
          -0.41712698340415955,
          0.23934389650821686,
          -0.876766562461853,
          -0.04593096673488617
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.6893895268440247,
          -0.5550089478492737,
          -0.46551814675331116,
          0.14903759956359863
        ],
        [
          -0.5967584848403931,
          -0.7994182109832764,
          0.06935320049524307,
          0.06025382876396179
        ],
        [
          -0.4106353223323822,
          0.22999054193496704,
          -0.8823168277740479,
          -0.04559890925884247
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.6895854473114014,
          -0.5588178634643555,
          -0.46064576506614685,
          0.14975865185260773
        ],
        [
          -0.5978862643241882,
          -0.7982221245765686,
          0.0733039379119873,
          0.05984187126159668
        ],
        [
          -0.4086611866950989,
          0.2248644232749939,
          -0.8845518827438354,
          -0.045806884765625
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.689899742603302,
          -0.5583592653274536,
          -0.46073123812675476,
          0.15008974075317383
        ],
        [
          -0.5995566248893738,
          -0.7973889112472534,
          0.0685768648982048,
          0.05939948186278343
        ],
        [
          -0.40567249059677124,
          0.22892330586910248,
          -0.8848863840103149,
          -0.04671313986182213
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.6957404017448425,
          -0.5550222992897034,
          -0.4559556245803833,
          0.14928609132766724
        ],
        [
          -0.5962033271789551,
          -0.8002482652664185,
          0.06437653303146362,
          0.059018611907958984
        ],
        [
          -0.400608092546463,
          0.22705291211605072,
          -0.887671172618866,
          -0.046892568469047546
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.7022749781608582,
          -0.5498397350311279,
          -0.45220139622688293,
          0.14800240099430084
        ],
        [
          -0.5918394327163696,
          -0.8039383888244629,
          0.058388154953718185,
          0.05853096768260002
        ],
        [
          -0.39564618468284607,
          0.22662608325481415,
          -0.8900026679039001,
          -0.04693692550063133
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.6995510458946228,
          -0.5491766333580017,
          -0.45720165967941284,
          0.146415576338768
        ],
        [
          -0.5928899645805359,
          -0.8032181859016418,
          0.05763736739754677,
          0.05724635347723961
        ],
        [
          -0.3988857865333557,
          0.2307499796152115,
          -0.8874934315681458,
          -0.04705620929598808
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.7007015943527222,
          -0.5452470779418945,
          -0.4601335823535919,
          0.14460009336471558
        ],
        [
          -0.5912309885025024,
          -0.8047417402267456,
          0.053259626030921936,
          0.05590979754924774
        ],
        [
          -0.399328351020813,
          0.23472613096237183,
          -0.8862507939338684,
          -0.04646149277687073
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.7060012221336365,
          -0.5426735877990723,
          -0.4550468325614929,
          0.14249856770038605
        ],
        [
          -0.5912845134735107,
          -0.805314838886261,
          0.04301859438419342,
          0.05453700199723244
        ],
        [
          -0.389801025390625,
          0.23869098722934723,
          -0.8894277811050415,
          -0.045846614986658096
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.7043497562408447,
          -0.5421556234359741,
          -0.4582124948501587,
          0.14017410576343536
        ],
        [
          -0.593551516532898,
          -0.8038631081581116,
          0.03873976320028305,
          0.052940309047698975
        ],
        [
          -0.3893430829048157,
          0.24468638002872467,
          -0.8879980444908142,
          -0.04572273790836334
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.7020538449287415,
          -0.5367907285690308,
          -0.4679487943649292,
          0.13754843175411224
        ],
        [
          -0.5939882397651672,
          -0.8038765788078308,
          0.0309901125729084,
          0.05113769695162773
        ],
        [
          -0.39280828833580017,
          0.25619933009147644,
          -0.8832120895385742,
          -0.04565254971385002
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.7093170285224915,
          -0.5261608958244324,
          -0.469067245721817,
          0.13460864126682281
        ],
        [
          -0.5887685418128967,
          -0.8081398010253906,
          0.016176801174879074,
          0.04971989989280701
        ],
        [
          -0.38758349418640137,
          0.2646975517272949,
          -0.8830142617225647,
          -0.045351579785346985
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.719509482383728,
          -0.5150083303451538,
          -0.46591049432754517,
          0.13205957412719727
        ],
        [
          -0.5820221900939941,
          -0.8131728768348694,
          4.362820982350968e-05,
          0.04859307035803795
        ],
        [
          -0.37888824939727783,
          0.27113884687423706,
          -0.8848318457603455,
          -0.045051828026771545
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 81,
      "c2w": [
        [
          0.7211976647377014,
          -0.5091239213943481,
          -0.46975186467170715,
          0.12987300753593445
        ],
        [
          -0.5805358290672302,
          -0.8141865730285645,
          -0.008854115381836891,
          0.046641647815704346
        ],
        [
          -0.3779577910900116,
          0.27909335494041443,
          -0.8827540874481201,
          -0.04503673315048218
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 82,
      "c2w": [
        [
          0.7269566059112549,
          -0.5004642605781555,
          -0.4701804220676422,
          0.12779614329338074
        ],
        [
          -0.5768635869026184,
          -0.8165225982666016,
          -0.022787904366850853,
          0.04479992017149925
        ],
        [
          -0.3725084066390991,
          0.2877957820892334,
          -0.8822760581970215,
          -0.04500002786517143
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 83,
      "c2w": [
        [
          0.7338815927505493,
          -0.4887275993824005,
          -0.47176599502563477,
          0.1258941888809204
        ],
        [
          -0.572910487651825,
          -0.818472146987915,
          -0.04332352429628372,
          0.04310144484043121
        ],
        [
          -0.3649539053440094,
          0.30207404494285583,
          -0.8806588053703308,
          -0.04517214000225067
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 84,
      "c2w": [
        [
          0.7330653071403503,
          -0.4847162365913391,
          -0.4771430194377899,
          0.12406677007675171
        ],
        [
          -0.5739654898643494,
          -0.8172523975372314,
          -0.05159599334001541,
          0.04081740975379944
        ],
        [
          -0.36493685841560364,
          0.31168684363365173,
          -0.8773097395896912,
          -0.04496881365776062
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 85,
      "c2w": [
        [
          0.7405501008033752,
          -0.47665533423423767,
          -0.4736931622028351,
          0.12196248769760132
        ],
        [
          -0.5687695741653442,
          -0.8199983239173889,
          -0.06406217068433762,
          0.03915609419345856
        ],
        [
          -0.3578920066356659,
          0.3168635070323944,
          -0.8783568739891052,
          -0.044316232204437256
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 86,
      "c2w": [
        [
          0.746546745300293,
          -0.4675392508506775,
          -0.4733656048774719,
          0.11999277770519257
        ],
        [
          -0.5639970898628235,
          -0.8221352100372314,
          -0.0774659588932991,
          0.037829846143722534
        ],
        [
          -0.35295215249061584,
          0.3248087763786316,
          -0.8774531483650208,
          -0.04384775459766388
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 87,
      "c2w": [
        [
          0.7445058226585388,
          -0.46186938881874084,
          -0.4820660948753357,
          0.11835755407810211
        ],
        [
          -0.5641041398048401,
          -0.821397066116333,
          -0.08422212302684784,
          0.03661565110087395
        ],
        [
          -0.3570680618286133,
          0.3346393406391144,
          -0.8720773458480835,
          -0.04353375732898712
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 88,
      "c2w": [
        [
          0.7460655570030212,
          -0.45516160130500793,
          -0.4860186278820038,
          0.11686842888593674
        ],
        [
          -0.562175452709198,
          -0.821725070476532,
          -0.09341629594564438,
          0.035651709884405136
        ],
        [
          -0.3568542003631592,
          0.3429224193096161,
          -0.8689414858818054,
          -0.04303305968642235
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 89,
      "c2w": [
        [
          0.7461791038513184,
          -0.4534742534160614,
          -0.4874195456504822,
          0.11599570512771606
        ],
        [
          -0.5613341331481934,
          -0.822187066078186,
          -0.09440558403730392,
          0.035007789731025696
        ],
        [
          -0.35793954133987427,
          0.34404870867729187,
          -0.8680493831634521,
          -0.04207898676395416
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 90,
      "c2w": [
        [
          0.746857762336731,
          -0.45596474409103394,
          -0.4840450882911682,
          0.11553382873535156
        ],
        [
          -0.5616286993026733,
          -0.8222576379776001,
          -0.09200844168663025,
          0.0344068706035614
        ],
        [
          -0.35605716705322266,
          0.3405708372592926,
          -0.8701924085617065,
          -0.04077984392642975
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 91,
      "c2w": [
        [
          0.7496885061264038,
          -0.4547274708747864,
          -0.48082229495048523,
          0.11496515572071075
        ],
        [
          -0.5608435273170471,
          -0.8222386240959167,
          -0.09684126079082489,
          0.03371591866016388
        ],
        [
          -0.3513142764568329,
          0.34226682782173157,
          -0.8714537620544434,
          -0.04029850661754608
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 92,
      "c2w": [
        [
          0.7457672357559204,
          -0.4531362056732178,
          -0.4883633852005005,
          0.11471119523048401
        ],
        [
          -0.5667632818222046,
          -0.8168262839317322,
          -0.1075836792588234,
          0.03243711218237877
        ],
        [
          -0.3501579761505127,
          0.3570187985897064,
          -0.865983247756958,
          -0.0411510169506073
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 93,
      "c2w": [
        [
          0.7431925535202026,
          -0.4514312446117401,
          -0.4938366711139679,
          0.11457850784063339
        ],
        [
          -0.5699298977851868,
          -0.813772976398468,
          -0.11381314694881439,
          0.031076455488801003
        ],
        [
          -0.35049211978912354,
          0.36603736877441406,
          -0.8620741963386536,
          -0.04119383916258812
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 94,
      "c2w": [
        [
          0.7498246431350708,
          -0.4487228989601135,
          -0.48622092604637146,
          0.1138935387134552
        ],
        [
          -0.5675492882728577,
          -0.8139359354972839,
          -0.12408088147640228,
          0.02970898151397705
        ],
        [
          -0.3400747776031494,
          0.36899325251579285,
          -0.8649815917015076,
          -0.04100126028060913
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 95,
      "c2w": [
        [
          0.7524532675743103,
          -0.4415038526058197,
          -0.48876217007637024,
          0.11264857649803162
        ],
        [
          -0.5662108659744263,
          -0.8126996755599976,
          -0.1375661939382553,
          0.028147369623184204
        ],
        [
          -0.33648085594177246,
          0.3802545666694641,
          -0.8615028262138367,
          -0.04159146547317505
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 96,
      "c2w": [
        [
          0.7565650343894958,
          -0.43500974774360657,
          -0.48823750019073486,
          0.11170507967472076
        ],
        [
          -0.564698338508606,
          -0.8111109137535095,
          -0.1523640751838684,
          0.02674098312854767
        ],
        [
          -0.3297349214553833,
          0.39098024368286133,
          -0.8593074679374695,
          -0.0418875515460968
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 97,
      "c2w": [
        [
          0.7671765089035034,
          -0.4293646812438965,
          -0.4765356183052063,
          0.11047637462615967
        ],
        [
          -0.5569084882736206,
          -0.8144799470901489,
          -0.16271229088306427,
          0.025948569178581238
        ],
        [
          -0.31826579570770264,
          0.39021578431129456,
          -0.8639667630195618,
          -0.04129663109779358
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 98,
      "c2w": [
        [
          0.7736660242080688,
          -0.42369839549064636,
          -0.4710844159126282,
          0.10870328545570374
        ],
        [
          -0.5506411194801331,
          -0.8174314498901367,
          -0.16911600530147552,
          0.025370394811034203
        ],
        [
          -0.3134250342845917,
          0.3902377784252167,
          -0.8657246828079224,
          -0.04080194607377052
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 99,
      "c2w": [
        [
          0.7828518748283386,
          -0.41577786207199097,
          -0.4628949463367462,
          0.10637784004211426
        ],
        [
          -0.5407246351242065,
          -0.8226809501647949,
          -0.1755361109972,
          0.024946263059973717
        ],
        [
          -0.307830810546875,
          0.38771748542785645,
          -0.8688586354255676,
          -0.039933864027261734
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 100,
      "c2w": [
        [
          0.7939480543136597,
          -0.40654605627059937,
          -0.45206940174102783,
          0.1031620055437088
        ],
        [
          -0.5289049744606018,
          -0.8285431861877441,
          -0.18378177285194397,
          0.024761125445365906
        ],
        [
          -0.29984328150749207,
          0.38501495122909546,
          -0.8728445172309875,
          -0.03925001621246338
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 101,
      "c2w": [
        [
          0.8050693273544312,
          -0.3979509472846985,
          -0.43988460302352905,
          0.09921374917030334
        ],
        [
          -0.5172205567359924,
          -0.834014892578125,
          -0.1920989751815796,
          0.024469783529639244
        ],
        [
          -0.2904243469238281,
          0.38217034935951233,
          -0.8772681951522827,
          -0.038629401475191116
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 102,
      "c2w": [
        [
          0.8199514150619507,
          -0.3847810626029968,
          -0.42381981015205383,
          0.09479972720146179
        ],
        [
          -0.4988047778606415,
          -0.8435101509094238,
          -0.199209526181221,
          0.024317145347595215
        ],
        [
          -0.28084424138069153,
          0.3747454583644867,
          -0.8835679292678833,
          -0.03754878044128418
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 103,
      "c2w": [
        [
          0.8333781957626343,
          -0.3766222894191742,
          -0.4045200049877167,
          0.09022858738899231
        ],
        [
          -0.4843391478061676,
          -0.8502268195152283,
          -0.20622789859771729,
          0.023990660905838013
        ],
        [
          -0.2662637531757355,
          0.36779069900512695,
          -0.8909733891487122,
          -0.03633968532085419
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 104,
      "c2w": [
        [
          0.8498239517211914,
          -0.36966320872306824,
          -0.3756971061229706,
          0.0851108729839325
        ],
        [
          -0.4653904438018799,
          -0.8608823418617249,
          -0.20565348863601685,
          0.02415384352207184
        ],
        [
          -0.24740847945213318,
          0.34961509704589844,
          -0.9036361575126648,
          -0.0342104434967041
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 105,
      "c2w": [
        [
          0.8694901466369629,
          -0.3568040430545807,
          -0.3415813148021698,
          0.07937014102935791
        ],
        [
          -0.43895620107650757,
          -0.8752537965774536,
          -0.20309653878211975,
          0.02476675808429718
        ],
        [
          -0.22650466859340668,
          0.3265296518802643,
          -0.9176459312438965,
          -0.031377822160720825
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 106,
      "c2w": [
        [
          0.8833363652229309,
          -0.3464113175868988,
          -0.3157784938812256,
          0.07344935834407806
        ],
        [
          -0.4198153018951416,
          -0.884329617023468,
          -0.2042454332113266,
          0.024772873148322105
        ],
        [
          -0.20849935710430145,
          0.3129860758781433,
          -0.92658931016922,
          -0.029126513749361038
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 107,
      "c2w": [
        [
          0.8936483263969421,
          -0.33391767740249634,
          -0.2998194098472595,
          0.06700634956359863
        ],
        [
          -0.40139350295066833,
          -0.8935189247131348,
          -0.20126405358314514,
          0.024765431880950928
        ],
        [
          -0.2006886899471283,
          0.3002048432826996,
          -0.9325240254402161,
          -0.02707459032535553
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 108,
      "c2w": [
        [
          0.9026091694831848,
          -0.3221195638179779,
          -0.28554460406303406,
          0.06039012596011162
        ],
        [
          -0.38520413637161255,
          -0.9004986882209778,
          -0.2017916887998581,
          0.024356922134757042
        ],
        [
          -0.19213148951530457,
          0.2921319901943207,
          -0.9368801116943359,
          -0.024776924401521683
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 109,
      "c2w": [
        [
          0.9074037075042725,
          -0.3081255257129669,
          -0.2857922315597534,
          0.05331474170088768
        ],
        [
          -0.3711709678173065,
          -0.9065216779708862,
          -0.20112323760986328,
          0.023845374584197998
        ],
        [
          -0.19710566103458405,
          0.28857776522636414,
          -0.9369483590126038,
          -0.023437872529029846
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 110,
      "c2w": [
        [
          0.9142826199531555,
          -0.2969677746295929,
          -0.275494784116745,
          0.04667707905173302
        ],
        [
          -0.3591180443763733,
          -0.9088747501373291,
          -0.21208707988262177,
          0.023045748472213745
        ],
        [
          -0.1874072253704071,
          0.29284268617630005,
          -0.937614917755127,
          -0.022793099284172058
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 111,
      "c2w": [
        [
          0.9254197478294373,
          -0.2786947190761566,
          -0.2567636966705322,
          0.03981386497616768
        ],
        [
          -0.3353632390499115,
          -0.917809247970581,
          -0.21250341832637787,
          0.022799447178840637
        ],
        [
          -0.17643649876117706,
          0.2827639579772949,
          -0.9428227543830872,
          -0.02081248164176941
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 112,
      "c2w": [
        [
          0.9344522953033447,
          -0.26142191886901855,
          -0.24177983403205872,
          0.03281700238585472
        ],
        [
          -0.3135747015476227,
          -0.9258559346199036,
          -0.21085938811302185,
          0.022286444902420044
        ],
        [
          -0.16873003542423248,
          0.2728540897369385,
          -0.9471434950828552,
          -0.018918395042419434
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 113,
      "c2w": [
        [
          0.9454048275947571,
          -0.24401164054870605,
          -0.21602784097194672,
          0.026113595813512802
        ],
        [
          -0.28958308696746826,
          -0.9330673217773438,
          -0.21337048709392548,
          0.021839603781700134
        ],
        [
          -0.1495036482810974,
          0.2642795145511627,
          -0.9527879953384399,
          -0.01709480583667755
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 114,
      "c2w": [
        [
          0.9530105590820312,
          -0.22661694884300232,
          -0.20103640854358673,
          0.01962108537554741
        ],
        [
          -0.26791369915008545,
          -0.9402419924736023,
          -0.21015995740890503,
          0.021368542686104774
        ],
        [
          -0.14139707386493683,
          0.2541450560092926,
          -0.9567743539810181,
          -0.015056397765874863
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 115,
      "c2w": [
        [
          0.9615129828453064,
          -0.20808982849121094,
          -0.17941953241825104,
          0.01289310771971941
        ],
        [
          -0.24436871707439423,
          -0.9461781978607178,
          -0.21220460534095764,
          0.020747968927025795
        ],
        [
          -0.12560522556304932,
          0.24788200855255127,
          -0.9606132507324219,
          -0.01322556659579277
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 116,
      "c2w": [
        [
          0.9686516523361206,
          -0.18659435212612152,
          -0.16400177776813507,
          0.005927767604589462
        ],
        [
          -0.21933218836784363,
          -0.9523624181747437,
          -0.21189424395561218,
          0.020091384649276733
        ],
        [
          -0.11665086448192596,
          0.2412225753068924,
          -0.963433563709259,
          -0.011598050594329834
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 117,
      "c2w": [
        [
          0.9730803966522217,
          -0.16899371147155762,
          -0.15670239925384521,
          -0.0004436974704731256
        ],
        [
          -0.20069819688796997,
          -0.9556071758270264,
          -0.21572022140026093,
          0.01916470192372799
        ],
        [
          -0.11329057067632675,
          0.24136300384998322,
          -0.9637993574142456,
          -0.010964859277009964
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 118,
      "c2w": [
        [
          0.9791673421859741,
          -0.14792723953723907,
          -0.1391000896692276,
          -0.006940346211194992
        ],
        [
          -0.1763812005519867,
          -0.9590267539024353,
          -0.22171467542648315,
          0.01812662184238434
        ],
        [
          -0.10060306638479233,
          0.241630420088768,
          -0.9651392698287964,
          -0.010475397109985352
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 119,
      "c2w": [
        [
          0.984757125377655,
          -0.12673428654670715,
          -0.1191294938325882,
          -0.013111259788274765
        ],
        [
          -0.15136489272117615,
          -0.9618233442306519,
          -0.22800107300281525,
          0.016980856657028198
        ],
        [
          -0.08568597584962845,
          0.24255770444869995,
          -0.9663455486297607,
          -0.010326147079467773
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 120,
      "c2w": [
        [
          0.9877544641494751,
          -0.11091132462024689,
          -0.10972604900598526,
          -0.01836918666958809
        ],
        [
          -0.13440991938114166,
          -0.9620358943939209,
          -0.23753084242343903,
          0.015962451696395874
        ],
        [
          -0.07921553403139114,
          0.24937042593955994,
          -0.9651628136634827,
          -0.011196047067642212
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 121,
      "c2w": [
        [
          0.991295337677002,
          -0.0930103212594986,
          -0.09318096935749054,
          -0.024051524698734283
        ],
        [
          -0.11344818770885468,
          -0.9625867009162903,
          -0.24608203768730164,
          0.01501697301864624
        ],
        [
          -0.06680659204721451,
          0.25451117753982544,
          -0.9647595286369324,
          -0.011786818504333496
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 122,
      "c2w": [
        [
          0.9960076808929443,
          0.01897181011736393,
          -0.08722832798957825,
          0.013450752943754196
        ],
        [
          -0.005874359980225563,
          -0.9611073136329651,
          -0.27611276507377625,
          0.019813284277915955
        ],
        [
          -0.08907413482666016,
          0.2755228281021118,
          -0.9571588039398193,
          -0.0041628628969192505
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 123,
      "c2w": [
        [
          0.9941514134407043,
          0.007079586386680603,
          -0.10776280611753464,
          0.016855690628290176
        ],
        [
          -0.022893916815519333,
          -0.9613539576530457,
          -0.27436190843582153,
          0.01965814270079136
        ],
        [
          -0.10554056614637375,
          0.27522438764572144,
          -0.955569326877594,
          -0.005224075634032488
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 124,
      "c2w": [
        [
          0.9917466044425964,
          -0.003156075719743967,
          -0.12817448377609253,
          0.019833650439977646
        ],
        [
          -0.03828867897391319,
          -0.9613693952560425,
          -0.27258554100990295,
          0.019074276089668274
        ],
        [
          -0.12236273288726807,
          0.2752434313297272,
          -0.9535556435585022,
          -0.006594642996788025
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 125,
      "c2w": [
        [
          0.9883732199668884,
          -0.009496735408902168,
          -0.1517503708600998,
          0.022308703511953354
        ],
        [
          -0.05088840797543526,
          -0.9611503481864929,
          -0.27129390835762024,
          0.01819462515413761
        ],
        [
          -0.14327852427959442,
          0.2758619785308838,
          -0.9504585266113281,
          -0.008178260177373886
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 126,
      "c2w": [
        [
          0.98288893699646,
          -0.018261201679706573,
          -0.1832917183637619,
          0.02479979768395424
        ],
        [
          -0.06849972158670425,
          -0.9599449634552002,
          -0.2716864049434662,
          0.01780652068555355
        ],
        [
          -0.17098863422870636,
          0.27959299087524414,
          -0.9447701573371887,
          -0.010038826614618301
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 127,
      "c2w": [
        [
          0.974772572517395,
          -0.02492404729127884,
          -0.2218044251203537,
          0.027002867311239243
        ],
        [
          -0.08575223386287689,
          -0.9592974781990051,
          -0.26906293630599976,
          0.017055070027709007
        ],
        [
          -0.20607028901576996,
          0.28129541873931885,
          -0.9372341632843018,
          -0.011947128921747208
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 128,
      "c2w": [
        [
          0.967134416103363,
          -0.03550082445144653,
          -0.2517751157283783,
          0.030138608068227768
        ],
        [
          -0.10648448020219803,
          -0.9557378888130188,
          -0.2742738127708435,
          0.015929296612739563
        ],
        [
          -0.2308940887451172,
          0.29206979274749756,
          -0.9281073212623596,
          -0.0148230642080307
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 129,
      "c2w": [
        [
          0.9596563577651978,
          -0.04796459153294563,
          -0.2770542800426483,
          0.03365953639149666
        ],
        [
          -0.1274755448102951,
          -0.952477753162384,
          -0.2766515910625458,
          0.015734344720840454
        ],
        [
          -0.2506185472011566,
          0.3008081018924713,
          -0.9201656579971313,
          -0.017940625548362732
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 130,
      "c2w": [
        [
          0.9495717883110046,
          -0.06043056398630142,
          -0.30767112970352173,
          0.03742419555783272
        ],
        [
          -0.14882339537143707,
          -0.9505425095558167,
          -0.27261796593666077,
          0.015487696044147015
        ],
        [
          -0.27598002552986145,
          0.30465900897979736,
          -0.9116018414497375,
          -0.020960208028554916
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 131,
      "c2w": [
        [
          0.9410324096679688,
          -0.07781868427991867,
          -0.329245001077652,
          0.042155105620622635
        ],
        [
          -0.17369475960731506,
          -0.9462634921073914,
          -0.2727920711040497,
          0.014904871582984924
        ],
        [
          -0.29032421112060547,
          0.3138943016529083,
          -0.9039813280105591,
          -0.024271219968795776
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 132,
      "c2w": [
        [
          0.9348002672195435,
          -0.09131763875484467,
          -0.34323394298553467,
          0.04647526517510414
        ],
        [
          -0.1905873566865921,
          -0.9444366693496704,
          -0.2677980363368988,
          0.015735700726509094
        ],
        [
          -0.2997080385684967,
          0.3157537281513214,
          -0.9002636671066284,
          -0.027377203106880188
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 133,
      "c2w": [
        [
          0.9283501505851746,
          -0.10197087377309799,
          -0.35744649171829224,
          0.051013875752687454
        ],
        [
          -0.20534302294254303,
          -0.9422694444656372,
          -0.26450443267822266,
          0.016263440251350403
        ],
        [
          -0.309839129447937,
          0.31895187497138977,
          -0.89569491147995,
          -0.029968664050102234
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 134,
      "c2w": [
        [
          0.9190306067466736,
          -0.11840704083442688,
          -0.37598204612731934,
          0.05645303055644035
        ],
        [
          -0.22684542834758759,
          -0.9389166831970215,
          -0.25879836082458496,
          0.016230305656790733
        ],
        [
          -0.32237228751182556,
          0.3231334388256073,
          -0.8897532820701599,
          -0.03204997256398201
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 135,
      "c2w": [
        [
          0.913541316986084,
          -0.1301565021276474,
          -0.3853590488433838,
          0.06101304665207863
        ],
        [
          -0.23967798054218292,
          -0.9377197623252869,
          -0.25146785378456116,
          0.01725560985505581
        ],
        [
          -0.32862862944602966,
          0.322088360786438,
          -0.8878414034843445,
          -0.03360800817608833
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 136,
      "c2w": [
        [
          0.9069942831993103,
          -0.1417894810438156,
          -0.396556556224823,
          0.06579653918743134
        ],
        [
          -0.25417444109916687,
          -0.9350863695144653,
          -0.24699974060058594,
          0.01761917769908905
        ],
        [
          -0.3357926607131958,
          0.3248218894004822,
          -0.8841572403907776,
          -0.03502310812473297
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 137,
      "c2w": [
        [
          0.8962768316268921,
          -0.15563108026981354,
          -0.4152911603450775,
          0.0706598311662674
        ],
        [
          -0.27275997400283813,
          -0.9318017363548279,
          -0.23947331309318542,
          0.017484858632087708
        ],
        [
          -0.34969955682754517,
          0.3279092013835907,
          -0.8776022791862488,
          -0.03627406060695648
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 138,
      "c2w": [
        [
          0.8902814388275146,
          -0.16310252249240875,
          -0.42520180344581604,
          0.07431522011756897
        ],
        [
          -0.2832602560520172,
          -0.929405689239502,
          -0.23657691478729248,
          0.018353894352912903
        ],
        [
          -0.35659870505332947,
          0.33106279373168945,
          -0.873633086681366,
          -0.037461429834365845
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 139,
      "c2w": [
        [
          0.879128634929657,
          -0.17586681246757507,
          -0.4429488480091095,
          0.07847748696804047
        ],
        [
          -0.3006700575351715,
          -0.9257841110229492,
          -0.22917534410953522,
          0.01878560148179531
        ],
        [
          -0.3697706460952759,
          0.3346560597419739,
          -0.8667612075805664,
          -0.03833280876278877
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 140,
      "c2w": [
        [
          0.8672786355018616,
          -0.1925821602344513,
          -0.4590641260147095,
          0.08289557695388794
        ],
        [
          -0.32062867283821106,
          -0.9215015172958374,
          -0.21916250884532928,
          0.019045626744627953
        ],
        [
          -0.3808215260505676,
          0.3372640907764435,
          -0.8609459400177002,
          -0.038616616278886795
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 141,
      "c2w": [
        [
          0.858863890171051,
          -0.20493978261947632,
          -0.4694172441959381,
          0.08621731400489807
        ],
        [
          -0.3344540596008301,
          -0.9185045957565308,
          -0.2109261453151703,
          0.02035696804523468
        ],
        [
          -0.38793471455574036,
          0.3381553590297699,
          -0.8574133515357971,
          -0.03852492570877075
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 142,
      "c2w": [
        [
          0.8481046557426453,
          -0.2175857424736023,
          -0.48308897018432617,
          0.08944469690322876
        ],
        [
          -0.35012972354888916,
          -0.9144854545593262,
          -0.20279425382614136,
          0.021840646862983704
        ],
        [
          -0.39765268564224243,
          0.34113454818725586,
          -0.851762592792511,
          -0.03844209015369415
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 143,
      "c2w": [
        [
          0.8345481753349304,
          -0.23196788132190704,
          -0.49972015619277954,
          0.09280070662498474
        ],
        [
          -0.37175729870796204,
          -0.9065203070640564,
          -0.20004352927207947,
          0.02355852723121643
        ],
        [
          -0.40660279989242554,
          0.35272058844566345,
          -0.8427706360816956,
          -0.03893136978149414
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 144,
      "c2w": [
        [
          0.8160247206687927,
          -0.24068258702754974,
          -0.5255241394042969,
          0.09534162282943726
        ],
        [
          -0.3939111530780792,
          -0.8969293236732483,
          -0.20087745785713196,
          0.026258796453475952
        ],
        [
          -0.42301028966903687,
          0.3709307909011841,
          -0.8267240524291992,
          -0.03916962444782257
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 145,
      "c2w": [
        [
          0.7972610592842102,
          -0.25091052055358887,
          -0.5490161180496216,
          0.09747087955474854
        ],
        [
          -0.4124152362346649,
          -0.890556275844574,
          -0.1918935477733612,
          0.029660701751708984
        ],
        [
          -0.4407816529273987,
          0.37941187620162964,
          -0.8134852051734924,
          -0.03812447190284729
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 146,
      "c2w": [
        [
          0.7822269797325134,
          -0.2618231773376465,
          -0.5653048157691956,
          0.0992962121963501
        ],
        [
          -0.42499884963035583,
          -0.8877352476119995,
          -0.17692387104034424,
          0.033788472414016724
        ],
        [
          -0.45551827549934387,
          0.3786485493183136,
          -0.8056850433349609,
          -0.036248043179512024
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 147,
      "c2w": [
        [
          0.7614292502403259,
          -0.2762685716152191,
          -0.5864309072494507,
          0.10116671770811081
        ],
        [
          -0.44449323415756226,
          -0.8809937834739685,
          -0.16209794580936432,
          0.03793617710471153
        ],
        [
          -0.4718593955039978,
          0.38409069180488586,
          -0.7936139106750488,
          -0.0350705049932003
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 148,
      "c2w": [
        [
          0.7419020533561707,
          -0.28649288415908813,
          -0.6062204241752625,
          0.1031574010848999
        ],
        [
          -0.4630182087421417,
          -0.8728405237197876,
          -0.15415441989898682,
          0.04163680970668793
        ],
        [
          -0.4849695861339569,
          0.3950585722923279,
          -0.7802135348320007,
          -0.03478480875492096
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 149,
      "c2w": [
        [
          0.7250356674194336,
          -0.29612669348716736,
          -0.6217976212501526,
          0.10559409856796265
        ],
        [
          -0.4763405919075012,
          -0.8676860928535461,
          -0.1421988606452942,
          0.045123279094696045
        ],
        [
          -0.49741625785827637,
          0.399286687374115,
          -0.7701604962348938,
          -0.03454495966434479
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 150,
      "c2w": [
        [
          0.7123961448669434,
          -0.3103010952472687,
          -0.6294481754302979,
          0.10906298458576202
        ],
        [
          -0.49138468503952026,
          -0.8609234690666199,
          -0.13172660768032074,
          0.048252806067466736
        ],
        [
          -0.501031756401062,
          0.40314269065856934,
          -0.7657957673072815,
          -0.03428776562213898
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 151,
      "c2w": [
        [
          0.7010185718536377,
          -0.3281554877758026,
          -0.6331562995910645,
          0.11327043920755386
        ],
        [
          -0.5108211040496826,
          -0.8505916595458984,
          -0.12472233921289444,
          0.0503419004380703
        ],
        [
          -0.49762916564941406,
          0.4108622670173645,
          -0.7639092803001404,
          -0.034680601209402084
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 152,
      "c2w": [
        [
          0.6844853162765503,
          -0.3509497344493866,
          -0.6389946341514587,
          0.11809585243463516
        ],
        [
          -0.5322075486183167,
          -0.839569628238678,
          -0.10898612439632416,
          0.05155959725379944
        ],
        [
          -0.49823179841041565,
          0.4146771728992462,
          -0.7614511847496033,
          -0.03501506522297859
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 153,
      "c2w": [
        [
          0.6755014657974243,
          -0.36811763048171997,
          -0.6388952732086182,
          0.12258906662464142
        ],
        [
          -0.5428044199943542,
          -0.834697425365448,
          -0.09297043085098267,
          0.05313367024064064
        ],
        [
          -0.49906018376350403,
          0.40959686040878296,
          -0.7636552453041077,
          -0.03425600007176399
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 154,
      "c2w": [
        [
          0.6669934988021851,
          -0.38013723492622375,
          -0.640792727470398,
          0.1264381855726242
        ],
        [
          -0.5504559278488159,
          -0.8310248851776123,
          -0.07997438311576843,
          0.05464879795908928
        ],
        [
          -0.5021134614944458,
          0.4060705304145813,
          -0.7635369896888733,
          -0.03384580835700035
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 155,
      "c2w": [
        [
          0.6539309024810791,
          -0.3955453932285309,
          -0.6449172496795654,
          0.13028189539909363
        ],
        [
          -0.5646399855613708,
          -0.8225268125534058,
          -0.06805344671010971,
          0.05552759766578674
        ],
        [
          -0.503543496131897,
          0.4086483120918274,
          -0.7612164616584778,
          -0.03429514169692993
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 156,
      "c2w": [
        [
          0.6499572396278381,
          -0.41074734926223755,
          -0.6394076943397522,
          0.13368317484855652
        ],
        [
          -0.5767607688903809,
          -0.8144749402999878,
          -0.06306841224431992,
          0.05651096999645233
        ],
        [
          -0.49487632513046265,
          0.4097770154476166,
          -0.7662768363952637,
          -0.034193143248558044
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 157,
      "c2w": [
        [
          0.6516314148902893,
          -0.4171116352081299,
          -0.6335569620132446,
          0.13609707355499268
        ],
        [
          -0.5771766304969788,
          -0.8146040439605713,
          -0.057335954159498215,
          0.0585574209690094
        ],
        [
          -0.49218255281448364,
          0.4030361771583557,
          -0.7715686559677124,
          -0.03347642719745636
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 158,
      "c2w": [
        [
          0.6540517210960388,
          -0.4255041480064392,
          -0.6254298686981201,
          0.1384783387184143
        ],
        [
          -0.5801985859870911,
          -0.8126933574676514,
          -0.053843725472688675,
          0.06021032854914665
        ],
        [
          -0.48537197709083557,
          0.39809009432792664,
          -0.7784203886985779,
          -0.03326005861163139
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 159,
      "c2w": [
        [
          0.6566502451896667,
          -0.43098974227905273,
          -0.6189170479774475,
          0.14004680514335632
        ],
        [
          -0.5836405158042908,
          -0.8101425170898438,
          -0.055071279406547546,
          0.06134339049458504
        ],
        [
          -0.4776758551597595,
          0.39738762378692627,
          -0.7835233807563782,
          -0.03386359289288521
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 160,
      "c2w": [
        [
          0.6585894227027893,
          -0.4297715723514557,
          -0.6177024841308594,
          0.14106467366218567
        ],
        [
          -0.5874526500701904,
          -0.8066346645355225,
          -0.06511466205120087,
          0.06214078888297081
        ],
        [
          -0.47027578949928284,
          0.40575477480888367,
          -0.7837114930152893,
          -0.03540320694446564
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 161,
      "c2w": [
        [
          0.6543329358100891,
          -0.4332890808582306,
          -0.6197652816772461,
          0.14247488975524902
        ],
        [
          -0.5968199968338013,
          -0.7991940975189209,
          -0.07137686014175415,
          0.062182944267988205
        ],
        [
          -0.4643859267234802,
          0.416592538356781,
          -0.7815346121788025,
          -0.037218015640974045
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 162,
      "c2w": [
        [
          0.6524443626403809,
          -0.4416343569755554,
          -0.615853488445282,
          0.1440771222114563
        ],
        [
          -0.6045755743980408,
          -0.7933235764503479,
          -0.07159651070833206,
          0.06219124794006348
        ],
        [
          -0.4569516181945801,
          0.419042706489563,
          -0.7846007943153381,
          -0.038199156522750854
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 163,
      "c2w": [
        [
          0.6528118252754211,
          -0.4442559778690338,
          -0.6135742664337158,
          0.1451270580291748
        ],
        [
          -0.608933687210083,
          -0.7895523905754089,
          -0.07620222866535187,
          0.06229609251022339
        ],
        [
          -0.4505957365036011,
          0.42337173223495483,
          -0.785951554775238,
          -0.03941743075847626
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 164,
      "c2w": [
        [
          0.649314820766449,
          -0.44347789883613586,
          -0.6178330183029175,
          0.14606182277202606
        ],
        [
          -0.6166400909423828,
          -0.7824904322624207,
          -0.08639275282621384,
          0.06201900541782379
        ],
        [
          -0.4451351761817932,
          0.4370766878128052,
          -0.7815488576889038,
          -0.04150238633155823
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 165,
      "c2w": [
        [
          0.6420679688453674,
          -0.448604941368103,
          -0.6216931343078613,
          0.1474081575870514
        ],
        [
          -0.6280000805854797,
          -0.7728890180587769,
          -0.09087589383125305,
          0.06152865290641785
        ],
        [
          -0.4397324323654175,
          0.4487718641757965,
          -0.7779712080955505,
          -0.04328244924545288
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 166,
      "c2w": [
        [
          0.6460590958595276,
          -0.4502244293689728,
          -0.6163648366928101,
          0.14826048910617828
        ],
        [
          -0.6305879354476929,
          -0.7698228359222412,
          -0.09864939004182816,
          0.061656173318624496
        ],
        [
          -0.43007737398147583,
          0.45240557193756104,
          -0.7812570929527283,
          -0.04366642236709595
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 167,
      "c2w": [
        [
          0.6548395156860352,
          -0.45024430751800537,
          -0.6070134043693542,
          0.14881686866283417
        ],
        [
          -0.6265490055084229,
          -0.7725625038146973,
          -0.10287608951330185,
          0.06234748661518097
        ],
        [
          -0.4226364493370056,
          0.4476909935474396,
          -0.7880045771598816,
          -0.043156325817108154
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 168,
      "c2w": [
        [
          0.6450865864753723,
          -0.45890697836875916,
          -0.6109563708305359,
          0.14975899457931519
        ],
        [
          -0.6369275450706482,
          -0.7646490931510925,
          -0.0981585830450058,
          0.06192134693264961
        ],
        [
          -0.4221215546131134,
          0.45245569944381714,
          -0.785555362701416,
          -0.04337935522198677
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 169,
      "c2w": [
        [
          0.6440473794937134,
          -0.46208056807518005,
          -0.6096593737602234,
          0.14998379349708557
        ],
        [
          -0.6410241723060608,
          -0.760918140411377,
          -0.1004568487405777,
          0.06188398227095604
        ],
        [
          -0.4174816906452179,
          0.45550537109375,
          -0.7862721681594849,
          -0.043454110622406006
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 170,
      "c2w": [
        [
          0.6503534317016602,
          -0.459060400724411,
          -0.6052305102348328,
          0.14937925338745117
        ],
        [
          -0.639215350151062,
          -0.7611894607543945,
          -0.10951852798461914,
          0.061878934502601624
        ],
        [
          -0.4104194641113281,
          0.4580983817577362,
          -0.7884806394577026,
          -0.04350075125694275
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 171,
      "c2w": [
        [
          0.6464542150497437,
          -0.4588490426540375,
          -0.6095526814460754,
          0.14853225648403168
        ],
        [
          -0.6423726677894592,
          -0.7584046721458435,
          -0.11036165803670883,
          0.060984402894973755
        ],
        [
          -0.41164830327033997,
          0.4629037380218506,
          -0.7850260138511658,
          -0.04372943937778473
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 172,
      "c2w": [
        [
          0.6553896069526672,
          -0.4556000232696533,
          -0.6024060845375061,
          0.14760828018188477
        ],
        [
          -0.6383020281791687,
          -0.7604876756668091,
          -0.11928552389144897,
          0.06054225191473961
        ],
        [
          -0.4037759006023407,
          0.46269550919532776,
          -0.7892261147499084,
          -0.04356953129172325
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 173,
      "c2w": [
        [
          0.6603756546974182,
          -0.4544641375541687,
          -0.5978012681007385,
          0.14707708358764648
        ],
        [
          -0.637147843837738,
          -0.7604132890701294,
          -0.12575474381446838,
          0.05987751483917236
        ],
        [
          -0.39742499589920044,
          0.46393316984176636,
          -0.7917192578315735,
          -0.043729037046432495
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 174,
      "c2w": [
        [
          0.6577868461608887,
          -0.4579654633998871,
          -0.5979834198951721,
          0.14709767699241638
        ],
        [
          -0.6418036222457886,
          -0.7563196420669556,
          -0.12676221132278442,
          0.05883990600705147
        ],
        [
          -0.39421388506889343,
          0.4671704173088074,
          -0.7914209961891174,
          -0.04421288147568703
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 175,
      "c2w": [
        [
          0.6597429513931274,
          -0.45678719878196716,
          -0.5967283248901367,
          0.1467907875776291
        ],
        [
          -0.6422104239463806,
          -0.7550718784332275,
          -0.13203094899654388,
          0.058325182646512985
        ],
        [
          -0.39026275277137756,
          0.4703316390514374,
          -0.7915068864822388,
          -0.0447370707988739
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 176,
      "c2w": [
        [
          0.6600010395050049,
          -0.45819592475891113,
          -0.5953612923622131,
          0.14677655696868896
        ],
        [
          -0.6445730924606323,
          -0.752445638179779,
          -0.1354662925004959,
          0.05777139961719513
        ],
        [
          -0.3859069347381592,
          0.4731617867946625,
          -0.7919556498527527,
          -0.04482531547546387
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 177,
      "c2w": [
        [
          0.6613836288452148,
          -0.4601576626300812,
          -0.5923061966896057,
          0.14671915769577026
        ],
        [
          -0.6435994505882263,
          -0.7536970973014832,
          -0.13311809301376343,
          0.057661354541778564
        ],
        [
          -0.38516414165496826,
          0.4692501127719879,
          -0.7946401238441467,
          -0.04399009048938751
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 178,
      "c2w": [
        [
          0.6669859886169434,
          -0.457539439201355,
          -0.5880368947982788,
          0.14616180956363678
        ],
        [
          -0.6391855478286743,
          -0.756921648979187,
          -0.13605663180351257,
          0.057645704597234726
        ],
        [
          -0.38284656405448914,
          0.4666125476360321,
          -0.7973087430000305,
          -0.04327617213129997
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 179,
      "c2w": [
        [
          0.6651948094367981,
          -0.45679938793182373,
          -0.5906354188919067,
          0.14539411664009094
        ],
        [
          -0.6403762102127075,
          -0.7558032274246216,
          -0.1366739720106125,
          0.056999996304512024
        ],
        [
          -0.38397154211997986,
          0.46914368867874146,
          -0.795279860496521,
          -0.043173789978027344
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 180,
      "c2w": [
        [
          0.6708824038505554,
          -0.4538727104663849,
          -0.5864437818527222,
          0.14410442113876343
        ],
        [
          -0.6363198757171631,
          -0.7584386467933655,
          -0.14095336198806763,
          0.056420549750328064
        ],
        [
          -0.38080674409866333,
          0.46772900223731995,
          -0.7976313829421997,
          -0.04259501397609711
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 181,
      "c2w": [
        [
          0.6813043355941772,
          -0.45038431882858276,
          -0.5770427584648132,
          0.14224861562252045
        ],
        [
          -0.6271228194236755,
          -0.7657216787338257,
          -0.14278404414653778,
          0.05582256615161896
        ],
        [
          -0.3775464594364166,
          0.4591560959815979,
          -0.804135799407959,
          -0.04153580963611603
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 182,
      "c2w": [
        [
          0.6898272633552551,
          -0.44697222113609314,
          -0.5695210695266724,
          0.13994050025939941
        ],
        [
          -0.619269073009491,
          -0.7717931866645813,
          -0.14436441659927368,
          0.054634854197502136
        ],
        [
          -0.37502557039260864,
          0.45227327942848206,
          -0.8092000484466553,
          -0.040779948234558105
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 183,
      "c2w": [
        [
          0.697812020778656,
          -0.44334569573402405,
          -0.5625859498977661,
          0.13731196522712708
        ],
        [
          -0.6131638884544373,
          -0.7757318615913391,
          -0.14923185110092163,
          0.05269426107406616
        ],
        [
          -0.3702545762062073,
          0.44909319281578064,
          -0.8131585717201233,
          -0.0401892364025116
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 184,
      "c2w": [
        [
          0.7083951234817505,
          -0.43752962350845337,
          -0.5538448691368103,
          0.13435892760753632
        ],
        [
          -0.6041116714477539,
          -0.7816396951675415,
          -0.15520456433296204,
          0.050678715109825134
        ],
        [
          -0.36500057578086853,
          0.44453033804893494,
          -0.8180265426635742,
          -0.03999072685837746
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 185,
      "c2w": [
        [
          0.7173939347267151,
          -0.4310833215713501,
          -0.5472778677940369,
          0.131198912858963
        ],
        [
          -0.5957526564598083,
          -0.7868332862854004,
          -0.16115877032279968,
          0.0483364462852478
        ],
        [
          -0.3611435890197754,
          0.44165655970573425,
          -0.8212884664535522,
          -0.04028068482875824
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 186,
      "c2w": [
        [
          0.7186280488967896,
          -0.4281807541847229,
          -0.5479370355606079,
          0.12839408218860626
        ],
        [
          -0.5941802263259888,
          -0.787449300289154,
          -0.16393119096755981,
          0.045349251478910446
        ],
        [
          -0.3612804412841797,
          0.44337892532348633,
          -0.8202996850013733,
          -0.04097851738333702
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 187,
      "c2w": [
        [
          0.7218695878982544,
          -0.4255591034889221,
          -0.5457139611244202,
          0.12537376582622528
        ],
        [
          -0.5929477214813232,
          -0.7869457006454468,
          -0.17067362368106842,
          0.04206863045692444
        ],
        [
          -0.3568155765533447,
          0.44678395986557007,
          -0.820406436920166,
          -0.04182855784893036
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 188,
      "c2w": [
        [
          0.7308343052864075,
          -0.41738656163215637,
          -0.5400645136833191,
          0.12184843420982361
        ],
        [
          -0.5856782793998718,
          -0.7898092865943909,
          -0.18215973675251007,
          0.03902699053287506
        ],
        [
          -0.3505169451236725,
          0.4494326710700989,
          -0.8216739892959595,
          -0.04243731498718262
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 189,
      "c2w": [
        [
          0.7388604283332825,
          -0.41578900814056396,
          -0.5302874445915222,
          0.1186116486787796
        ],
        [
          -0.5806050896644592,
          -0.7922317385673523,
          -0.18779416382312775,
          0.035803958773612976
        ],
        [
          -0.34202778339385986,
          0.4466412663459778,
          -0.8267578482627869,
          -0.04231235384941101
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 190,
      "c2w": [
        [
          0.7461147308349609,
          -0.4152275025844574,
          -0.5204795598983765,
          0.11539381742477417
        ],
        [
          -0.5752501487731934,
          -0.7956308126449585,
          -0.18989184498786926,
          0.032555967569351196
        ],
        [
          -0.3352612257003784,
          0.4410870373249054,
          -0.8324915170669556,
          -0.04165381193161011
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 191,
      "c2w": [
        [
          0.7577648758888245,
          -0.41212785243988037,
          -0.5059081315994263,
          0.11183896660804749
        ],
        [
          -0.5673140287399292,
          -0.7991663217544556,
          -0.19871585071086884,
          0.029140695929527283
        ],
        [
          -0.32240840792655945,
          0.4375886917114258,
          -0.8393860459327698,
          -0.0406898558139801
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 192,
      "c2w": [
        [
          0.7789272665977478,
          -0.4039153456687927,
          -0.4797131419181824,
          0.10698366910219193
        ],
        [
          -0.5481234788894653,
          -0.8101571798324585,
          -0.20786052942276,
          0.026404256001114845
        ],
        [
          -0.30468499660491943,
          0.4248502850532532,
          -0.8524489998817444,
          -0.038727086037397385
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 193,
      "c2w": [
        [
          0.8071569204330444,
          -0.392723947763443,
          -0.4407557547092438,
          0.10198312997817993
        ],
        [
          -0.521549642086029,
          -0.824165940284729,
          -0.22076332569122314,
          0.023788049817085266
        ],
        [
          -0.2765568196773529,
          0.40806663036346436,
          -0.8700562715530396,
          -0.03597798943519592
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 194,
      "c2w": [
        [
          0.8328157067298889,
          -0.3863843083381653,
          -0.3963901996612549,
          0.0973707064986229
        ],
        [
          -0.4965508282184601,
          -0.8379460573196411,
          -0.22645895183086395,
          0.020967597141861916
        ],
        [
          -0.24465340375900269,
          0.38542646169662476,
          -0.8897140622138977,
          -0.03261473402380943
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 195,
      "c2w": [
        [
          0.8582733273506165,
          -0.3730587959289551,
          -0.35241174697875977,
          0.09160502254962921
        ],
        [
          -0.46670737862586975,
          -0.8529833555221558,
          -0.23367418348789215,
          0.018168777227401733
        ],
        [
          -0.21342714130878448,
          0.3650294840335846,
          -0.9062021374702454,
          -0.02923068404197693
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 196,
      "c2w": [
        [
          0.8830481171607971,
          -0.35404568910598755,
          -0.3080221712589264,
          0.08530818670988083
        ],
        [
          -0.43329504132270813,
          -0.8671941161155701,
          -0.2454175502061844,
          0.015560279600322247
        ],
        [
          -0.18022599816322327,
          0.3501800000667572,
          -0.9191803932189941,
          -0.026237305253744125
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 197,
      "c2w": [
        [
          0.9025687575340271,
          -0.3349907398223877,
          -0.2704641819000244,
          0.0788920670747757
        ],
        [
          -0.40238890051841736,
          -0.8797712922096252,
          -0.25315144658088684,
          0.012834057211875916
        ],
        [
          -0.1531432420015335,
          0.3373183608055115,
          -0.9288505911827087,
          -0.023530930280685425
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 198,
      "c2w": [
        [
          0.9165927767753601,
          -0.3188101649284363,
          -0.24128349125385284,
          0.07256486266851425
        ],
        [
          -0.3779055178165436,
          -0.8878675103187561,
          -0.26244762539863586,
          0.009700546972453594
        ],
        [
          -0.13055679202079773,
          0.33173996210098267,
          -0.9342930316925049,
          -0.021756108850240707
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 199,
      "c2w": [
        [
          0.9284752607345581,
          -0.30253469944000244,
          -0.21542158722877502,
          0.06625199317932129
        ],
        [
          -0.3540451228618622,
          -0.8962072730064392,
          -0.2673284709453583,
          0.006798729300498962
        ],
        [
          -0.1121862530708313,
          0.32447683811187744,
          -0.9392172694206238,
          -0.019854620099067688
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 200,
      "c2w": [
        [
          0.9392817616462708,
          -0.2841435372829437,
          -0.1923857480287552,
          0.05987701192498207
        ],
        [
          -0.3290952444076538,
          -0.9047208428382874,
          -0.27051159739494324,
          0.004263132810592651
        ],
        [
          -0.09719127416610718,
          0.3173998296260834,
          -0.9432980418205261,
          -0.018035724759101868
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 201,
      "c2w": [
        [
          0.9474171996116638,
          -0.26862582564353943,
          -0.17389872670173645,
          0.05421905592083931
        ],
        [
          -0.30870670080184937,
          -0.910344660282135,
          -0.27563151717185974,
          0.0021122791804373264
        ],
        [
          -0.0842660441994667,
          0.3148217499256134,
          -0.9454028010368347,
          -0.016510020941495895
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 202,
      "c2w": [
        [
          0.9538100361824036,
          -0.25094765424728394,
          -0.16514159739017487,
          0.04814596846699715
        ],
        [
          -0.28922343254089355,
          -0.915712833404541,
          -0.27896204590797424,
          8.656595309730619e-05
        ],
        [
          -0.08121740818023682,
          0.3138396143913269,
          -0.9459959864616394,
          -0.015644583851099014
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 203,
      "c2w": [
        [
          0.9598158001899719,
          -0.2345692366361618,
          -0.15404832363128662,
          0.04219689592719078
        ],
        [
          -0.2707210183143616,
          -0.9185333847999573,
          -0.2881084978580475,
          -0.0020138919353485107
        ],
        [
          -0.07391713559627533,
          0.31823521852493286,
          -0.9451256990432739,
          -0.015548720955848694
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 204,
      "c2w": [
        [
          0.9677188992500305,
          -0.21494288742542267,
          -0.1316044181585312,
          0.036596354097127914
        ],
        [
          -0.24513882398605347,
          -0.9240256547927856,
          -0.29339998960494995,
          -0.0028382539749145508
        ],
        [
          -0.058541614562273026,
          0.31619006395339966,
          -0.9468879103660583,
          -0.01499071717262268
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 205,
      "c2w": [
        [
          0.9743531942367554,
          -0.19474712014198303,
          -0.11273621767759323,
          0.03053482249379158
        ],
        [
          -0.2199309766292572,
          -0.9301560521125793,
          -0.29400694370269775,
          -0.003813271876424551
        ],
        [
          -0.04760526865720749,
          0.31126078963279724,
          -0.949131429195404,
          -0.014414411038160324
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 206,
      "c2w": [
        [
          0.9798247814178467,
          -0.1753779798746109,
          -0.09584332257509232,
          0.024109628051519394
        ],
        [
          -0.19638189673423767,
          -0.9339078664779663,
          -0.2987477779388428,
          -0.005169287323951721
        ],
        [
          -0.037115052342414856,
          0.3115423619747162,
          -0.9495071768760681,
          -0.014358222484588623
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 207,
      "c2w": [
        [
          0.986647367477417,
          -0.14850635826587677,
          -0.06687943637371063,
          0.016852963715791702
        ],
        [
          -0.16195811331272125,
          -0.9380026459693909,
          -0.3064647614955902,
          -0.005546256899833679
        ],
        [
          -0.017221124842762947,
          0.3132043182849884,
          -0.9495295882225037,
          -0.014602512121200562
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 208,
      "c2w": [
        [
          0.9915850162506104,
          -0.1201319694519043,
          -0.048244111239910126,
          0.009447108954191208
        ],
        [
          -0.12923629581928253,
          -0.9403517246246338,
          -0.3147009015083313,
          -0.006013214588165283
        ],
        [
          -0.007560793310403824,
          0.31828758120536804,
          -0.947964072227478,
          -0.014945238828659058
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 209,
      "c2w": [
        [
          0.9948216676712036,
          -0.09619127959012985,
          -0.03281901404261589,
          0.0026709064841270447
        ],
        [
          -0.10163559764623642,
          -0.9422760009765625,
          -0.3190394341945648,
          -0.006413951516151428
        ],
        [
          -0.00023576035164296627,
          0.32072290778160095,
          -0.9471730589866638,
          -0.014854386448860168
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 210,
      "c2w": [
        [
          0.9969184994697571,
          -0.07689384371042252,
          -0.015519913285970688,
          -0.0031251460313796997
        ],
        [
          -0.07778774946928024,
          -0.9434853196144104,
          -0.32215607166290283,
          -0.00575593113899231
        ],
        [
          0.010129006579518318,
          0.32237058877944946,
          -0.9465593695640564,
          -0.014415457844734192
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    },
    {
      "frame_index": 211,
      "c2w": [
        [
          0.9982091188430786,
          -0.05977751314640045,
          0.002289440482854843,
          -0.008828051388263702
        ],
        [
          -0.05586244538426399,
          -0.9451572299003601,
          -0.3218030333518982,
          -0.004728794097900391
        ],
        [
          0.021400466561317444,
          0.32109883427619934,
          -0.946803867816925,
          -0.01357211172580719
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 851.571023220486,
        "fy": 852.3602456701807,
        "cx": 415.2845133463541,
        "cy": 245.0424863516566
      }
    }
  ]
}