{
  "format_version": "1.0",
  "camera_model": "opencv_pinhole",
  "pose_type": "c2w",
  "coordinate_system": "opencv",
  "image_hw": [
    480,
    832
  ],
  "num_frames": 180,
  "frames": [
    {
      "frame_index": 0,
      "c2w": [
        [
          1.0,
          -1.61896138856088e-11,
          -2.2285924217158026e-09,
          2.0942115597222255e-08
        ],
        [
          -1.618959653837404e-11,
          -1.0,
          7.515339461861004e-09,
          1.1458088922111642e-09
        ],
        [
          -2.2285924217158026e-09,
          -7.515339461861004e-09,
          -1.0,
          2.7419373438419825e-09
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9999999403953552,
          0.0003257889475207776,
          6.785333971492946e-05,
          -0.0002180039882659912
        ],
        [
          0.0003258511715102941,
          -0.9999995231628418,
          -0.0009189586853608489,
          -8.639879524707794e-05
        ],
        [
          6.755391950719059e-05,
          0.0009189807460643351,
          -0.9999995827674866,
          -0.00028915703296661377
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9999997615814209,
          0.0003720209642779082,
          -0.0005740491906180978,
          -0.0003149597905576229
        ],
        [
          0.00037121569039300084,
          -0.999998927116394,
          -0.0014022624818608165,
          -0.0001493215240770951
        ],
        [
          -0.0005745702655985951,
          0.0014020490925759077,
          -0.9999988675117493,
          -0.0005015703500248492
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9999988079071045,
          0.0005437423242256045,
          -0.0014556358801200986,
          -0.0004158914089202881
        ],
        [
          0.0005414786865003407,
          -0.9999986290931702,
          -0.0015550116077065468,
          -0.00019465573132038116
        ],
        [
          -0.0014564794255420566,
          0.0015542214969173074,
          -0.9999977350234985,
          -0.0006554871797561646
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9999978542327881,
          0.0008749812259338796,
          -0.001879443763755262,
          -0.0005595386028289795
        ],
        [
          0.0008716665906831622,
          -0.9999980926513672,
          -0.0017637009732425213,
          -0.00022727437317371368
        ],
        [
          -0.0018809833563864231,
          0.0017620589351281524,
          -0.9999966621398926,
          -0.0007724687457084656
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9999972581863403,
          0.0013470633421093225,
          -0.001911662518978119,
          -0.0007399320602416992
        ],
        [
          0.0013428430538624525,
          -0.9999966621398926,
          -0.0022072317078709602,
          -0.0002492964267730713
        ],
        [
          -0.0019146294798702002,
          0.0022046584635972977,
          -0.9999957084655762,
          -0.0008793249726295471
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9999958872795105,
          0.0018846249440684915,
          -0.0021584758069366217,
          -0.001222074031829834
        ],
        [
          0.0018790971953421831,
          -0.9999949336051941,
          -0.0025601021479815245,
          -0.00044462084770202637
        ],
        [
          -0.002163289813324809,
          0.002556035527959466,
          -0.9999943971633911,
          -0.000886186957359314
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9999949336051941,
          0.0022542965598404408,
          -0.0022587243001908064,
          -0.001490086317062378
        ],
        [
          0.0022479805629700422,
          -0.9999935626983643,
          -0.0027949248906224966,
          -0.0005200952291488647
        ],
        [
          -0.002265010494738817,
          0.00278983311727643,
          -0.9999935626983643,
          -0.0009136125445365906
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.9999944567680359,
          0.0023682378232479095,
          -0.0023428210988640785,
          -0.0016665458679199219
        ],
        [
          0.0023618207778781652,
          -0.9999934434890747,
          -0.002737989416345954,
          -0.0005648098886013031
        ],
        [
          -0.002349289832636714,
          0.0027324408292770386,
          -0.9999935030937195,
          -0.0008991584181785583
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9999940991401672,
          0.002354998840019107,
          -0.002503081923350692,
          -0.0018147826194763184
        ],
        [
          0.0023491126485168934,
          -0.9999944567680359,
          -0.002351954113692045,
          -0.0005958229303359985
        ],
        [
          -0.002508606994524598,
          0.0023460600059479475,
          -0.9999940991401672,
          -0.0008376836776733398
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9999935626983643,
          0.0024859679397195578,
          -0.002576828235760331,
          -0.001976200845092535
        ],
        [
          0.002480320166796446,
          -0.9999945163726807,
          -0.0021925957407802343,
          -0.0006088751833885908
        ],
        [
          -0.002582264831289649,
          0.0021861903369426727,
          -0.9999942779541016,
          -0.000772726780269295
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9999934434890747,
          0.0028502107597887516,
          -0.0022452417761087418,
          -0.0021573901176452637
        ],
        [
          0.002844285685569048,
          -0.9999924898147583,
          -0.0026378037873655558,
          -0.0005950313061475754
        ],
        [
          -0.002252743346616626,
          0.0026314002461731434,
          -0.9999939799308777,
          -0.0007350891828536987
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9999945163726807,
          0.0030879699625074863,
          -0.0012081629829481244,
          -0.002695718314498663
        ],
        [
          0.003083412069827318,
          -0.9999881982803345,
          -0.003756422083824873,
          -0.000322553125442937
        ],
        [
          -0.0012197485193610191,
          0.003752676071599126,
          -0.9999921917915344,
          -0.0004727813065983355
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.9999946355819702,
          0.0032684216275811195,
          -3.983598071499728e-05,
          -0.003008604049682617
        ],
        [
          0.003268191358074546,
          -0.999983012676239,
          -0.004826537799090147,
          -0.00021741539239883423
        ],
        [
          -5.561046418733895e-05,
          0.004826381802558899,
          -0.9999883770942688,
          -0.00036047399044036865
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9999939799308777,
          0.0033310679718852043,
          0.0009751814650371671,
          -0.0032676546834409237
        ],
        [
          0.0033363504335284233,
          -0.9999794960021973,
          -0.0054661426693201065,
          -0.00017743442731443793
        ],
        [
          0.0009569533867761493,
          0.005469363648444414,
          -0.9999845623970032,
          -0.0002444061101414263
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9999932050704956,
          0.0033322686795145273,
          0.0015828391769900918,
          -0.003543257713317871
        ],
        [
          0.003340894589200616,
          -0.9999794363975525,
          -0.005478689447045326,
          -0.0001696161925792694
        ],
        [
          0.0015645502135157585,
          0.005483940243721008,
          -0.9999837279319763,
          -7.764995098114014e-05
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.9999926090240479,
          0.003298793453723192,
          0.0019611227326095104,
          -0.0038556158542633057
        ],
        [
          0.003308455925434828,
          -0.9999822974205017,
          -0.0049443370662629604,
          -0.00018168054521083832
        ],
        [
          0.0019447776721790433,
          0.004950788803398609,
          -0.9999858736991882,
          0.00014006346464157104
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.9999927282333374,
          0.0030997428111732006,
          0.002227475168183446,
          -0.004197299480438232
        ],
        [
          0.0031093410216271877,
          -0.9999858140945435,
          -0.004318524617701769,
          -0.00020268931984901428
        ],
        [
          0.0022140571381896734,
          0.004325419198721647,
          -0.9999881982803345,
          0.00036854296922683716
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9999918937683105,
          0.0028972814325243235,
          0.002794387051835656,
          -0.004683017730712891
        ],
        [
          0.0029079767409712076,
          -0.9999884366989136,
          -0.0038310231175273657,
          -8.747726678848267e-05
        ],
        [
          0.002783255185931921,
          0.0038391179405152798,
          -0.9999887347221375,
          0.0003889426589012146
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9999896287918091,
          0.0028581584338098764,
          0.0035422651562839746,
          -0.005176433827728033
        ],
        [
          0.0028710151091217995,
          -0.9999892711639404,
          -0.0036297584883868694,
          -5.1569910283433273e-05
        ],
        [
          0.00353185273706913,
          0.0036398908123373985,
          -0.9999871253967285,
          0.0005039004026912153
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9999867677688599,
          0.003003024961799383,
          0.004183562938123941,
          -0.005744755268096924
        ],
        [
          0.0030178059823811054,
          -0.9999892115592957,
          -0.0035312757827341557,
          -2.9142946004867554e-05
        ],
        [
          0.004172913264483213,
          0.0035438542254269123,
          -0.9999850392341614,
          0.00062541663646698
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9999826550483704,
          0.003206223715096712,
          0.004946145694702864,
          -0.006398916244506836
        ],
        [
          0.0032240862492471933,
          -0.999988317489624,
          -0.0036076647229492664,
          -9.238719940185547e-07
        ],
        [
          0.004934520460665226,
          0.0036235488951206207,
          -0.9999812841415405,
          0.000725090503692627
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9999764561653137,
          0.003495875047519803,
          0.0059091923758387566,
          -0.0071416497230529785
        ],
        [
          0.003518742509186268,
          -0.9999863505363464,
          -0.0038638801779597998,
          4.2980536818504333e-05
        ],
        [
          0.005895604379475117,
          0.00388458208180964,
          -0.9999750852584839,
          0.0007960125803947449
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9999685883522034,
          0.003819465870037675,
          0.006948287133127451,
          -0.007973799481987953
        ],
        [
          0.0038490418810397387,
          -0.999983549118042,
          -0.004248193930834532,
          0.00010593722254270688
        ],
        [
          0.006931947078555822,
          0.00427480461075902,
          -0.9999668598175049,
          0.0008474690257571638
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.9999583959579468,
          0.00397675484418869,
          0.008206545375287533,
          -0.008797317743301392
        ],
        [
          0.00401459913700819,
          -0.9999813437461853,
          -0.004600138869136572,
          1.946277916431427e-05
        ],
        [
          0.008188099600374699,
          0.004632893949747086,
          -0.9999557733535767,
          0.00013146549463272095
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9999430775642395,
          0.004238443449139595,
          0.009789954870939255,
          -0.009798476472496986
        ],
        [
          0.004286487121134996,
          -0.9999788403511047,
          -0.004891698248684406,
          5.871544635738246e-05
        ],
        [
          0.009769014082849026,
          0.004933384712785482,
          -0.9999400973320007,
          -0.0001065405594999902
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9999221563339233,
          0.004687645472586155,
          0.01156404335051775,
          -0.01094365119934082
        ],
        [
          0.0047486466355621815,
          -0.9999749064445496,
          -0.005253286100924015,
          0.00016004778444766998
        ],
        [
          0.011539127677679062,
          0.005307790823280811,
          -0.9999193549156189,
          -0.0002169385552406311
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9998950958251953,
          0.005432894919067621,
          0.0134281562641263,
          -0.0122287068516016
        ],
        [
          0.005510921124368906,
          -0.9999681115150452,
          -0.005780462175607681,
          0.00030822979169897735
        ],
        [
          0.013396323658525944,
          0.005853857379406691,
          -0.9998931288719177,
          -0.000310559815261513
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.99985671043396,
          0.006326185539364815,
          0.015700044110417366,
          -0.01364428736269474
        ],
        [
          0.006425261031836271,
          -0.9999597072601318,
          -0.006268149707466364,
          0.0004813440318685025
        ],
        [
          0.01565975695848465,
          0.0063681285828351974,
          -0.9998571276664734,
          -0.0003880756557919085
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.999800443649292,
          0.007030948530882597,
          0.01869945228099823,
          -0.015178084373474121
        ],
        [
          0.007153602782636881,
          -0.9999532699584961,
          -0.006500460673123598,
          0.0006575435400009155
        ],
        [
          0.01865287497639656,
          0.006632931996136904,
          -0.9998040199279785,
          -0.0004229620099067688
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.9997214674949646,
          0.007544912863522768,
          0.022363366559147835,
          -0.016597330570220947
        ],
        [
          0.0076937428675591946,
          -0.9999487996101379,
          -0.006576515734195709,
          0.0009035971015691757
        ],
        [
          0.022312602028250694,
          0.006746741943061352,
          -0.999728262424469,
          -0.0004480406641960144
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9996280670166016,
          0.0083236088976264,
          0.025969767943024635,
          -0.018335342407226562
        ],
        [
          0.008494868874549866,
          -0.9999428391456604,
          -0.006491224281489849,
          0.0011027343571186066
        ],
        [
          0.025914251804351807,
          0.006709419656544924,
          -0.9996416568756104,
          -0.0004727467894554138
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9995135068893433,
          0.009448196738958359,
          0.029724281281232834,
          -0.02029559016227722
        ],
        [
          0.009644141420722008,
          -0.9999326467514038,
          -0.006455614697188139,
          0.0013027172535657883
        ],
        [
          0.029661286622285843,
          0.006739139091223478,
          -0.9995372891426086,
          -0.0005235597491264343
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9993734359741211,
          0.010707351379096508,
          0.03373514115810394,
          -0.022425413131713867
        ],
        [
          0.010934736579656601,
          -0.9999186992645264,
          -0.006563036236912012,
          0.0015099532902240753
        ],
        [
          0.03366212174296379,
          0.0069278087466955185,
          -0.9994092583656311,
          -0.000631473958492279
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9992122054100037,
          0.011761053465306759,
          0.03790264204144478,
          -0.024690965190529823
        ],
        [
          0.012034930288791656,
          -0.9999030232429504,
          -0.007005730178207159,
          0.0017037924844771624
        ],
        [
          0.037816572934389114,
          0.007456366904079914,
          -0.9992568492889404,
          -0.0008284049690701067
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9990243911743164,
          0.012491490691900253,
          0.042357951402664185,
          -0.02709004282951355
        ],
        [
          0.012834779918193817,
          -0.9998868703842163,
          -0.007842214778065681,
          0.0018732137978076935
        ],
        [
          0.04225520044565201,
          0.008378218859434128,
          -0.9990717172622681,
          -0.00112181156873703
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.998813271522522,
          0.013068707659840584,
          0.04691788926720619,
          -0.029311146587133408
        ],
        [
          0.0135103240609169,
          -0.9998672604560852,
          -0.009107782505452633,
          0.0023096201475709677
        ],
        [
          0.04679263383150101,
          0.009730849415063858,
          -0.9988572001457214,
          -0.0013575769262388349
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9985613226890564,
          0.01370216440409422,
          0.05184166505932808,
          -0.031938791275024414
        ],
        [
          0.014240497723221779,
          -0.9998483061790466,
          -0.010029084049165249,
          0.0025665294378995895
        ],
        [
          0.051696378737688065,
          0.01075290609151125,
          -0.998604953289032,
          -0.001735582947731018
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9982765913009644,
          0.014607657678425312,
          0.056836970150470734,
          -0.034851014614105225
        ],
        [
          0.015239957720041275,
          -0.9998265504837036,
          -0.010707282461225986,
          0.0027706902474164963
        ],
        [
          0.05667070299386978,
          0.011555023491382599,
          -0.9983260631561279,
          -0.002189069986343384
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9979739189147949,
          0.015968825668096542,
          0.06158793345093727,
          -0.03800487518310547
        ],
        [
          0.016704851761460304,
          -0.9997948408126831,
          -0.011454463936388493,
          0.002974187955260277
        ],
        [
          0.06139238178730011,
          0.012460073456168175,
          -0.9980359077453613,
          -0.0027372539043426514
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.9976698756217957,
          0.01763930544257164,
          0.06590647995471954,
          -0.04135752469301224
        ],
        [
          0.018518924713134766,
          -0.999747097492218,
          -0.01275943499058485,
          0.0031879369635134935
        ],
        [
          0.06566474586725235,
          0.013950220309197903,
          -0.9977442026138306,
          -0.003416602499783039
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.9973125457763672,
          0.019381104037165642,
          0.07065481692552567,
          -0.044866979122161865
        ],
        [
          0.020453326404094696,
          -0.9996858835220337,
          -0.014483672566711903,
          0.0034008827060461044
        ],
        [
          0.07035191357135773,
          0.01588987372815609,
          -0.9973956942558289,
          -0.004173442721366882
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.9968976974487305,
          0.020928608253598213,
          0.07587481290102005,
          -0.04811987280845642
        ],
        [
          0.02221386320888996,
          -0.9996230602264404,
          -0.01613486558198929,
          0.0034224502742290497
        ],
        [
          0.07550852745771408,
          0.017770282924175262,
          -0.9969868063926697,
          -0.005072742700576782
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9964179396629333,
          0.021774040535092354,
          0.08171422779560089,
          -0.05162227153778076
        ],
        [
          0.02329866588115692,
          -0.9995709657669067,
          -0.017751000821590424,
          0.0035426728427410126
        ],
        [
          0.08129265159368515,
          0.01959124766290188,
          -0.9964976906776428,
          -0.005894765257835388
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.9958702325820923,
          0.021568454802036285,
          0.08818867802619934,
          -0.05515164136886597
        ],
        [
          0.02335819974541664,
          -0.9995405673980713,
          -0.0193130224943161,
          0.0036591626703739166
        ],
        [
          0.08773161470890045,
          0.021293193101882935,
          -0.9959165453910828,
          -0.006667718291282654
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.9952400922775269,
          0.020332278683781624,
          0.09530898183584213,
          -0.0586242750287056
        ],
        [
          0.022385813295841217,
          -0.9995386600494385,
          -0.020526500418782234,
          0.0037404720205813646
        ],
        [
          0.0948476642370224,
          0.022562365978956223,
          -0.9952360987663269,
          -0.007376563735306263
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.994520366191864,
          0.018247351050376892,
          0.10293833166360855,
          -0.062016844749450684
        ],
        [
          0.020510829985141754,
          -0.9995695948600769,
          -0.02097312919795513,
          0.0037814825773239136
        ],
        [
          0.10251132398843765,
          0.022969553247094154,
          -0.9944666028022766,
          -0.008009061217308044
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.993709146976471,
          0.015225159004330635,
          0.11095205694437027,
          -0.0652863085269928
        ],
        [
          0.017646221444010735,
          -0.9996263980865479,
          -0.020871544256806374,
          0.0037736129015684128
        ],
        [
          0.11059283465147018,
          0.02269812859594822,
          -0.9936065673828125,
          -0.00860268622636795
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.992900550365448,
          0.011268910020589828,
          0.11841260641813278,
          -0.06762661039829254
        ],
        [
          0.013828321360051632,
          -0.9996877312660217,
          -0.020814986899495125,
          0.0037043732590973377
        ],
        [
          0.1181410625576973,
          0.022304659709334373,
          -0.9927462935447693,
          -0.009683163836598396
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.9920342564582825,
          0.007099989801645279,
          0.12576808035373688,
          -0.07042542099952698
        ],
        [
          0.009829157963395119,
          -0.9997292160987854,
          -0.021092746406793594,
          0.0036136507987976074
        ],
        [
          0.12558425962924957,
          0.02216092124581337,
          -0.9918354153633118,
          -0.010548770427703857
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.9911002516746521,
          0.0027440388221293688,
          0.1330893635749817,
          -0.07335439324378967
        ],
        [
          0.005710466764867306,
          -0.9997435808181763,
          -0.02191241644322872,
          0.0035052262246608734
        ],
        [
          0.1329951137304306,
          0.02247740514576435,
          -0.9908617734909058,
          -0.011418923735618591
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.9900237917900085,
          -0.0016951411962509155,
          0.14089001715183258,
          -0.07632094621658325
        ],
        [
          0.0016155000776052475,
          -0.999725341796875,
          -0.023380357772111893,
          0.0033915769308805466
        ],
        [
          0.1408909559249878,
          0.02337471954524517,
          -0.9897491335868835,
          -0.01234879344701767
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.9886913895606995,
          -0.005949901416897774,
          0.14984633028507233,
          -0.07934683561325073
        ],
        [
          -0.002130772452801466,
          -0.9996691346168518,
          -0.025634637102484703,
          0.0032765623182058334
        ],
        [
          0.14994928240776062,
          0.02502545528113842,
          -0.9883769154548645,
          -0.013343967497348785
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.9872497320175171,
          -0.009653204120695591,
          0.1588858962059021,
          -0.08246544003486633
        ],
        [
          -0.005146480165421963,
          -0.9995733499526978,
          -0.02875160239636898,
          0.0031678415834903717
        ],
        [
          0.1590956449508667,
          0.027567308396100998,
          -0.9868782162666321,
          -0.014460466802120209
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.9860011339187622,
          -0.01269050594419241,
          0.16625504195690155,
          -0.08499423414468765
        ],
        [
          -0.0073648616671562195,
          -0.9994410276412964,
          -0.032610438764095306,
          0.0031540163327008486
        ],
        [
          0.16657595336437225,
          0.030929485335946083,
          -0.985543429851532,
          -0.015698542818427086
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.9850251078605652,
          -0.014872471801936626,
          0.171768456697464,
          -0.08804860711097717
        ],
        [
          -0.008709817193448544,
          -0.9992929100990295,
          -0.036575790494680405,
          0.0031075943261384964
        ],
        [
          0.17219097912311554,
          0.03453199937939644,
          -0.9844581484794617,
          -0.017142407596111298
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.9841549396514893,
          -0.01648089662194252,
          0.17654304206371307,
          -0.09131991863250732
        ],
        [
          -0.009563849307596684,
          -0.9991555213928223,
          -0.039960045367479324,
          0.0030347201973199844
        ],
        [
          0.1770525425672531,
          0.03763844445347786,
          -0.9834814667701721,
          -0.018652960658073425
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.983380913734436,
          -0.017694126814603806,
          0.18069003522396088,
          -0.09468692541122437
        ],
        [
          -0.010276561602950096,
          -0.9990687370300293,
          -0.04190532863140106,
          0.0029334258288145065
        ],
        [
          0.18126323819160461,
          0.03935202583670616,
          -0.9826469421386719,
          -0.020143873989582062
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.9829007387161255,
          -0.018275052309036255,
          0.18322698771953583,
          -0.09810997545719147
        ],
        [
          -0.01063279714435339,
          -0.9990354180335999,
          -0.04260529950261116,
          0.0028211367316544056
        ],
        [
          0.18382886052131653,
          0.03992856666445732,
          -0.9821469783782959,
          -0.021652506664395332
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.9827128648757935,
          -0.018361803144216537,
          0.18422338366508484,
          -0.10156945139169693
        ],
        [
          -0.010578219778835773,
          -0.99901282787323,
          -0.043145034462213516,
          0.0026973497588187456
        ],
        [
          0.18483373522758484,
          0.04045042395591736,
          -0.9819369912147522,
          -0.02324873022735119
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.9826684594154358,
          -0.018051203340291977,
          0.1844908595085144,
          -0.10498952865600586
        ],
        [
          -0.010035919956862926,
          -0.9989684224128723,
          -0.044287294149398804,
          0.0024920706637203693
        ],
        [
          0.1850999891757965,
          0.04166819155216217,
          -0.9818359017372131,
          -0.024984853342175484
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.982575535774231,
          -0.017113447189331055,
          0.18507403135299683,
          -0.10858538746833801
        ],
        [
          -0.008806039579212666,
          -0.998920202255249,
          -0.04561617225408554,
          0.002364853397011757
        ],
        [
          0.18565484881401062,
          0.043191567063331604,
          -0.981665313243866,
          -0.026777192950248718
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.9824818968772888,
          -0.015815388411283493,
          0.1856858879327774,
          -0.11227941513061523
        ],
        [
          -0.0072496491484344006,
          -0.9988817572593689,
          -0.04671897739171982,
          0.002265509217977524
        ],
        [
          0.18621712923049927,
          0.044554393738508224,
          -0.9814978837966919,
          -0.02860226482152939
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.9823146462440491,
          -0.01463488582521677,
          0.186664879322052,
          -0.11601565778255463
        ],
        [
          -0.005883040372282267,
          -0.9988608956336975,
          -0.04735340550541878,
          0.0021377895027399063
        ],
        [
          0.18714524805545807,
          0.04541778564453125,
          -0.9812817573547363,
          -0.03041897714138031
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.9821454882621765,
          -0.013609347864985466,
          0.18762989342212677,
          -0.1197889894247055
        ],
        [
          -0.0047580222599208355,
          -0.9988577961921692,
          -0.04754430428147316,
          0.0019691884517669678
        ],
        [
          0.1880626231431961,
          0.045802678912878036,
          -0.9810884594917297,
          -0.03223726898431778
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.9821898341178894,
          -0.012147245928645134,
          0.187498077750206,
          -0.12363721430301666
        ],
        [
          -0.0033752715680748224,
          -0.9988876581192017,
          -0.04703288897871971,
          0.0018051620572805405
        ],
        [
          0.18786083161830902,
          0.045562371611595154,
          -0.981138288974762,
          -0.03409856557846069
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.9825234413146973,
          -0.009855835698544979,
          0.18587765097618103,
          -0.12765635550022125
        ],
        [
          -0.0013529659481719136,
          -0.9989489912986755,
          -0.04581592604517937,
          0.001970883458852768
        ],
        [
          0.18613383173942566,
          0.04476373642683029,
          -0.9815041422843933,
          -0.03595712035894394
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.9828810691833496,
          -0.006836647167801857,
          0.18411433696746826,
          -0.13167662918567657
        ],
        [
          0.0014336673775687814,
          -0.9989972114562988,
          -0.04474890977144241,
          0.001995014026761055
        ],
        [
          0.18423564732074738,
          0.04424681514501572,
          -0.9818856716156006,
          -0.03801118582487106
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.9829481244087219,
          -0.003268617205321789,
          0.1838538944721222,
          -0.13571304082870483
        ],
        [
          0.00504961796104908,
          -0.9989851117134094,
          -0.04475734755396843,
          0.001973368227481842
        ],
        [
          0.18381360173225403,
          0.044922541826963425,
          -0.9819340705871582,
          -0.04023800790309906
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.9826420545578003,
          0.000556032289750874,
          0.1855107694864273,
          -0.13974745571613312
        ],
        [
          0.00928322970867157,
          -0.9988900423049927,
          -0.04617886617779732,
          0.0019267417956143618
        ],
        [
          0.18527917563915253,
          0.047099433839321136,
          -0.9815565347671509,
          -0.04263492301106453
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.9820553660392761,
          0.004394608084112406,
          0.18854151666164398,
          -0.1437464952468872
        ],
        [
          0.013778498396277428,
          -0.9987286925315857,
          -0.048489201813936234,
          0.0018709581345319748
        ],
        [
          0.18808872997760773,
          0.05021689832210541,
          -0.9808674454689026,
          -0.045150481164455414
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.9813615083694458,
          0.008410691283643246,
          0.19198665022850037,
          -0.14769680798053741
        ],
        [
          0.01855345070362091,
          -0.9985215067863464,
          -0.05109410360455513,
          0.001821361482143402
        ],
        [
          0.1912730634212494,
          0.05370379984378815,
          -0.9800665974617004,
          -0.04774194955825806
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.9807342886924744,
          0.012677352875471115,
          0.19493477046489716,
          -0.151085764169693
        ],
        [
          0.023640792816877365,
          -0.9982600808143616,
          -0.054018285125494,
          0.0018599815666675568
        ],
        [
          0.19391077756881714,
          0.05758599564433098,
          -0.9793275594711304,
          -0.05097012221813202
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.9801226258277893,
          0.017614519223570824,
          0.19760926067829132,
          -0.15480197966098785
        ],
        [
          0.029378928244113922,
          -0.9979554414749146,
          -0.05676072835922241,
          0.0018871626816689968
        ],
        [
          0.19620542228221893,
          0.06143802031874657,
          -0.9786362051963806,
          -0.053886789828538895
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.9792956709861755,
          0.023035475984215736,
          0.20112016797065735,
          -0.15861500799655914
        ],
        [
          0.03559744358062744,
          -0.9976190328598022,
          -0.05906813219189644,
          0.0019213482737541199
        ],
        [
          0.19928064942359924,
          0.06500452756881714,
          -0.9777840375900269,
          -0.05664770305156708
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.9782683849334717,
          0.02812504768371582,
          0.2054263800382614,
          -0.16236326098442078
        ],
        [
          0.04128926619887352,
          -0.9973393082618713,
          -0.060078781098127365,
          0.0019276496022939682
        ],
        [
          0.20319008827209473,
          0.06725507229566574,
          -0.9768267869949341,
          -0.05922701954841614
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.9773029088973999,
          0.03221570700407028,
          0.20938286185264587,
          -0.16591648757457733
        ],
        [
          0.04564575105905533,
          -0.9971765279769897,
          -0.05962749943137169,
          0.0018575266003608704
        ],
        [
          0.20687073469161987,
          0.06783156841993332,
          -0.9760140180587769,
          -0.06165285408496857
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.9766430258750916,
          0.03541245311498642,
          0.211930051445961,
          -0.1692294329404831
        ],
        [
          0.04880886524915695,
          -0.997104287147522,
          -0.05831608921289444,
          0.0017200857400894165
        ],
        [
          0.20925123989582062,
          0.06729806959629059,
          -0.9755433797836304,
          -0.06401368975639343
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.976240873336792,
          0.03804401680827141,
          0.21332232654094696,
          -0.17199933528900146
        ],
        [
          0.05122961103916168,
          -0.9970802664756775,
          -0.05662558972835541,
          0.0012732644099742174
        ],
        [
          0.21054522693157196,
          0.06620863080024719,
          -0.9753394722938538,
          -0.06665431708097458
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.9757172465324402,
          0.04026689752936363,
          0.21530067920684814,
          -0.17475754022598267
        ],
        [
          0.05327187851071358,
          -0.9970673322677612,
          -0.05494401603937149,
          0.001002272590994835
        ],
        [
          0.2124568521976471,
          0.06507930159568787,
          -0.9750009179115295,
          -0.06905800104141235
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.9748081564903259,
          0.04203516244888306,
          0.21904829144477844,
          -0.17736370861530304
        ],
        [
          0.055081307888031006,
          -0.9970317482948303,
          -0.053793229162693024,
          0.0007748603820800781
        ],
        [
          0.2161369025707245,
          0.06450354307889938,
          -0.9742299914360046,
          -0.07136349380016327
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 81,
      "c2w": [
        [
          0.9733784198760986,
          0.04335398972034454,
          0.22506633400917053,
          -0.17976687848567963
        ],
        [
          0.05675187334418297,
          -0.9969591498374939,
          -0.05340156704187393,
          0.0005383100360631943
        ],
        [
          0.2220667600631714,
          0.06475286930799484,
          -0.9728789329528809,
          -0.07361279428005219
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 82,
      "c2w": [
        [
          0.9716504216194153,
          0.044157788157463074,
          0.23226191103458405,
          -0.18192145228385925
        ],
        [
          0.058102432638406754,
          -0.9968738555908203,
          -0.053540877997875214,
          0.0002880349929910153
        ],
        [
          0.22917157411575317,
          0.06551799923181534,
          -0.9711785316467285,
          -0.07582642883062363
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 83,
      "c2w": [
        [
          0.9702419638633728,
          0.044763658195734024,
          0.23796364665031433,
          -0.18379603326320648
        ],
        [
          0.05905098840594292,
          -0.9968336224555969,
          -0.05325112119317055,
          5.909055471420288e-05
        ],
        [
          0.2348264455795288,
          0.06571846455335617,
          -0.9698131680488586,
          -0.07801146805286407
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 84,
      "c2w": [
        [
          0.9694750308990479,
          0.04547983780503273,
          0.24093520641326904,
          -0.1860361248254776
        ],
        [
          0.05968855693936348,
          -0.9968615174293518,
          -0.05200346186757088,
          -0.00019307807087898254
        ],
        [
          0.23781393468379974,
          0.06479713320732117,
          -0.9691469669342041,
          -0.080445796251297
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 85,
      "c2w": [
        [
          0.9690872430801392,
          0.046397726982831955,
          0.24231626093387604,
          -0.18763375282287598
        ],
        [
          0.06030908226966858,
          -0.9969112277030945,
          -0.05030760169029236,
          -0.00035676875268109143
        ],
        [
          0.23923362791538239,
          0.06336632370948792,
          -0.9688921570777893,
          -0.08263679593801498
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 86,
      "c2w": [
        [
          0.9685053825378418,
          0.04754715785384178,
          0.2444106489419937,
          -0.18892525136470795
        ],
        [
          0.06124046817421913,
          -0.9969327449798584,
          -0.04873111844062805,
          -0.0004419386386871338
        ],
        [
          0.24134394526481628,
          0.062164172530174255,
          -0.9684465527534485,
          -0.08468978106975555
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 87,
      "c2w": [
        [
          0.9673879146575928,
          0.04902304708957672,
          0.24851027131080627,
          -0.19003301858901978
        ],
        [
          0.06276717036962509,
          -0.9968884587287903,
          -0.04768292233347893,
          -0.00043817938421852887
        ],
        [
          0.24539946019649506,
          0.061726171523332596,
          -0.9674549102783203,
          -0.08663255721330643
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 88,
      "c2w": [
        [
          0.965956449508667,
          0.050492800772190094,
          0.2537294924259186,
          -0.19094350934028625
        ],
        [
          0.06459743529558182,
          -0.9967772364616394,
          -0.047563374042510986,
          -0.00034663869882933795
        ],
        [
          0.25051018595695496,
          0.06233442202210426,
          -0.9661051034927368,
          -0.08852682262659073
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 89,
      "c2w": [
        [
          0.9646965861320496,
          0.05135899782180786,
          0.25830748677253723,
          -0.19160112738609314
        ],
        [
          0.0660424754023552,
          -0.9966380596160889,
          -0.04848724976181984,
          -0.0001931469887495041
        ],
        [
          0.25494879484176636,
          0.06383474916219711,
          -0.9648451805114746,
          -0.09041884541511536
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 90,
      "c2w": [
        [
          0.9638932347297668,
          0.05175523832440376,
          0.2612110376358032,
          -0.19272175431251526
        ],
        [
          0.06695625931024551,
          -0.9965208768844604,
          -0.04962849244475365,
          8.930452167987823e-05
        ],
        [
          0.2577337324619293,
          0.06532628834247589,
          -0.9640051126480103,
          -0.09214536845684052
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 91,
      "c2w": [
        [
          0.9636194705963135,
          0.05200275778770447,
          0.2621702551841736,
          -0.19324277341365814
        ],
        [
          0.06729461997747421,
          -0.9964953064918518,
          -0.049684882164001465,
          0.000380001962184906
        ],
        [
          0.2586676776409149,
          0.06551996618509293,
          -0.9637417793273926,
          -0.09378238022327423
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 92,
      "c2w": [
        [
          0.9635680317878723,
          0.052291784435510635,
          0.26230186223983765,
          -0.19351090490818024
        ],
        [
          0.06725417077541351,
          -0.9965618848800659,
          -0.04838687926530838,
          0.0007104445248842239
        ],
        [
          0.25886979699134827,
          0.0642649456858635,
          -0.9637719988822937,
          -0.09522828459739685
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 93,
      "c2w": [
        [
          0.963474690914154,
          0.052368223667144775,
          0.26262912154197693,
          -0.1936148852109909
        ],
        [
          0.06688246130943298,
          -0.9966707825660706,
          -0.04662729427218437,
          0.0010752608068287373
        ],
        [
          0.2593129575252533,
          0.062489502131938934,
          -0.9637696146965027,
          -0.09651877731084824
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 94,
      "c2w": [
        [
          0.9633018374443054,
          0.0520206019282341,
          0.2633313238620758,
          -0.19358164072036743
        ],
        [
          0.06623006612062454,
          -0.9967724680900574,
          -0.045368097722530365,
          0.0014716696459800005
        ],
        [
          0.26012134552001953,
          0.06114362180233002,
          -0.9636380672454834,
          -0.0977405235171318
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 95,
      "c2w": [
        [
          0.9631080627441406,
          0.05132513493299484,
          0.26417529582977295,
          -0.19344007968902588
        ],
        [
          0.06535902619361877,
          -0.996864378452301,
          -0.04460526257753372,
          0.001908954232931137
        ],
        [
          0.2610575556755066,
          0.06022593006491661,
          -0.9634426832199097,
          -0.09893856942653656
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 96,
      "c2w": [
        [
          0.9630982875823975,
          0.050817083567380905,
          0.2643090784549713,
          -0.19274979829788208
        ],
        [
          0.06469499319791794,
          -0.9969317317008972,
          -0.04406385123729706,
          0.002485610544681549
        ],
        [
          0.26125890016555786,
          0.05953729525208473,
          -0.9634308815002441,
          -0.0996820330619812
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 97,
      "c2w": [
        [
          0.9633694291114807,
          0.05056234076619148,
          0.26336807012557983,
          -0.19233015179634094
        ],
        [
          0.064312644302845,
          -0.9969660639762878,
          -0.04384700208902359,
          0.0030720923095941544
        ],
        [
          0.2603520154953003,
          0.059178758412599564,
          -0.9636984467506409,
          -0.10077527165412903
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 98,
      "c2w": [
        [
          0.9637560248374939,
          0.05061589181423187,
          0.26193949580192566,
          -0.19196631014347076
        ],
        [
          0.0643613412976265,
          -0.9969491362571716,
          -0.04415968433022499,
          0.003694285871461034
        ],
        [
          0.25890517234802246,
          0.05941794440150261,
          -0.9640734791755676,
          -0.101994089782238
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 99,
      "c2w": [
        [
          0.9641939997673035,
          0.05080311745405197,
          0.26028627157211304,
          -0.19157887995243073
        ],
        [
          0.0647001788020134,
          -0.9968851208686829,
          -0.04509900510311127,
          0.004354435484856367
        ],
        [
          0.25718432664871216,
          0.06032475829124451,
          -0.9644776582717896,
          -0.10325101763010025
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 100,
      "c2w": [
        [
          0.96456378698349,
          0.051296405494213104,
          0.25881528854370117,
          -0.1911637932062149
        ],
        [
          0.06531904637813568,
          -0.9968096613883972,
          -0.0458691380918026,
          0.005055457353591919
        ],
        [
          0.25563666224479675,
          0.06114927679300308,
          -0.9648371338844299,
          -0.10443584620952606
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 101,
      "c2w": [
        [
          0.9649469256401062,
          0.052224475890398026,
          0.25719648599624634,
          -0.19069916009902954
        ],
        [
          0.06617633253335953,
          -0.9967523217201233,
          -0.045886263251304626,
          0.005790947005152702
        ],
        [
          0.2539648115634918,
          0.06129813194274902,
          -0.9652690887451172,
          -0.10548326373100281
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 102,
      "c2w": [
        [
          0.9654210805892944,
          0.053673285990953445,
          0.255110502243042,
          -0.1908792108297348
        ],
        [
          0.06749381124973297,
          -0.9966713190078735,
          -0.045726560056209564,
          0.006740180775523186
        ],
        [
          0.25180700421333313,
          0.061363764107227325,
          -0.9658300876617432,
          -0.10628664493560791
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 103,
      "c2w": [
        [
          0.9660122990608215,
          0.0548931248486042,
          0.25260037183761597,
          -0.1904321014881134
        ],
        [
          0.06870848685503006,
          -0.9965667128562927,
          -0.04619384557008743,
          0.007552860304713249
        ],
        [
          0.24919740855693817,
          0.061979614198207855,
          -0.9664673805236816,
          -0.1071128398180008
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 104,
      "c2w": [
        [
          0.9668009877204895,
          0.055569179356098175,
          0.24941526353359222,
          -0.18961486220359802
        ],
        [
          0.06950730830430984,
          -0.9964537024497986,
          -0.04742138832807541,
          0.00830499455332756
        ],
        [
          0.2458955943584442,
          0.06318322569131851,
          -0.9672348499298096,
          -0.10790097713470459
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 105,
      "c2w": [
        [
          0.9679405689239502,
          0.055598653852939606,
          0.2449486404657364,
          -0.18849146366119385
        ],
        [
          0.06960701942443848,
          -0.9963752031326294,
          -0.04890143498778343,
          0.009032385423779488
        ],
        [
          0.24134188890457153,
          0.06438382714986801,
          -0.9683020114898682,
          -0.10857711732387543
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 106,
      "c2w": [
        [
          0.9693782925605774,
          0.055187638849020004,
          0.23929081857204437,
          -0.18712954223155975
        ],
        [
          0.06904919445514679,
          -0.9963629841804504,
          -0.049930330365896225,
          0.009741994552314281
        ],
        [
          0.2356649786233902,
          0.0649242177605629,
          -0.9696632623672485,
          -0.10904724150896072
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 107,
      "c2w": [
        [
          0.9709036946296692,
          0.05464273691177368,
          0.23315276205539703,
          -0.18559621274471283
        ],
        [
          0.06812813878059387,
          -0.9964139461517334,
          -0.050177715718746185,
          0.010436350479722023
        ],
        [
          0.22957481443881989,
          0.06460199505090714,
          -0.9711446762084961,
          -0.10925833880901337
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 108,
      "c2w": [
        [
          0.972404420375824,
          0.054029833525419235,
          0.2269589900970459,
          -0.18458342552185059
        ],
        [
          0.06696091592311859,
          -0.9965188503265381,
          -0.04966245964169502,
          0.011267346329987049
        ],
        [
          0.22348566353321075,
          0.06348937749862671,
          -0.9726372957229614,
          -0.10929200798273087
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 109,
      "c2w": [
        [
          0.9738479256629944,
          0.052997391670942307,
          0.22093325853347778,
          -0.18293417990207672
        ],
        [
          0.06529594957828522,
          -0.9966751337051392,
          -0.04873480275273323,
          0.011983591131865978
        ],
        [
          0.21761587262153625,
          0.06188633292913437,
          -0.9740705490112305,
          -0.10901650041341782
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 110,
      "c2w": [
        [
          0.9753067493438721,
          0.051531530916690826,
          0.21475857496261597,
          -0.18094402551651
        ],
        [
          0.06307381391525269,
          -0.9968902468681335,
          -0.047239258885383606,
          0.012638982385396957
        ],
        [
          0.21165640652179718,
          0.05961840972304344,
          -0.9755240678787231,
          -0.10848113149404526
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 111,
      "c2w": [
        [
          0.9769799113273621,
          0.049869779497385025,
          0.20742054283618927,
          -0.1787189394235611
        ],
        [
          0.0604734942317009,
          -0.9971505999565125,
          -0.04509537294507027,
          0.013258349150419235
        ],
        [
          0.2045806348323822,
          0.05660071596503258,
          -0.9772118926048279,
          -0.10774875432252884
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 112,
      "c2w": [
        [
          0.978924572467804,
          0.04814784228801727,
          0.1984652280807495,
          -0.17629374563694
        ],
        [
          0.05769554153084755,
          -0.9974246621131897,
          -0.04260563477873802,
          0.013852479867637157
        ],
        [
          0.1959027498960495,
          0.05315826088190079,
          -0.9791814684867859,
          -0.10689758509397507
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 113,
      "c2w": [
        [
          0.9809187650680542,
          0.046336911618709564,
          0.18881531059741974,
          -0.1736779659986496
        ],
        [
          0.054889045655727386,
          -0.9976782202720642,
          -0.04031648114323616,
          0.01441887579858303
        ],
        [
          0.18650877475738525,
          0.04991108551621437,
          -0.9811846613883972,
          -0.10596516728401184
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 114,
      "c2w": [
        [
          0.9825915098190308,
          0.04442005231976509,
          0.18039071559906006,
          -0.17112299799919128
        ],
        [
          0.05219587683677673,
          -0.9978910684585571,
          -0.03858762979507446,
          0.01499568484723568
        ],
        [
          0.17829622328281403,
          0.04733153060078621,
          -0.9828377962112427,
          -0.10517355799674988
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 115,
      "c2w": [
        [
          0.9838469624519348,
          0.04213909059762955,
          0.17398110032081604,
          -0.16827453672885895
        ],
        [
          0.04929518327116966,
          -0.9980981349945068,
          -0.03701534867286682,
          0.015487441793084145
        ],
        [
          0.17209041118621826,
          0.044993869960308075,
          -0.9840530753135681,
          -0.10410232841968536
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 116,
      "c2w": [
        [
          0.9849092364311218,
          0.03962832689285278,
          0.1684737205505371,
          -0.16523045301437378
        ],
        [
          0.04622991010546684,
          -0.9983018636703491,
          -0.03544311225414276,
          0.01590161956846714
        ],
        [
          0.16678307950496674,
          0.042696770280599594,
          -0.9850687384605408,
          -0.10290049016475677
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 117,
      "c2w": [
        [
          0.9859871864318848,
          0.037154506891965866,
          0.16263079643249512,
          -0.16203844547271729
        ],
        [
          0.04315569996833801,
          -0.9985057711601257,
          -0.03352366387844086,
          0.01625160686671734
        ],
        [
          0.1611422300338745,
          0.04007234796881676,
          -0.9861173033714294,
          -0.10165512561798096
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 118,
      "c2w": [
        [
          0.9871519207954407,
          0.035123176872730255,
          0.15587623417377472,
          -0.1587165892124176
        ],
        [
          0.040466319769620895,
          -0.998692512512207,
          -0.031237313523888588,
          0.01657002791762352
        ],
        [
          0.15457527339458466,
          0.03714371100068092,
          -0.9872825741767883,
          -0.10042697936296463
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 119,
      "c2w": [
        [
          0.9883597493171692,
          0.033473335206508636,
          0.1484067440032959,
          -0.15525829792022705
        ],
        [
          0.03819957748055458,
          -0.9988459944725037,
          -0.029110651463270187,
          0.016865981742739677
        ],
        [
          0.14726105332374573,
          0.03444087132811546,
          -0.9884978532791138,
          -0.09927815198898315
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 120,
      "c2w": [
        [
          0.9895148277282715,
          0.032200612127780914,
          0.1407962292432785,
          -0.15201300382614136
        ],
        [
          0.03644599765539169,
          -0.9989522695541382,
          -0.027678150683641434,
          0.017415331676602364
        ],
        [
          0.1397574543952942,
          0.032519400119781494,
          -0.989651620388031,
          -0.09868040680885315
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 121,
      "c2w": [
        [
          0.990479052066803,
          0.03136273846030235,
          0.1340433657169342,
          -0.1484197974205017
        ],
        [
          0.0352480448782444,
          -0.999021589756012,
          -0.026710746809840202,
          0.01775890775024891
        ],
        [
          0.13307449221611023,
          0.031181201338768005,
          -0.9906154274940491,
          -0.09792421758174896
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 122,
      "c2w": [
        [
          0.9911988973617554,
          0.030935311689972878,
          0.1287159025669098,
          -0.14463014900684357
        ],
        [
          0.03462342545390129,
          -0.99904865026474,
          -0.026514355093240738,
          0.018028371036052704
        ],
        [
          0.1277732104063034,
          0.030737584456801414,
          -0.9913269877433777,
          -0.09720044583082199
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 123,
      "c2w": [
        [
          0.9916576743125916,
          0.030802834779024124,
          0.12516462802886963,
          -0.14069092273712158
        ],
        [
          0.034485068172216415,
          -0.9990306496620178,
          -0.027359236031770706,
          0.01826241798698902
        ],
        [
          0.12420056760311127,
          0.03144730627536774,
          -0.9917587041854858,
          -0.09658317267894745
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 124,
      "c2w": [
        [
          0.9920172095298767,
          0.03084952011704445,
          0.12227100133895874,
          -0.13660159707069397
        ],
        [
          0.0346977524459362,
          -0.9989632964134216,
          -0.0294692013412714,
          0.01846499927341938
        ],
        [
          0.12123512476682663,
          0.03347648307681084,
          -0.9920591711997986,
          -0.09613361954689026
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 125,
      "c2w": [
        [
          0.9925199747085571,
          0.031435515731573105,
          0.11796581000089645,
          -0.1323956847190857
        ],
        [
          0.03546072915196419,
          -0.9988528490066528,
          -0.03217904269695282,
          0.0186628345400095
        ],
        [
          0.11681891977787018,
          0.03612149506807327,
          -0.992496132850647,
          -0.09586502611637115
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 126,
      "c2w": [
        [
          0.9931933283805847,
          0.03215548396110535,
          0.11195116490125656,
          -0.12770317494869232
        ],
        [
          0.03627994656562805,
          -0.9987285137176514,
          -0.03500097990036011,
          0.0190440583974123
        ],
        [
          0.11068335175514221,
          0.03882431983947754,
          -0.9930971264839172,
          -0.09646512567996979
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 127,
      "c2w": [
        [
          0.9939668774604797,
          0.03246733918786049,
          0.10476525872945786,
          -0.12305375933647156
        ],
        [
          0.036557819694280624,
          -0.9986328482627869,
          -0.03736265376210213,
          0.01927029900252819
        ],
        [
          0.10340896248817444,
          0.04096722975373268,
          -0.993794858455658,
          -0.09661605954170227
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 128,
      "c2w": [
        [
          0.9947790503501892,
          0.03249574452638626,
          0.09674037247896194,
          -0.11834275722503662
        ],
        [
          0.03638583794236183,
          -0.9985873103141785,
          -0.03872249647974968,
          0.01942397840321064
        ],
        [
          0.0953453928232193,
          0.04204030707478523,
          -0.9945561289787292,
          -0.09654456377029419
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 129,
      "c2w": [
        [
          0.9954913854598999,
          0.03297588229179382,
          0.0889354795217514,
          -0.11359603703022003
        ],
        [
          0.036552950739860535,
          -0.998574435710907,
          -0.03889640420675278,
          0.019558433443307877
        ],
        [
          0.08752605319023132,
          0.04197188839316368,
          -0.9952776432037354,
          -0.09629765897989273
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 130,
      "c2w": [
        [
          0.9959893822669983,
          0.034109413623809814,
          0.08271455764770508,
          -0.10883429646492004
        ],
        [
          0.03742068260908127,
          -0.9985453486442566,
          -0.03881791979074478,
          0.01968894712626934
        ],
        [
          0.08127018809318542,
          0.04175747185945511,
          -0.9958170056343079,
          -0.09592995047569275
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 131,
      "c2w": [
        [
          0.9963175654411316,
          0.03512096032500267,
          0.07821638882160187,
          -0.10396979749202728
        ],
        [
          0.03829490393400192,
          -0.9984872341156006,
          -0.0394553542137146,
          0.019802352413535118
        ],
        [
          0.07671235501766205,
          0.0423053503036499,
          -0.996155321598053,
          -0.0955093652009964
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 132,
      "c2w": [
        [
          0.9966206550598145,
          0.03567766398191452,
          0.07398872077465057,
          -0.09845083951950073
        ],
        [
          0.038763776421546936,
          -0.9984191060066223,
          -0.04070241376757622,
          0.019627923145890236
        ],
        [
          0.07241958379745483,
          0.04343295097351074,
          -0.9964281320571899,
          -0.09583106637001038
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 133,
      "c2w": [
        [
          0.9970201849937439,
          0.03623061254620552,
          0.06810375303030014,
          -0.09312757849693298
        ],
        [
          0.03912729769945145,
          -0.9983640909194946,
          -0.04169173538684845,
          0.01966485194861889
        ],
        [
          0.0664818212389946,
          0.044232215732336044,
          -0.9968067407608032,
          -0.09565424919128418
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 134,
      "c2w": [
        [
          0.997525155544281,
          0.037317920476198196,
          0.05958934873342514,
          -0.0878373384475708
        ],
        [
          0.0398397296667099,
          -0.9983352422714233,
          -0.041707731783390045,
          0.01983971707522869
        ],
        [
          0.05793370306491852,
          0.04397853463888168,
          -0.9973512887954712,
          -0.09527143836021423
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 135,
      "c2w": [
        [
          0.9980078935623169,
          0.03819652646780014,
          0.05021202936768532,
          -0.08246563374996185
        ],
        [
          0.0402570404112339,
          -0.9983606338500977,
          -0.04068613052368164,
          0.0200917050242424
        ],
        [
          0.04857564717531204,
          0.04262646660208702,
          -0.9979094862937927,
          -0.09471244364976883
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 136,
      "c2w": [
        [
          0.9984055161476135,
          0.037987008690834045,
          0.04175413399934769,
          -0.07697051763534546
        ],
        [
          0.03963516280055046,
          -0.9984378814697266,
          -0.039380427449941635,
          0.020348982885479927
        ],
        [
          0.04019296541810036,
          0.04097256809473038,
          -0.998351514339447,
          -0.09400710463523865
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 137,
      "c2w": [
        [
          0.9987234473228455,
          0.03732094168663025,
          0.034038085490465164,
          -0.071429044008255
        ],
        [
          0.03861253336071968,
          -0.9985271692276001,
          -0.03811218589544296,
          0.020586563274264336
        ],
        [
          0.03256557136774063,
          0.03937783092260361,
          -0.998693585395813,
          -0.09321385622024536
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 138,
      "c2w": [
        [
          0.998956561088562,
          0.03740411624312401,
          0.026205578818917274,
          -0.06607627868652344
        ],
        [
          0.038358528167009354,
          -0.9985818862915039,
          -0.03691690415143967,
          0.021080950275063515
        ],
        [
          0.024787571281194687,
          0.037883590906858444,
          -0.9989746809005737,
          -0.09220252931118011
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 139,
      "c2w": [
        [
          0.9990825057029724,
          0.03849043697118759,
          0.01877904310822487,
          -0.060798145830631256
        ],
        [
          0.03914865106344223,
          -0.998583197593689,
          -0.036041729152202606,
          0.021432984620332718
        ],
        [
          0.017365174368023872,
          0.03674383461475372,
          -0.9991738200187683,
          -0.09135004132986069
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 140,
      "c2w": [
        [
          0.9991109371185303,
          0.04039764404296875,
          0.012056544423103333,
          -0.055610835552215576
        ],
        [
          0.040812984108924866,
          -0.9985013008117676,
          -0.03646133840084076,
          0.021745046600699425
        ],
        [
          0.01056552305817604,
          0.03692098706960678,
          -0.9992623329162598,
          -0.09062711894512177
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 141,
      "c2w": [
        [
          0.9990511536598206,
          0.04325016587972641,
          0.005125368945300579,
          -0.05056530982255936
        ],
        [
          0.043413273990154266,
          -0.9983430504798889,
          -0.037768613547086716,
          0.022034205496311188
        ],
        [
          0.003483377629891038,
          0.037955284118652344,
          -0.9992733597755432,
          -0.08996511250734329
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 142,
      "c2w": [
        [
          0.9989284873008728,
          0.046205077320337296,
          -0.0026292214170098305,
          -0.045639872550964355
        ],
        [
          0.04607202857732773,
          -0.998214840888977,
          -0.03800663352012634,
          0.02225414104759693
        ],
        [
          -0.0043806275352835655,
          0.03784477710723877,
          -0.9992740154266357,
          -0.08916379511356354
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 143,
      "c2w": [
        [
          0.9987446069717407,
          0.04882615804672241,
          -0.011187545955181122,
          -0.04085800051689148
        ],
        [
          0.048399776220321655,
          -0.9981915950775146,
          -0.03565080463886261,
          0.022357681766152382
        ],
        [
          -0.012908006086945534,
          0.03506457433104515,
          -0.9993016719818115,
          -0.08808282017707825
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 144,
      "c2w": [
        [
          0.99844890832901,
          0.05176158621907234,
          -0.020506171509623528,
          -0.03663516789674759
        ],
        [
          0.05110121890902519,
          -0.9981961250305176,
          -0.0315152145922184,
          0.022406823933124542
        ],
        [
          -0.022100457921624184,
          0.03041844256222248,
          -0.9992929100990295,
          -0.08649495989084244
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 145,
      "c2w": [
        [
          0.9980173707008362,
          0.05518130213022232,
          -0.030271315947175026,
          -0.032427817583084106
        ],
        [
          0.054380230605602264,
          -0.9981638789176941,
          -0.02667764388024807,
          0.02229497767984867
        ],
        [
          -0.031687840819358826,
          0.02497858926653862,
          -0.9991856217384338,
          -0.08503389358520508
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 146,
      "c2w": [
        [
          0.9974761605262756,
          0.05849527567625046,
          -0.04024442285299301,
          -0.0283031165599823
        ],
        [
          0.057598453015089035,
          -0.9980726838111877,
          -0.02309517003595829,
          0.02203712798655033
        ],
        [
          -0.04151781648397446,
          0.02071886509656906,
          -0.9989229440689087,
          -0.0837460607290268
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 147,
      "c2w": [
        [
          0.9968701601028442,
          0.06124803051352501,
          -0.049985043704509735,
          -0.024226784706115723
        ],
        [
          0.06024821102619171,
          -0.9979567527770996,
          -0.021271217614412308,
          0.02161201275885105
        ],
        [
          -0.0511857345700264,
          0.018193135038018227,
          -0.9985234141349792,
          -0.08262422680854797
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 148,
      "c2w": [
        [
          0.9962157011032104,
          0.0628514364361763,
          -0.06003263220191002,
          -0.02014639973640442
        ],
        [
          0.06176561489701271,
          -0.9978947043418884,
          -0.01977654919028282,
          0.02100078947842121
        ],
        [
          -0.0611492320895195,
          0.015993757173419,
          -0.9980005025863647,
          -0.08153605461120605
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 149,
      "c2w": [
        [
          0.9955424666404724,
          0.06322238594293594,
          -0.06998635828495026,
          -0.01605808734893799
        ],
        [
          0.06218116730451584,
          -0.9979207515716553,
          -0.01695953868329525,
          0.02022789977490902
        ],
        [
          -0.07091306149959564,
          0.012532107532024384,
          -0.9974038004875183,
          -0.08033998310565948
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 150,
      "c2w": [
        [
          0.9949501752853394,
          0.06276142597198486,
          -0.07832726091146469,
          -0.012949943542480469
        ],
        [
          0.06184642016887665,
          -0.9979866743087769,
          -0.014055921696126461,
          0.01901702769100666
        ],
        [
          -0.07905173301696777,
          0.009140681475400925,
          -0.9968286156654358,
          -0.07927042245864868
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 151,
      "c2w": [
        [
          0.9944038391113281,
          0.06239309534430504,
          -0.08525331318378448,
          -0.009360402822494507
        ],
        [
          0.06160446256399155,
          -0.9980302453041077,
          -0.011852717027068138,
          0.01790289767086506
        ],
        [
          -0.08582491427659988,
          0.006534402724355459,
          -0.9962888360023499,
          -0.07814489305019379
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 152,
      "c2w": [
        [
          0.9939001202583313,
          0.06220953166484833,
          -0.09106335043907166,
          -0.005740314722061157
        ],
        [
          0.06148339807987213,
          -0.9980500936508179,
          -0.01076034177094698,
          0.016791505739092827
        ],
        [
          -0.09155518561601639,
          0.005095820873975754,
          -0.9957869648933411,
          -0.07710833847522736
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 153,
      "c2w": [
        [
          0.9934095144271851,
          0.06242064759135246,
          -0.09613144397735596,
          -0.002276578452438116
        ],
        [
          0.061699725687503815,
          -0.998039960861206,
          -0.010456608608365059,
          0.01566591113805771
        ],
        [
          -0.09659573435783386,
          0.004456410184502602,
          -0.9953137040138245,
          -0.076167531311512
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 154,
      "c2w": [
        [
          0.9929406046867371,
          0.06264446675777435,
          -0.10072048008441925,
          0.0010016560554504395
        ],
        [
          0.061914585530757904,
          -0.9980276823043823,
          -0.010359431616961956,
          0.01451033540070057
        ],
        [
          -0.10117078572511673,
          0.004050233401358128,
          -0.994860827922821,
          -0.07527998089790344
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 155,
      "c2w": [
        [
          0.99249267578125,
          0.0627356469631195,
          -0.10498801618814468,
          0.0040703327395021915
        ],
        [
          0.061983849853277206,
          -0.9980228543281555,
          -0.010411597788333893,
          0.013346950523555279
        ],
        [
          -0.10543361306190491,
          0.0038258733693510294,
          -0.9944189786911011,
          -0.07446751743555069
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 156,
      "c2w": [
        [
          0.9922383427619934,
          0.06289795786142349,
          -0.10727054625749588,
          0.0066379220224916935
        ],
        [
          0.061973750591278076,
          -0.9980064630508423,
          -0.011930977925658226,
          0.012321501038968563
        ],
        [
          -0.10780712962150574,
          0.005190415307879448,
          -0.9941582679748535,
          -0.07393292337656021
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 157,
      "c2w": [
        [
          0.9922896027565002,
          0.06354463845491409,
          -0.10641176253557205,
          0.009108483791351318
        ],
        [
          0.06229554861783981,
          -0.9979446530342102,
          -0.015024760738015175,
          0.01119566522538662
        ],
        [
          -0.10714779049158096,
          0.008279934525489807,
          -0.9942086338996887,
          -0.07343518733978271
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 158,
      "c2w": [
        [
          0.992570698261261,
          0.06477393209934235,
          -0.10299371182918549,
          0.011326095089316368
        ],
        [
          0.06313909590244293,
          -0.9978227615356445,
          -0.0190583448857069,
          0.010035132057964802
        ],
        [
          -0.10400395095348358,
          0.012413824908435345,
          -0.9944993853569031,
          -0.07295217365026474
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 159,
      "c2w": [
        [
          0.992938756942749,
          0.06624823063611984,
          -0.09840632975101471,
          0.01327216625213623
        ],
        [
          0.06430995464324951,
          -0.9976707696914673,
          -0.0227432269603014,
          0.008855082094669342
        ],
        [
          -0.09968382120132446,
          0.0162541251629591,
          -0.9948863983154297,
          -0.07242199778556824
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 160,
      "c2w": [
        [
          0.9931933283805847,
          0.06750387698411942,
          -0.09492235630750656,
          0.014986475929617882
        ],
        [
          0.06534566730260849,
          -0.9975324869155884,
          -0.025667643174529076,
          0.007664020173251629
        ],
        [
          -0.09642080217599869,
          0.019290167838335037,
          -0.9951537251472473,
          -0.07189194113016129
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 161,
      "c2w": [
        [
          0.9933707118034363,
          0.06783165782690048,
          -0.09280885010957718,
          0.016543805599212646
        ],
        [
          0.06552651524543762,
          -0.9974672198295593,
          -0.027666863054037094,
          0.006445007398724556
        ],
        [
          -0.09445047378540039,
          0.021402010694146156,
          -0.9952994585037231,
          -0.07137593626976013
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 162,
      "c2w": [
        [
          0.9935669898986816,
          0.06680601835250854,
          -0.0914420485496521,
          0.017745306715369225
        ],
        [
          0.06440524756908417,
          -0.9975034594535828,
          -0.028961654752492905,
          0.00532869715243578
        ],
        [
          -0.09314857423305511,
          0.022885994985699654,
          -0.9953891634941101,
          -0.07135731726884842
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 163,
      "c2w": [
        [
          0.9937764406204224,
          0.06459075957536697,
          -0.09075450152158737,
          0.018972119316458702
        ],
        [
          0.06219011917710304,
          -0.9976418018341064,
          -0.029038406908512115,
          0.004098822362720966
        ],
        [
          -0.09241610020399094,
          0.023213651031255722,
          -0.9954498410224915,
          -0.07096821814775467
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 164,
      "c2w": [
        [
          0.9939797520637512,
          0.061803754419088364,
          -0.09046826511621475,
          0.020047008991241455
        ],
        [
          0.0595276765525341,
          -0.9978437423706055,
          -0.02764704078435898,
          0.0028749238699674606
        ],
        [
          -0.09198188036680222,
          0.02209523506462574,
          -0.9955155253410339,
          -0.07035903632640839
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 165,
      "c2w": [
        [
          0.9941973686218262,
          0.05886200815439224,
          -0.09003787487745285,
          0.020901501178741455
        ],
        [
          0.056811150163412094,
          -0.9980674982070923,
          -0.02517562173306942,
          0.0017103441059589386
        ],
        [
          -0.09134576469659805,
          0.019914381206035614,
          -0.99562007188797,
          -0.06960269808769226
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 166,
      "c2w": [
        [
          0.994369626045227,
          0.05617904290556908,
          -0.08984959125518799,
          0.021501541137695312
        ],
        [
          0.054369185119867325,
          -0.9982681274414062,
          -0.022467322647571564,
          0.0006705690175294876
        ],
        [
          -0.0909561738371849,
          0.017455773428082466,
          -0.9957019090652466,
          -0.06881861388683319
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 167,
      "c2w": [
        [
          0.9945202469825745,
          0.053529612720012665,
          -0.08979997783899307,
          0.021870315074920654
        ],
        [
          0.05192318931221962,
          -0.9984481334686279,
          -0.020132267847657204,
          -0.0002210531383752823
        ],
        [
          -0.09073828905820847,
          0.015359247103333473,
          -0.9957563281059265,
          -0.06807398796081543
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 168,
      "c2w": [
        [
          0.9946840405464172,
          0.05045076087117195,
          -0.0897684395313263,
          0.022372722625732422
        ],
        [
          0.04899607598781586,
          -0.9986306428909302,
          -0.018336737528443336,
          -0.0009434632956981659
        ],
        [
          -0.0905706137418747,
          0.01384095847606659,
          -0.995793879032135,
          -0.06756174564361572
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 169,
      "c2w": [
        [
          0.994763970375061,
          0.04813172295689583,
          -0.09015512466430664,
          0.02237686514854431
        ],
        [
          0.04679589718580246,
          -0.9987619519233704,
          -0.016873808577656746,
          -0.0014899931848049164
        ],
        [
          -0.090855672955513,
          0.01256656739860773,
          -0.9957847595214844,
          -0.0670139342546463
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 170,
      "c2w": [
        [
          0.9947819113731384,
          0.04677535966038704,
          -0.09067012369632721,
          0.02199709415435791
        ],
        [
          0.04546431079506874,
          -0.9988301396369934,
          -0.016472510993480682,
          -0.001829255372285843
        ],
        [
          -0.09133455902338028,
          0.01226430106908083,
          -0.9957447648048401,
          -0.06654882431030273
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 171,
      "c2w": [
        [
          0.9949015378952026,
          0.04626565799117088,
          -0.08961252868175507,
          0.021278351545333862
        ],
        [
          0.04490143060684204,
          -0.9988436698913574,
          -0.017181290313601494,
          -0.0019648950546979904
        ],
        [
          -0.09030381590127945,
          0.013069961220026016,
          -0.9958285093307495,
          -0.06613297760486603
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 172,
      "c2w": [
        [
          0.9952201843261719,
          0.0464954748749733,
          -0.08587751537561417,
          0.0202254056930542
        ],
        [
          0.04508790001273155,
          -0.9988161325454712,
          -0.0182590801268816,
          -0.0019106846302747726
        ],
        [
          -0.08662480860948563,
          0.014299768023192883,
          -0.9961383938789368,
          -0.06566745042800903
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 173,
      "c2w": [
        [
          0.9955700039863586,
          0.047157950699329376,
          -0.08134159445762634,
          0.01885354518890381
        ],
        [
          0.04577362537384033,
          -0.9987748861312866,
          -0.01880129799246788,
          -0.001694774255156517
        ],
        [
          -0.08212857693433762,
          0.014994708821177483,
          -0.9965089559555054,
          -0.06513546407222748
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 174,
      "c2w": [
        [
          0.9957690238952637,
          0.047975171357393265,
          -0.07837392389774323,
          0.017419476062059402
        ],
        [
          0.04670033976435661,
          -0.998746395111084,
          -0.01801973208785057,
          -0.0011357185430824757
        ],
        [
          -0.07914017885923386,
          0.01428340282291174,
          -0.99676114320755,
          -0.06465891748666763
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 175,
      "c2w": [
        [
          0.9957144260406494,
          0.04938152804970741,
          -0.07819376140832901,
          0.015519469976425171
        ],
        [
          0.04835403710603714,
          -0.9987179040908813,
          -0.014980778098106384,
          -0.0006110239773988724
        ],
        [
          -0.07883328199386597,
          0.011135593056678772,
          -0.996825635433197,
          -0.06409794092178345
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 176,
      "c2w": [
        [
          0.9954894781112671,
          0.05105195567011833,
          -0.07996506243944168,
          0.013316047377884388
        ],
        [
          0.05032908171415329,
          -0.9986717700958252,
          -0.011030743829905987,
          -5.8451238146517426e-05
        ],
        [
          -0.08042199164628983,
          0.0069564213044941425,
          -0.9967366456985474,
          -0.06358500570058823
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 177,
      "c2w": [
        [
          0.9953317046165466,
          0.05255540460348129,
          -0.08094863593578339,
          0.010919052176177502
        ],
        [
          0.05207996070384979,
          -0.9986110925674438,
          -0.0079750781878829,
          0.00048050613258965313
        ],
        [
          -0.08125533908605576,
          0.0037220462691038847,
          -0.9966863393783569,
          -0.06321132928133011
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 178,
      "c2w": [
        [
          0.9954023957252502,
          0.05353641137480736,
          -0.07942277193069458,
          0.008377671241760254
        ],
        [
          0.053213562816381454,
          -0.9985640645027161,
          -0.006177397444844246,
          0.0009374190121889114
        ],
        [
          -0.07963944226503372,
          0.0019226272124797106,
          -0.9968218803405762,
          -0.06296056509017944
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    },
    {
      "frame_index": 179,
      "c2w": [
        [
          0.9956485033035278,
          0.05399687588214874,
          -0.07594968378543854,
          0.005706986878067255
        ],
        [
          0.05383975803852081,
          -0.9985411167144775,
          -0.0041162073612213135,
          0.001285261707380414
        ],
        [
          -0.07606114447116852,
          9.183265319734346e-06,
          -0.9971031546592712,
          -0.06273191422224045
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 842.4289171006943,
        "fy": 843.2096667921686,
        "cx": 413.11008843315966,
        "cy": 225.80188723644576
      }
    }
  ]
}