{
  "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": [
        [
          0.9999999849547349,
          -0.00017198486306108164,
          -2.2621603039955695e-05,
          8.276500957384347e-05
        ],
        [
          0.0001719806433654541,
          0.9999999678381485,
          -0.00018640375586305002,
          0.00016898593662993973
        ],
        [
          2.2653660936829238e-05,
          0.0001863998625807113,
          0.9999999823709513,
          5.0932377934123246e-05
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9999928964275296,
          -0.0002965622497796762,
          -0.003757545117794357,
          0.001761879578567895
        ],
        [
          0.0002780719531807269,
          0.999987856036642,
          -0.004920412099530215,
          0.00015483592118095384
        ],
        [
          0.00375895869478621,
          0.004919332279116211,
          0.999980835016081,
          0.007008203064343531
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9999560738674849,
          -0.000516567139144705,
          -0.009358605340336576,
          0.004280551432058972
        ],
        [
          0.0004040398118666942,
          0.99992765337968,
          -0.012021845051283737,
          0.000133610898007475
        ],
        [
          0.009364138366974676,
          0.012017535728983893,
          0.9998839391387617,
          0.01744410909395764
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9998878264536545,
          -0.0007763223536363109,
          -0.014957668046528335,
          0.00679922328555005
        ],
        [
          0.0004901958206870467,
          0.9998170134625034,
          -0.019123265907735595,
          0.00011238587483399621
        ],
        [
          0.01496977681344218,
          0.01911378859681738,
          0.9997052409923798,
          0.02788001512357175
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9998248725781024,
          -0.0009715656462404438,
          -0.01868904048838013,
          0.008478337854544101
        ],
        [
          0.0005255118493750777,
          0.999715237119333,
          -0.02385725274905158,
          9.823585938501032e-05
        ],
        [
          0.018706897430558405,
          0.023843253377653986,
          0.9995406701364841,
          0.03483728580998116
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9997686725840152,
          -0.0011681956562405002,
          -0.021476420523563883,
          0.010392020106351815
        ],
        [
          0.0005809369520566965,
          0.9996262894035153,
          -0.027330277086363673,
          0.00027510100074044425
        ],
        [
          0.021500321668615804,
          0.02731147839770709,
          0.999395727085061,
          0.0412490421051077
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9996697371407053,
          -0.001481271372685848,
          -0.025655846899947893,
          0.013262543484063386
        ],
        [
          0.0006458731202892754,
          0.9994702435805258,
          -0.03253943830180297,
          0.0005403987127735951
        ],
        [
          0.02569045528879534,
          0.032512121311978635,
          0.9991411123934645,
          0.05086667654779751
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9995532431443254,
          -0.0018160914181616127,
          -0.029833134793754133,
          0.01613306686177496
        ],
        [
          0.0006889649975395343,
          0.9992870549491003,
          -0.03774794217419143,
          0.000805696424806746
        ],
        [
          0.02988041912178591,
          0.03771052403659772,
          0.9988418678299342,
          0.06048431099048732
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.9994658282678005,
          -0.0020513776130795113,
          -0.032616713121474086,
          0.018046749113582672
        ],
        [
          0.0007055562070055672,
          0.9991498538509579,
          -0.041219797913728345,
          0.00098256156616218
        ],
        [
          0.03267354151907534,
          0.04117476653848087,
          0.9986175836050071,
          0.06689606728561386
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9993934436803464,
          -0.0022207784551383477,
          -0.03475360228510777,
          0.020075397518301234
        ],
        [
          0.0007066177341813216,
          0.9990522961657453,
          -0.04352022768012229,
          0.0020624943830678294
        ],
        [
          0.03481731494696274,
          0.04346927269928882,
          0.9984478839232817,
          0.07330883784164895
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9992762521301742,
          -0.0024840843891546075,
          -0.03795788789461248,
          0.023118370125379074
        ],
        [
          0.00069894970070204,
          0.9988960358484862,
          -0.046970427244126464,
          0.0036823936084263036
        ],
        [
          0.0380326622521787,
          0.0469099018430805,
          0.9981748232204037,
          0.0829279936757016
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9991487253136023,
          -0.0027584306989738862,
          -0.04116085232696924,
          0.02616134273245691
        ],
        [
          0.0006801694482166543,
          0.99872787009609,
          -0.05042002442333153,
          0.0053022928337847774
        ],
        [
          0.04124757051906601,
          0.050349106778637034,
          0.9978795545419638,
          0.09254714950975423
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9990579670139128,
          -0.0029474587746359674,
          -0.043295392743334105,
          0.028189991137175473
        ],
        [
          0.0006614760211974982,
          0.9986091473019402,
          -0.05271938328893532,
          0.006382225650690427
        ],
        [
          0.043390563438391844,
          0.05264108102674293,
          0.9976703742182761,
          0.09895992006578934
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.9989881619080455,
          -0.003259767208710968,
          -0.04485561598428531,
          0.030342264720556213
        ],
        [
          0.0007974999245411254,
          0.9984969263379608,
          -0.05480193507090009,
          0.006057423329992541
        ],
        [
          0.04496683624022281,
          0.05471071203511982,
          0.9974892087772956,
          0.10543805134857467
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.998878737937785,
          -0.0037342961004783884,
          -0.0471945116348509,
          0.03357067509562733
        ],
        [
          0.0009953646237582856,
          0.9983204003731792,
          -0.05792570627969437,
          0.005570219848945714
        ],
        [
          0.04733155548979873,
          0.05781378063549905,
          0.9972047385685383,
          0.1151552482727527
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.998763655899962,
          -0.004216097968995041,
          -0.049531648178292184,
          0.036799085470698434
        ],
        [
          0.001185821232613012,
          0.9981340434164538,
          -0.06104936691829683,
          0.005083016367898886
        ],
        [
          0.049696614385152674,
          0.0609151532136002,
          0.9969050058193193,
          0.12487244519693069
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.9986837920432192,
          -0.004541336093364557,
          -0.05108874412885094,
          0.03895135905407918
        ],
        [
          0.0013086752445404183,
          0.9980043451958442,
          -0.06313172213173325,
          0.004758214047201
        ],
        [
          0.05127349099954503,
          0.06298176908202209,
          0.9966967070699182,
          0.13135057647971604
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.9986126367364034,
          -0.004914396067735323,
          -0.05242757348626687,
          0.04066596127078889
        ],
        [
          0.0014880123016835468,
          0.9978714682946828,
          -0.06519446742480986,
          0.005205442962543012
        ],
        [
          0.05263637116821907,
          0.06502600614141993,
          0.9964943707595834,
          0.13765005982031567
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9985023279335796,
          -0.005479131654181226,
          -0.05443418252843166,
          0.04323786459585346
        ],
        [
          0.0017517271718853113,
          0.9976640772235845,
          -0.06828850905920558,
          0.005876286335556028
        ],
        [
          0.05468119021325106,
          0.06809088143011569,
          0.9961795015472524,
          0.1470992848312151
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9983877294829039,
          -0.006050035027339652,
          -0.056438804861015844,
          0.045809767920918024
        ],
        [
          0.002009089941360872,
          0.9974469978539995,
          -0.07138242101281694,
          0.006547129708569044
        ],
        [
          0.05672658261855181,
          0.07115394260483035,
          0.9958509985315118,
          0.15654850984211455
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9983089481599268,
          -0.0064340599206904325,
          -0.057774102301618946,
          0.04752437013762774
        ],
        [
          0.0021771344112174965,
          0.997296897366337,
          -0.07344493576301651,
          0.006994358623911056
        ],
        [
          0.05809048209110043,
          0.07319495458305235,
          0.9956244244262034,
          0.16284799318271417
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9982531493852259,
          -0.006774855067260903,
          -0.05869200185115024,
          0.048868471226339597
        ],
        [
          0.0023414888187353496,
          0.9971598390150876,
          -0.07527797078506004,
          0.007670734765156319
        ],
        [
          0.05903530445919247,
          0.07500904474943154,
          0.9954338129846646,
          0.16952999877293176
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9981676984349906,
          -0.007289181343389085,
          -0.06006757558231232,
          0.050884622859407376
        ],
        [
          0.002584757400588679,
          0.9969478697494201,
          -0.07802732874623752,
          0.008685298977024213
        ],
        [
          0.06045299686677011,
          0.07772909903914049,
          0.995140001372867,
          0.17955300715825817
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9980801448742538,
          -0.007807263467550961,
          -0.0614416067900006,
          0.052900774492475156
        ],
        [
          0.0028241082608550456,
          0.9967282442229773,
          -0.0807764296110693,
          0.009699863188892108
        ],
        [
          0.06187122772597756,
          0.08044783281934516,
          0.9948367189515831,
          0.18957601554358458
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.9980206081336874,
          -0.008154735662360253,
          -0.062356764081711154,
          0.05424487558118701
        ],
        [
          0.002981497845571838,
          0.9965775747718999,
          -0.08260900757396492,
          0.010376239330137371
        ],
        [
          0.06281700733927081,
          0.08225957541852238,
          0.9946292705530553,
          0.19625802113380217
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9979441670899172,
          -0.008848084899925106,
          -0.06347559188235517,
          0.05597519148315367
        ],
        [
          0.0034297985135253403,
          0.9963779186707458,
          -0.08496634432238143,
          0.009894441232649343
        ],
        [
          0.06399746755433543,
          0.0845739592247908,
          0.9943598793030999,
          0.2029905421873402
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9978264025732551,
          -0.009892979290617086,
          -0.06515058931791719,
          0.05857066533610365
        ],
        [
          0.004096997009907096,
          0.9960675374799721,
          -0.08850240332378125,
          0.009171744086417301
        ],
        [
          0.06576993951051875,
          0.08804311295802673,
          0.9939430191502141,
          0.21308932376764725
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9977049162107784,
          -0.010943703312265561,
          -0.0668216695889654,
          0.061166139189053635
        ],
        [
          0.004757882927108699,
          0.9957440843146463,
          -0.09203847620663111,
          0.00844904694018526
        ],
        [
          0.06754452397415858,
          0.09150931051100636,
          0.9935108370676712,
          0.2231881053479543
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.9976218585769681,
          -0.011647416299444897,
          -0.06793353356762434,
          0.06289645509102029
        ],
        [
          0.00519496127403828,
          0.9955211892345179,
          -0.09439583763308873,
          0.007967248842697231
        ],
        [
          0.06872873974399181,
          0.09381843890535929,
          0.9932142069335115,
          0.22992062640149233
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.997517189560273,
          -0.012385205147505872,
          -0.06932577605212026,
          0.0647577033598222
        ],
        [
          0.005570611608334439,
          0.9952060930557587,
          -0.09764118306842615,
          0.008659317504707931
        ],
        [
          0.0702027408160367,
          0.09701257154692383,
          0.9928041781458061,
          0.23681182035613874
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.9973557286774909,
          -0.013500266278633032,
          -0.07140933611648904,
          0.06754957576302506
        ],
        [
          0.006125045469258994,
          0.9947132978945409,
          -0.10250823776539343,
          0.009697420497723982
        ],
        [
          0.0724157047344788,
          0.10179979274130634,
          0.9921656957916034,
          0.24714861128810833
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9971889231441553,
          -0.014625352039771274,
          -0.07348707802269025,
          0.07034144816622792
        ],
        [
          0.006668615075216137,
          0.9941963344324505,
          -0.10737401070118421,
          0.010735523490740032
        ],
        [
          0.07463096630473712,
          0.1065821170684472,
          0.9914991029696544,
          0.257485402220078
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9970747525903394,
          -0.01538096233251332,
          -0.0748689771844087,
          0.07220269643502983
        ],
        [
          0.007024951308274775,
          0.9938382726742576,
          -0.11061707746530122,
          0.011427592152750733
        ],
        [
          0.07610905206366765,
          0.1097675442267608,
          0.991039100352956,
          0.26437659617472437
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9969461385649339,
          -0.01602096874077139,
          -0.07643118055528943,
          0.07434839280371616
        ],
        [
          0.007209711715203613,
          0.9934322029702118,
          -0.11419491301601761,
          0.011606142785159599
        ],
        [
          0.07775870920643992,
          0.11329513079722092,
          0.9905139052432274,
          0.27111588895411504
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9967480213795078,
          -0.016991389656249523,
          -0.07876975659214665,
          0.07756693735674566
        ],
        [
          0.007475676830983565,
          0.9927989010364257,
          -0.11955942604740333,
          0.011873968733772897
        ],
        [
          0.0802340085746389,
          0.11858176410568072,
          0.9896973623737864,
          0.28122482812320104
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9965436750361355,
          -0.017974273721325006,
          -0.08110258460532987,
          0.08078548190977516
        ],
        [
          0.0077282230614951,
          0.9921365821522771,
          -0.12492108278233252,
          0.012141794682386195
        ],
        [
          0.08271020682954178,
          0.12386253606070516,
          0.9888463449125074,
          0.29133376729228705
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.9964039870424453,
          -0.018636436659334094,
          -0.08265456935077026,
          0.0829311782784615
        ],
        [
          0.007889127866888154,
          0.991678927179277,
          -0.1284938405140815,
          0.012320345314795061
        ],
        [
          0.08436146198009226,
          0.1273797025322361,
          0.9882598621391949,
          0.2980730600716777
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9962348993467807,
          -0.019427038435527514,
          -0.08449032785552807,
          0.08456928314976091
        ],
        [
          0.008123284402323006,
          0.9911996352611573,
          -0.1321260584013158,
          0.012154033583083212
        ],
        [
          0.08631360016839212,
          0.13094225153010575,
          0.9876254802252713,
          0.30450149403779436
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9959739668360169,
          -0.020625326520030792,
          -0.08723791200430579,
          0.08702644045671001
        ],
        [
          0.008461053101143458,
          0.9904556485059118,
          -0.13757186821132186,
          0.011904565985515436
        ],
        [
          0.08924274741035552,
          0.13627987470157063,
          0.986642553200487,
          0.3141441449869693
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9957042821673411,
          -0.02183843583767474,
          -0.08997813731003838,
          0.08948359776365913
        ],
        [
          0.008782650899770922,
          0.989681628780905,
          -0.14301447023552497,
          0.01165509838794766
        ],
        [
          0.09217292181976826,
          0.1416098738568002,
          0.9856220351176551,
          0.3237867959361443
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.9955196352192438,
          -0.022655386236700208,
          -0.09180081354437805,
          0.09112170263495854
        ],
        [
          0.008988059425779286,
          0.989148945394932,
          -0.14664098544353907,
          0.01148878665623581
        ],
        [
          0.09412688606717207,
          0.1451588691694707,
          0.9849208252548719,
          0.33021522990226093
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.9953732371183492,
          -0.023084195077401115,
          -0.09326970979995196,
          0.09232727985310832
        ],
        [
          0.008951235927084876,
          0.9887677418976977,
          -0.14919191653003808,
          0.012543723011542007
        ],
        [
          0.09566605565150278,
          0.14766676173112445,
          0.9843995800872363,
          0.3361394196966717
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.995149260578853,
          -0.023734416555234786,
          -0.09547055378568277,
          0.09413564568033299
        ],
        [
          0.008888523904982393,
          0.9881836835007164,
          -0.153016344897356,
          0.0141261275445013
        ],
        [
          0.09797419717534257,
          0.1514255101815366,
          0.9836012258807472,
          0.34502570438828795
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9949200328011677,
          -0.02439303621101991,
          -0.09766835779991141,
          0.09594401150755766
        ],
        [
          0.008816840892926399,
          0.9875849318265433,
          -0.1568383427157755,
          0.015708532077460594
        ],
        [
          0.10028156185257818,
          0.15518048270826487,
          0.9827831022859712,
          0.3539119890799041
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.9947642992093463,
          -0.024836775076077386,
          -0.09913184968696227,
          0.09714958872570743
        ],
        [
          0.008764069042186712,
          0.9871776070697182,
          -0.15938495284665022,
          0.01676346843276679
        ],
        [
          0.10181935038273386,
          0.15768166254807647,
          0.9822267117034197,
          0.3598361788743149
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.9946698788918396,
          -0.025282244392261663,
          -0.09996319394548883,
          0.09827376476401724
        ],
        [
          0.008878346455997152,
          0.9868731972178312,
          -0.16125280641670423,
          0.01685880021349552
        ],
        [
          0.10272782967385588,
          0.15950580156077634,
          0.9818375080831623,
          0.36607408768217214
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.9945266556447118,
          -0.025953337540255996,
          -0.10120847534997676,
          0.09996002882148194
        ],
        [
          0.009046520698760902,
          0.9864099285879315,
          -0.16405369013344068,
          0.01700179788458861
        ],
        [
          0.10409078573722175,
          0.162240183227441,
          0.9812457547785542,
          0.37543095089395806
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.9943815223339338,
          -0.02662789179030526,
          -0.10245166382080868,
          0.10164629287894664
        ],
        [
          0.009210803211340797,
          0.9859386794169549,
          -0.1668534732444998,
          0.0171447955556817
        ],
        [
          0.10545401436194905,
          0.16497234861744212,
          0.9806444692377534,
          0.3847878141057439
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.9942837063554957,
          -0.027079514162712807,
          -0.10327928731691546,
          0.10277046891725644
        ],
        [
          0.00931816200956377,
          0.9856200819689906,
          -0.1687193701867212,
          0.017240127336410428
        ],
        [
          0.10636297820549245,
          0.1667925475917668,
          0.9802383194586438,
          0.39102572291360116
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.9942604677560293,
          -0.02724495732038562,
          -0.10345933770410669,
          0.1041092225423752
        ],
        [
          0.009279409610117128,
          0.9853477631826065,
          -0.17030466273218098,
          0.01779585609560728
        ],
        [
          0.10658337025469634,
          0.1683671520565832,
          0.9799451450430815,
          0.3969030209694222
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.9942255341767857,
          -0.027493663891960785,
          -0.10372890453813509,
          0.10611735298005334
        ],
        [
          0.009220612735289358,
          0.9849345105977377,
          -0.17268175970374317,
          0.018629449234402563
        ],
        [
          0.10691383208767456,
          0.1707281707258394,
          0.9795005483556085,
          0.4057189680531538
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.9941905099653856,
          -0.027743019356376658,
          -0.1039978594575794,
          0.10812548341773148
        ],
        [
          0.009161014239474394,
          0.9845155309039961,
          -0.17505783394903293,
          0.019463042373197844
        ],
        [
          0.10724414069249134,
          0.17308811133585908,
          0.9790501519336559,
          0.41453491513688534
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.994167110242307,
          -0.02790961609974073,
          -0.10417682199811214,
          0.10946423704285024
        ],
        [
          0.009120836738003745,
          0.9842330306046823,
          -0.17664130831694475,
          0.020018771132394697
        ],
        [
          0.10746426033644828,
          0.17466079925354844,
          0.9787466668931508,
          0.4204122131927064
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.9941713594006757,
          -0.02807864907473523,
          -0.1040908142611569,
          0.11141818269241802
        ],
        [
          0.009185406751849881,
          0.9840389269956399,
          -0.17771611761478812,
          0.021138263336297057
        ],
        [
          0.10741944167708128,
          0.17572415776838424,
          0.9785612315672313,
          0.4265902218254408
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.9941777065284799,
          -0.028332022520302983,
          -0.10396145603867324,
          0.11434910116676969
        ],
        [
          0.009282353790423217,
          0.9837455631570812,
          -0.17932792553550306,
          0.0228175016421506
        ],
        [
          0.10735234394218582,
          0.17731881870987795,
          0.9782808956437063,
          0.43585723477454247
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.9941840217093574,
          -0.028585184137463852,
          -0.10383168218629396,
          0.11728001964112136
        ],
        [
          0.009379411017649658,
          0.9834495499131825,
          -0.18093924235643594,
          0.024496739948004144
        ],
        [
          0.10728540267329131,
          0.17891302362708633,
          0.9779979408719854,
          0.4451242477236441
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.9941882140732252,
          -0.028753840528859265,
          -0.10374493555220843,
          0.11923396529068914
        ],
        [
          0.009444176922312218,
          0.9832507362531463,
          -0.1820131785885457,
          0.025616232151906504
        ],
        [
          0.10724086217552997,
          0.1799755714325883,
          0.9778078498188498,
          0.45130225635637855
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.9941837766480597,
          -0.02903690511748596,
          -0.10370861290654373,
          0.12096339978419242
        ],
        [
          0.009633969334501705,
          0.9830851967210047,
          -0.1828952777490047,
          0.025336207045806962
        ],
        [
          0.10726511494732616,
          0.18083239236713597,
          0.9776470942963598,
          0.4577088526915772
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.9941770183766281,
          -0.029461439001863668,
          -0.1036536528237071,
          0.12355755152444735
        ],
        [
          0.009918615730592781,
          0.982835335511468,
          -0.1842181433302637,
          0.024916169386657652
        ],
        [
          0.10730180424273851,
          0.18211734371552923,
          0.9774045201063136,
          0.46731874719437516
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.9941701375561715,
          -0.029885896573248708,
          -0.10359812149627172,
          0.12615170326470226
        ],
        [
          0.010203210980839738,
          0.9825836124292593,
          -0.1855406668931309,
          0.024496131727508343
        ],
        [
          0.10733886564159166,
          0.1834019568365626,
          0.9771602172373249,
          0.4769286416971731
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.9941654822661684,
          -0.03016882549439237,
          -0.10356078330509894,
          0.12788113775820556
        ],
        [
          0.010392912467124003,
          0.9824147629027081,
          -0.18642215802115988,
          0.0242161066214088
        ],
        [
          0.10736377993032592,
          0.1842581764782896,
          0.9769963885091735,
          0.4833352380323717
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.9941473422915039,
          -0.030186805680136507,
          -0.1037295453454288,
          0.12924582227013742
        ],
        [
          0.010303769497374873,
          0.9822853737161015,
          -0.18710766130109174,
          0.02480245126500693
        ],
        [
          0.10754019782799668,
          0.18494377887955243,
          0.976847431539269,
          0.4897069036654794
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.9941200737787431,
          -0.030213997973127297,
          -0.10398265834564037,
          0.13129284903803518
        ],
        [
          0.01016982297648807,
          0.9820903865829277,
          -0.18813571506235208,
          0.025681968230404126
        ],
        [
          0.1078047012461572,
          0.18597200571020225,
          0.9766230385780131,
          0.499264402115141
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.994092735033625,
          -0.030241456654871365,
          -0.10423573500848116,
          0.13333987580593296
        ],
        [
          0.010035598116364966,
          0.9818943156301031,
          -0.18916352635679573,
          0.026561485195801322
        ],
        [
          0.10806905627335506,
          0.1870000193387233,
          0.9763974968441406,
          0.5088219005648026
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.9940744702014704,
          -0.030259910420492184,
          -0.10440443244905835,
          0.13470456031786482
        ],
        [
          0.009945960321441774,
          0.9817629996535315,
          -0.18984859858472655,
          0.02714782983939945
        ],
        [
          0.10824521036494182,
          0.18768524271408268,
          0.9762464976123632,
          0.5151935661979103
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.9940241021977337,
          -0.030360893581824373,
          -0.10485370947612091,
          0.135825947112971
        ],
        [
          0.00990886565039593,
          0.9816737931187862,
          -0.1903112668375078,
          0.02773354753337165
        ],
        [
          0.10871015882387458,
          0.18813500483612247,
          0.9761082528714734,
          0.5219623570141638
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.9939481475647759,
          -0.030512756348211368,
          -0.1055274924016752,
          0.13750802730563025
        ],
        [
          0.009852810462570898,
          0.9815395822648841,
          -0.1910051584990986,
          0.028612124074329948
        ],
        [
          0.10940750467193547,
          0.1888094810842713,
          0.9759000859586748,
          0.532115543238544
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.993871709845532,
          -0.0306650846108667,
          -0.10620111559925985,
          0.1391901074982895
        ],
        [
          0.009796259506353886,
          0.9814048902663846,
          -0.19169891669206188,
          0.029490700615288246
        ],
        [
          0.11010475770103278,
          0.18948375642000106,
          0.9756909594664505,
          0.5422687294629241
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.9938204830219273,
          -0.03076689532093168,
          -0.10665010866555223,
          0.14031149429339568
        ],
        [
          0.009758283469478832,
          0.9813148283636614,
          -0.1921613476673371,
          0.030076418309260444
        ],
        [
          0.11056954114851235,
          0.1899331613644883,
          0.975551008806971,
          0.5490375202791776
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.993733461302735,
          -0.03081063638400235,
          -0.10744539344661885,
          0.14176683585606809
        ],
        [
          0.009605520641075695,
          0.9812424049077302,
          -0.19253850727609823,
          0.029685370716628766
        ],
        [
          0.11136221019942,
          0.1902998883249989,
          0.9753893636097296,
          0.5554876931241076
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.9936017178177466,
          -0.03087680855670514,
          -0.10863815647817093,
          0.14394984820007667
        ],
        [
          0.009375801907403595,
          0.9811335046509979,
          -0.1931039626466618,
          0.029098799327681245
        ],
        [
          0.11255096929043348,
          0.1908498591684123,
          0.9751454304703381,
          0.5651629523915027
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.9934685214565313,
          -0.03094365331704388,
          -0.10983072063119942,
          0.14613286054408525
        ],
        [
          0.009145394152491597,
          0.9810242864813356,
          -0.19366907626046648,
          0.028512227938733724
        ],
        [
          0.1137394330949893,
          0.1913996856141133,
          0.9748997393096633,
          0.5748382116588977
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.9933789168473455,
          -0.030988590090968583,
          -0.11062565185059378,
          0.14758820210675766
        ],
        [
          0.00899140639795068,
          0.9809512978470971,
          -0.19404562830190966,
          0.028121180346102045
        ],
        [
          0.11453157719241341,
          0.19176615586768672,
          0.9747349687425544,
          0.5812883845038277
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.9932080892375319,
          -0.03151122009217897,
          -0.11200327888697381,
          0.14943336253722186
        ],
        [
          0.009201276158504619,
          0.9808850837566213,
          -0.19437023686979732,
          0.029382519466850825
        ],
        [
          0.11598718890543866,
          0.1920195184664008,
          0.9745129432376698,
          0.5876272862471467
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.992947759288935,
          -0.03229582780934052,
          -0.11406895646578409,
          0.15220110318291818
        ],
        [
          0.00951516906897748,
          0.9807853762575582,
          -0.1948576590152643,
          0.031274528147974
        ],
        [
          0.11817025378948921,
          0.19239809049320022,
          0.9741759419601257,
          0.5971356388621252
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.9926825242955051,
          -0.03308122718618826,
          -0.1161337090002716,
          0.15496884382861453
        ],
        [
          0.00982796646384032,
          0.9806852055799385,
          -0.19534569007740937,
          0.03316653682909717
        ],
        [
          0.12035288543898563,
          0.19277489453891405,
          0.9738341866057183,
          0.6066439914771037
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.9925029766164036,
          -0.03360526458071544,
          -0.11750969151537548,
          0.15681400425907874
        ],
        [
          0.010035888643413642,
          0.9806181680619016,
          -0.19567138116254298,
          0.03442787594984595
        ],
        [
          0.12180772695816795,
          0.19302511406389658,
          0.9736037094187265,
          0.6129828932204227
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.9922881058721752,
          -0.03396156598842821,
          -0.11920959265186895,
          0.158987670237981
        ],
        [
          0.010016938377284974,
          0.9805585424709131,
          -0.19597093083634692,
          0.03479630107741548
        ],
        [
          0.12354746411868017,
          0.19326550862203073,
          0.9733367697189454,
          0.6191624076858926
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.9919600928188862,
          -0.034496803393581264,
          -0.1217585512823287,
          0.1622481692063344
        ],
        [
          0.00998750917430804,
          0.9804689541760624,
          -0.19642016077121952,
          0.03534893876876978
        ],
        [
          0.12615634710643764,
          0.19362489626213672,
          0.9729306119309007,
          0.6284316793840975
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.9916252335153339,
          -0.03503297977203651,
          -0.12430642213478753,
          0.16550866817468782
        ],
        [
          0.009956875593185765,
          0.9803791865567603,
          -0.19686927437954174,
          0.03590157646012408
        ],
        [
          0.12876434632335823,
          0.19398283659797724,
          0.9725175588241691,
          0.6377009510823024
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.991398191679533,
          -0.03539095046287591,
          -0.12600438944690265,
          0.16768233415359007
        ],
        [
          0.009935784213873814,
          0.9803192421672708,
          -0.19716861725092938,
          0.03627000158769361
        ],
        [
          0.1305025123382986,
          0.19422065817497997,
          0.9722383608002053,
          0.6438804655477723
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 702.2891235351562,
        "fy": 702.2893524169922,
        "cx": 416.0,
        "cy": 240.0
      }
    }
  ]
}