{ "format_version": "1.0", "camera_model": "opencv_pinhole", "pose_type": "c2w", "coordinate_system": "opencv", "image_hw": [ 480, 832 ], "num_frames": 81, "frames": [ { "frame_index": 0, "c2w": [ [ 0.9999998597684455, 0.0005287021667162077, 3.061222397362729e-05, -0.0006867493616625437 ], [ -0.0005286991725104524, 0.9999998554623797, -9.773640463536515e-05, -0.0011332166734058069 ], [ -3.0663892997907046e-05, 9.772020627215362e-05, 0.9999999947552435, 0.00090251475746303 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999895815456118, 0.0010886776848610705, 0.004433010391457431, -0.0005869992468768049 ], [ -0.0010893331522835142, 0.9999993960987936, 0.0001454487247971855, 0.005814157858651463 ], [ -0.004432849367576129, -0.00015027623463011224, 0.9999901635833913, 0.03518292948868144 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999612161454748, 0.0014558658981465252, 0.008686003646651853, -4.917025496118483e-05 ], [ -0.001456412640341501, 0.9999989378276228, 5.662020182729688e-05, 0.012650819857542553 ], [ -0.008685911989197723, -6.926841138266216e-05, 0.9999622743557894, 0.06965755629256773 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9999126186509234, 0.0018767729152392772, 0.013085594601604862, 0.0007925180409980432 ], [ -0.001869865832876467, 0.9999981059702837, -0.0005400533421186875, 0.01987317046203931 ], [ -0.013086583374585105, 0.0005155378452806661, 0.9999142341002603, 0.10455334743661131 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9998423000755337, 0.0024977744823143884, 0.017582266699776243, 0.0015906703488923098 ], [ -0.0024750846189638765, 0.9999960761156015, -0.0013121392948692706, 0.02709402702879726 ], [ -0.017585475137042214, 0.0012684147727264436, 0.9998445590131343, 0.1393239124660663 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9997326720505153, 0.0033292092260711384, 0.02288013987426674, 0.002555899084003562 ], [ -0.0032832763842287976, 0.9999925193863102, -0.002044814809468674, 0.03479593514629765 ], [ -0.02288677633310846, 0.0019691463504015513, 0.9997361241506326, 0.17730703822541402 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9995954520852994, 0.004323068359033361, 0.028111265541575465, 0.0035920560369226092 ], [ -0.004244887865607137, 0.999986957035487, -0.0028401911758514577, 0.04200126949893371 ], [ -0.02812317722794252, 0.002719713012449622, 0.99960076533771, 0.21211421174046702 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9994090496629352, 0.005503652198938614, 0.033930241147124306, 0.004552162549366507 ], [ -0.005379988059025631, 0.9999785529666891, -0.003734880872444586, 0.04940434990953372 ], [ -0.033950068929438575, 0.003550129451122729, 0.9994172248868671, 0.24720710291502546 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9991511256971303, 0.006959177518447201, 0.040602929283787795, 0.005657809557093124 ], [ -0.006772910006194901, 0.9999659085060942, -0.004723294997113036, 0.056996698922325346 ], [ -0.04063441531762846, 0.004444285527338122, 0.9991641970256671, 0.2825398423995208 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9988079606840845, 0.008572355820110308, 0.048053848855150474, 0.0073219533423922135 ], [ -0.008304757484739482, 0.9999488930573365, -0.0057656115484013256, 0.06470556045013424 ], [ -0.04810081784356571, 0.005359663151804985, 0.9988281059990649, 0.3180896882193163 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9983744238891151, 0.009976009041024646, 0.056115853087083487, 0.009512027420041478 ], [ -0.009618204415591275, 0.9999316803126338, -0.006642653910360321, 0.07242460097883856 ], [ -0.05617828644501044, 0.006092122024903905, 0.9984021665548088, 0.3545471299515899 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.9978332164023923, 0.011325275406387104, 0.06481211600484882, 0.011952202464185428 ], [ -0.01086656407109612, 0.9999133845677362, -0.007425708557667641, 0.0804137472065025 ], [ -0.06489060046990827, 0.006705333643014268, 0.9978698554778527, 0.39241724527267485 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.997196275306168, 0.01282507821563745, 0.0737231706064545, 0.01466307261683809 ], [ -0.012245247966720005, 0.9998904795568716, -0.008311605967756028, 0.0888449025165842 ], [ -0.07382169340877487, 0.007385544007889988, 0.9972441081911534, 0.43132706511090857 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.9964964967279678, 0.013797854675973728, 0.08248849141079163, 0.017985874182615595 ], [ -0.013113830304422416, 0.999875035266775, -0.008828437291651055, 0.09752352152184321 ], [ -0.0825999967532345, 0.0077157667542838955, 0.9965529125338802, 0.47187653335496876 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.9957941453158539, 0.01474698341105074, 0.09042425910640566, 0.022175526659845037 ], [ -0.013978422012336345, 0.9998606415604524, -0.009126947812141831, 0.10634645217360078 ], [ -0.09054625267073853, 0.007824572741991992, 0.9958615125551806, 0.5132921795232838 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.9951676420010362, 0.015279441234799906, 0.09699434514264178, 0.029106601083732454 ], [ -0.01446273300262061, 0.9998538378890819, -0.009117686799228312, 0.11490747681373169 ], [ -0.09711948140405473, 0.007670823555929955, 0.995243168676772, 0.5496309061616158 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.9947068248424371, 0.013243344912811414, 0.10189674394894965, 0.049467837922479094 ], [ -0.01232798253711584, 0.9998778484940594, -0.009607754027641894, 0.1246978748507339 ], [ -0.10201153590865134, 0.008300717222711187, 0.9947485836306311, 0.5617424029171038 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.9943774005473212, 0.011191194584167884, 0.10530119868516152, 0.0694178714909626 ], [ -0.010124732055711726, 0.9998919546750191, -0.010656865250608811, 0.13634769786737289 ], [ -0.10540908443560554, 0.009530799544050941, 0.9943832705644733, 0.5699900099825927 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.9941942128863107, 0.009087208203843315, 0.10721608885997169, 0.09360646551810721 ], [ -0.00794613371330546, 0.9999072061223819, -0.011065175260381822, 0.14182923880941936 ], [ -0.10730669141474641, 0.010148979830145408, 0.9941741659216597, 0.580432504815777 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.9939868231718351, 0.007610070467788099, 0.1092349860998692, 0.11362216305420605 ], [ -0.006393002997462178, 0.9999135781007923, -0.011487638675785223, 0.14397521114812087 ], [ -0.10931296754474173, 0.010720221879525456, 0.9939495721461005, 0.5868098751645787 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.99371881061341, 0.006427634540632694, 0.11172113026317672, 0.12512281427669528 ], [ -0.005074815870984816, 0.9999103748475402, -0.01238904823330588, 0.14370144821670364 ], [ -0.11179074951419386, 0.011744266110048958, 0.9936623674752864, 0.5839729001731111 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9933919158640506, 0.005510754335614458, 0.11463914289021643, 0.1311968587813119 ], [ -0.0040311223360097875, 0.9999056105041465, -0.013134692042156927, 0.14151235987467187 ], [ -0.11470070422043221, 0.012585772482556802, 0.9933203646268178, 0.5757135425129032 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9929924228603831, 0.004542670124596124, 0.11809069518808586, 0.13561153995036415 ], [ -0.0030035417614846863, 0.9999082575980595, -0.013208146126537593, 0.13839901410497044 ], [ -0.11813986151487278, 0.012760898689044373, 0.9929149674498289, 0.5675817896733024 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.9926035420335991, 0.0033544477276897305, 0.12135467037899816, 0.13925101850913899 ], [ -0.0017747055218013622, 0.9999123107725271, -0.013123306971042506, 0.13473609412101628 ], [ -0.12138805032895117, 0.012810872179033024, 0.9925224545527161, 0.5594502341109223 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9923322976183924, 0.0034948545490075186, 0.12354916873489612, 0.1422765402262836 ], [ -0.0018584305121608572, 0.9999090523832062, -0.013357888985556548, 0.13235787553637496 ], [ -0.12358461611152911, 0.013025857123439705, 0.9922485423051858, 0.5506710705592694 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9919902354983386, 0.002480871395500015, 0.12629021321175157, 0.14500710984608978 ], [ -0.0008256117187221841, 0.999913096174886, -0.013157448964114207, 0.1299608564939982 ], [ -0.1263118800479218, 0.012947794216481477, 0.9919060759888948, 0.5404915011071204 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.9916813785799794, 0.001285797841933949, 0.1287104894778256, 0.14589643978501995 ], [ 0.0003794233659921607, 0.9999165598704185, -0.01291237138628308, 0.1281354354532143 ], [ -0.1287163525571678, 0.012853794024242058, 0.9915981446955019, 0.5310433816076978 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.9914081855704698, 0.0013395548972866347, 0.13079761150933178, 0.14587761491516188 ], [ 0.00034133349698581067, 0.999917662146879, -0.012827798648400196, 0.12601104623388906 ], [ -0.13080402545530762, 0.012762230189007635, 0.9913260979139459, 0.5216927222333274 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9910492833895652, 0.004009531850644899, 0.13343628272463273, 0.14172343851728983 ], [ -0.0022294033279808205, 0.9999065555258021, -0.01348740068832419, 0.12453288670297356 ], [ -0.13347789200399682, 0.013069195494171928, 0.9909656141740261, 0.5122171960156295 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9907474933454405, 0.006073414403406148, 0.13558214509001956, 0.13892046810184425 ], [ -0.004271822565316351, 0.9998987329043264, -0.013574810064725188, 0.12432396157309608 ], [ -0.13565086052693168, 0.012870026177417395, 0.9906731077729403, 0.5074576481759991 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9903934279376934, 0.0070119463525958325, 0.13810029147751038, 0.13340509774681314 ], [ -0.005196308934819838, 0.9998953229325357, -0.013503390355541931, 0.12282259605539833 ], [ -0.13818052059273375, 0.01265605728450015, 0.9903261926975033, 0.5033154167030092 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9899916210000224, 0.0072448377566281886, 0.14094006767285183, 0.12461310459126498 ], [ -0.005417584494285226, 0.9998962865580773, -0.01334413375287834, 0.12125525747595538 ], [ -0.141022126377371, 0.012447025879605188, 0.9899281950822277, 0.498810298222552 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9895361427641001, 0.00848061866208887, 0.14403576385972638, 0.11468274903779216 ], [ -0.006606024328640936, 0.9998872100470841, -0.013488054968293424, 0.12110615901152559 ], [ -0.1441339051233818, 0.012395414126463496, 0.9894805562023529, 0.496398415954132 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9890796447328735, 0.010670574543125852, 0.14699522173871074, 0.1061463443856373 ], [ -0.008740737022875231, 0.9998670082409745, -0.013768273222895243, 0.12207693933108871 ], [ -0.14712258797135838, 0.012333072211049055, 0.9890413739770684, 0.49652728511399247 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9886240504680027, 0.011507169950374683, 0.14996690260178638, 0.09963886324547475 ], [ -0.009515254035212386, 0.9998568152273359, -0.013993176340448447, 0.12246750878860206 ], [ -0.1501064514832253, 0.012407017497477212, 0.9885919882033902, 0.49923010767358794 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9881348033502055, 0.01160816103396868, 0.1531497992341501, 0.0942036786022864 ], [ -0.009521347330287304, 0.9998516655317377, -0.014352382325824297, 0.12283808507042579 ], [ -0.15329368660537543, 0.012723896055063242, 0.9880987542326491, 0.5050885948828437 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9876187042806529, 0.013192529126925387, 0.15631779211030272, 0.08926432608132905 ], [ -0.011032278404774441, 0.9998313907356935, -0.014679200684263998, 0.12489082645994172 ], [ -0.15648509126496407, 0.012772911757487968, 0.9875977262717, 0.5151666357193975 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9871931282387, 0.013636450118552525, 0.15894582343192865, 0.0862801162290473 ], [ -0.011508889363260137, 0.9998315377318672, -0.014298308373857363, 0.12655221218287382 ], [ -0.15911402522692286, 0.012285901875479502, 0.9871837638409539, 0.527430292912592 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9867309556438685, 0.014706633359829175, 0.16169643196235836, 0.08405482202729536 ], [ -0.012622118041087612, 0.9998235636786658, -0.013911277764814904, 0.12944714525938672 ], [ -0.16187249090038394, 0.011685736952051528, 0.9867424893261628, 0.5420639670680734 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.9864944358622922, 0.013999201129310104, 0.16319543615088916, 0.08358193943193022 ], [ -0.011920920859229682, 0.9998349871564344, -0.013707301111478448, 0.13315295323158935 ], [ -0.1633603980731126, 0.011576736398220282, 0.9864985349790238, 0.5563467501150768 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9862493591554019, 0.012643790210601795, 0.1647796593474738, 0.0824265953540337 ], [ -0.010580332628108747, 0.9998543145421196, -0.013394261942599489, 0.13680811845758178 ], [ -0.16492500758538042, 0.011466658651005612, 0.9862394524720371, 0.5696635232474567 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9861018424473977, 0.014408553204636194, 0.16551601105753225, 0.07998523749207125 ], [ -0.01243319770520104, 0.9998386558879186, -0.012964481750684763, 0.13966989255468473 ], [ -0.16567610544876818, 0.010726406051871367, 0.9861218851118453, 0.584146283746407 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.9860934512027344, 0.013727628037316097, 0.16562384406706, 0.07498705868945785 ], [ -0.011879868381432051, 0.9998557111793092, -0.012141892330194318, 0.14138424093652602 ], [ -0.1657666257794993, 0.010005451043669827, 0.9861142513558419, 0.5958333554222953 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9860566497004567, 0.012983793683087908, 0.16590269643108896, 0.06913673996831438 ], [ -0.011108869869993826, 0.9998635702245463, -0.01222431789653953, 0.14436320019251317 ], [ -0.16603878038495284, 0.010210878484201045, 0.9860663574875975, 0.6031568475863931 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9859372992126644, 0.01283368628709997, 0.1666221429388114, 0.06565355339344055 ], [ -0.010889010512193327, 0.9998615828560843, -0.012579530141907512, 0.14702430956490398 ], [ -0.16676052132115304, 0.010588277707451698, 0.9859405747325177, 0.6111090660196812 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9858276308776526, 0.012473354652206283, 0.1672970341096194, 0.0606902300368468 ], [ -0.010501670480097746, 0.9998646462417068, -0.012665074538827177, 0.14941662079813725 ], [ -0.16743236579372076, 0.010728682102983977, 0.9858251864631228, 0.6205178794530102 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.985629515591217, 0.012961203955662186, 0.168423469823664, 0.05733938520955956 ], [ -0.010987311189691061, 0.9998596627131514, -0.012646496430394366, 0.15190919891160967 ], [ -0.16856374755042622, 0.010614239076015514, 0.985633603800415, 0.6306161339224882 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9852324246367079, 0.013228790470815007, 0.17071048165579403, 0.05332485719127035 ], [ -0.01123963820296455, 0.9998572756482941, -0.012613439905035795, 0.1531693514153339 ], [ -0.17085297766659022, 0.01050844592938288, 0.9852404947963767, 0.6396016984129403 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.9846900381185085, 0.013887249154559581, 0.173760390023415, 0.052979106734768674 ], [ -0.011880707908960394, 0.9998502524569947, -0.012582584840399383, 0.15538133549606647 ], [ -0.17390910732262435, 0.010325549506107007, 0.9847075735555428, 0.6496554761590138 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9840718367368857, 0.016078964678404948, 0.17704261361650442, 0.059566554632483906 ], [ -0.014065601072307548, 0.9998214132139742, -0.012621431982396479, 0.15931723946274337 ], [ -0.17721393570418487, 0.00993018497723814, 0.9841222548131665, 0.6622598370602335 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.9833661698353273, 0.018745615495864485, 0.18066426852889145, 0.06804046745964773 ], [ -0.016687206591915017, 0.9997774502284125, -0.012906864488826228, 0.16253275360789932 ], [ -0.1808660088561611, 0.009677391924241824, 0.9834601338773157, 0.6725371713505267 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9825723743528134, 0.021324725416659245, 0.18465314848271372, 0.07887065451383382 ], [ -0.01915495523817868, 0.9997250214053116, -0.013526613248442895, 0.16730251438307592 ], [ -0.1848908241327795, 0.009753853702699614, 0.9827106621429567, 0.6791437332781607 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.9817769961306363, 0.023332275267509923, 0.1885988727419813, 0.09040603378286277 ], [ -0.021228503187824772, 0.9996879377320553, -0.013167300613078442, 0.16886128857214078 ], [ -0.18884724123245603, 0.008923681071833927, 0.9819659298545032, 0.6830232546877874 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9811248975734528, 0.024781835042440525, 0.19178059342230408, 0.10136909029792907 ], [ -0.02259494268290818, 0.9996524387342476, -0.013581984311120853, 0.16856627223896126 ], [ -0.1920505244112547, 0.008992351450021613, 0.9813438407045522, 0.6838419273966401 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.9807082379083196, 0.02405160361737182, 0.19399193916807864, 0.11437743795674388 ], [ -0.021995904283582893, 0.9996768309371468, -0.012744170518734907, 0.167291076143184 ], [ -0.19423576471264545, 0.008231284887303974, 0.9809203401171768, 0.6831781866553487 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.980507048821718, 0.021803862674564623, 0.1952703735424138, 0.1277466870820432 ], [ -0.01979786140896989, 0.9997293331219496, -0.012219049847397141, 0.1672858044490088 ], [ -0.19548394280491763, 0.008114928712606346, 0.9806733278913182, 0.6805924060299937 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.9805341121285004, 0.021599245776622394, 0.1951571867348333, 0.14060315428461795 ], [ -0.01954884996339893, 0.9997316753181441, -0.012426577593432575, 0.1671345710867996 ], [ -0.19537322594839357, 0.008369584664614044, 0.9806932510398244, 0.675826214514081 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.9806685459351684, 0.02099271248969555, 0.19454693273276574, 0.15181372794908424 ], [ -0.019058837158499438, 0.9997486450498759, -0.011807093084367427, 0.16540645441763402 ], [ -0.1947458953086511, 0.007871006496128465, 0.980822146730573, 0.6728903768472769 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.9809340981007382, 0.021810914896552198, 0.19311286641409228, 0.16067092606104738 ], [ -0.020038614786700982, 0.9997372955871868, -0.011126263049575565, 0.16309101411551097 ], [ -0.1933048087884052, 0.007044416469339334, 0.9811134629062456, 0.6683199028254411 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.9812869272753899, 0.023439967488768674, 0.19111916252053116, 0.16868936906674287 ], [ -0.021734893069415468, 0.9997031073713147, -0.01101324363658536, 0.16295399431120386 ], [ -0.19132057072276573, 0.006653197446580106, 0.9815050556069755, 0.6628511776849283 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9816600825356492, 0.0241511722531107, 0.18910368382160847, 0.17635316768889364 ], [ -0.02250481023965675, 0.9996878691257964, -0.010848863479714529, 0.16306801573616272 ], [ -0.18930667149411118, 0.006394153698889207, 0.9818971936645382, 0.656379314030452 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.9820067010500012, 0.02446013094972082, 0.18725528320134552, 0.18350709262202655 ], [ -0.02287816058882413, 0.9996820111083073, -0.010605019307951106, 0.1624091803604148 ], [ -0.1874551382623735, 0.006130143584986508, 0.9822540366313909, 0.6479544766204918 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.9822948078710914, 0.02478750315530956, 0.1856946152068532, 0.19009028653373417 ], [ -0.023203411663602284, 0.9996735090521285, -0.010699391878670077, 0.16127264595034202 ], [ -0.18589919880587213, 0.006201208489436901, 0.9825492521480057, 0.636776874610116 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.9825540361247838, 0.024287477913997747, 0.18438461028913042, 0.19639490276065102 ], [ -0.022665036301352012, 0.9996836705712077, -0.010902060481198114, 0.15887561029741915 ], [ -0.18459106756383373, 0.006532779642263922, 0.9827937019363677, 0.6226451935347679 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.9828367849919832, 0.02424984413742203, 0.1828764586433496, 0.20309572157907016 ], [ -0.022600354538620936, 0.99968297082998, -0.011098729984722744, 0.15570718831493585 ], [ -0.18308762394370257, 0.0067751672935718755, 0.9830732521367843, 0.606199680868573 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.9829694501005211, 0.024935913387038124, 0.18206938345760884, 0.20825494215249135 ], [ -0.02315608861712191, 0.9996610935689594, -0.011895106744733808, 0.15108482767497727 ], [ -0.1823042943241757, 0.00747651175794885, 0.9832137336525044, 0.5840867569827991 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.9830900948063239, 0.024767246095450033, 0.18143993224905205, 0.21187014604237672 ], [ -0.022925088510982707, 0.9996622119499199, -0.012243460138262056, 0.1458378199858429 ], [ -0.18168188079843514, 0.007876897881845268, 0.9833258100290576, 0.5593394745933074 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.983223626252411, 0.02391329068133098, 0.18082990711674174, 0.21627724976664614 ], [ -0.02203648749246604, 0.9996805009764432, -0.012381001029074964, 0.14014784158864457 ], [ -0.18106820261452222, 0.008188436742000042, 0.9834364521948882, 0.5335272289983441 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.9834004906109642, 0.022275145577536837, 0.18007579780640878, 0.22098860063406425 ], [ -0.02063692432464573, 0.99972689544986, -0.01096594130039361, 0.1319865759477637 ], [ -0.18027088622551876, 0.007067701442787046, 0.9835916099559725, 0.5043947816257511 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.9835530087945024, 0.02264161719756577, 0.17919496662004988, 0.22362003773369993 ], [ -0.021188868061668833, 0.9997253065654709, -0.010017149436883338, 0.12325600983707008 ], [ -0.17937254740217937, 0.006055458963163375, 0.983762583479977, 0.47122202528918405 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.9835838521021697, 0.021239914455310167, 0.17919729885739977, 0.22527327652569784 ], [ -0.019968894169208263, 0.9997610426360275, -0.008893868280005567, 0.11307063072453474 ], [ -0.17934338334467792, 0.005169493326645774, 0.9837729551015466, 0.43357501505684154 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.9836819071478791, 0.02017779809476962, 0.1787813245670763, 0.2269951300424292 ], [ -0.01910571766470969, 0.9997876910833504, -0.007716496014367527, 0.10330980845014297 ], [ -0.17889906959631724, 0.00417483200501067, 0.9838585740213388, 0.39326612772206165 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.9837640923436591, 0.01972672084554661, 0.17837899848339375, 0.22812010121781692 ], [ -0.018886406555368895, 0.9998011016732754, -0.006407865505026157, 0.0936192905329209 ], [ -0.17846992537310605, 0.0029348897061153936, 0.9839409901816933, 0.352109404866985 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.9838141181113107, 0.020328557697246927, 0.17803519524749564, 0.22809887215498031 ], [ -0.019656846536390066, 0.9997914577931324, -0.005536181728248508, 0.08456713022310519 ], [ -0.17811060998466374, 0.001946963233624493, 0.9840085466829331, 0.309256138242861 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.9838119977149115, 0.02098396313823026, 0.17797085841004637, 0.22672219427038914 ], [ -0.0204086502479188, 0.999778902577063, -0.005062900044632323, 0.07641452028390236 ], [ -0.17803774921980312, 0.0013487968035281255, 0.9840227337820654, 0.26297500286973463 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.9837533930245294, 0.021473991672638228, 0.17823616185939775, 0.2249003373320461 ], [ -0.020952982207874463, 0.9997689145514087, -0.004805208975135121, 0.06895992667265126 ], [ -0.17829816109349658, 0.0009925615052413037, 0.9839760060958478, 0.21558049580781186 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.9837045463031582, 0.022982370726007017, 0.17831762733479412, 0.22412415299798524 ], [ -0.022411465356867003, 0.9997352270549706, -0.005215554227929478, 0.06109786028493621 ], [ -0.17839027945226188, 0.0011342050779724277, 0.9839591565587391, 0.1670527235590994 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.9836995748966015, 0.024163425043168645, 0.1781888751814453, 0.2241534581544224 ], [ -0.023471932670013865, 0.9997065627470972, -0.005988052865379257, 0.05301482900314468 ], [ -0.1782812797939813, 0.001708007777327563, 0.9839780830813524, 0.12339629956866574 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.9837069014506451, 0.02602247850508204, 0.17788637567510213, 0.22370026235069632 ], [ -0.02522662794050879, 0.999659072892337, -0.006734628927023465, 0.04442752784823591 ], [ -0.17800098112404372, 0.0021374275393807604, 0.9840279884852828, 0.0794004407885422 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.9835892837923302, 0.027917580371822678, 0.1782490659584895, 0.22116804716875632 ], [ -0.02704155530728915, 0.9996073422304246, -0.007342727394484731, 0.03437714344592808 ], [ -0.17838406626000525, 0.0024020960034344336, 0.9839580046116483, 0.03523398098408472 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.9835629624419788, 0.03040482849284944, 0.17798720548589664, 0.22156809452221735 ], [ -0.02955996066061611, 0.9995356364241362, -0.007397313291979126, 0.02500215316156208 ], [ -0.17812946875264973, 0.0020144285833143157, 0.9840049971617936, -0.0018542523237181086 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 460.25787353515625, "fy": 460.2578830718994, "cx": 416.0, "cy": 240.0 } } ] }