{ "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": [ [ 0.9999999988381678, -1.0995179582052475e-05, 4.6933683121183114e-05, -0.00012040915429576355 ], [ 1.0999017964024834e-05, 0.9999999965952304, -8.178362263812044e-05, -0.00011596544514781612 ], [ -4.6932783735766956e-05, 8.178413876752536e-05, 0.9999999955543343, -0.00036934803215042146 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999958034324247, 9.959912346462563e-05, -0.002895375200927434, -0.002273822882905695 ], [ -9.641633568916639e-05, 0.999999391028194, 0.001099384887682131, -0.0031520401059898615 ], [ 0.0028954829354967326, -0.0010991011125718398, 0.9999952040661568, 0.00857436430779249 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999829386708191, 0.0002136673982356999, -0.005837526318230338, -0.004427236611515627 ], [ -0.00020035565990926264, 0.9999973787578277, 0.0022808627936679684, -0.006188114766831907 ], [ 0.005837998362679025, -0.0022796542976793025, 0.9999803602828411, 0.0175180766477354 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9999676009094363, 0.00030149770897327176, -0.008044018309162846, -0.006042296907973076 ], [ -0.0002760283781675089, 0.9999949464176429, 0.0031671671112014073, -0.00846517076246344 ], [ 0.0080449325516818, -0.003164844120539513, 0.9999626307127341, 0.02422586090269259 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9999474636247505, 0.00035052457666897484, -0.010244370305174121, -0.008578100532681342 ], [ -0.0003042842650084619, 0.9999897613152824, 0.004514939167989162, -0.012312766866042836 ], [ 0.010245848013436983, -0.004511584768762018, 0.9999373321370494, 0.03382635542052971 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9999255363187829, 0.00037867597583208704, -0.012197476054496784, -0.011241367456089052 ], [ -0.0003065074275080797, 0.9999824414814747, 0.005918004895744913, -0.01643087011720135 ], [ 0.012199502891166395, -0.0059138256023073595, 0.9999080951747287, 0.04364577733099824 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9999065864872668, 0.0004015869055802465, -0.013662248253463384, -0.013238817648644836 ], [ -0.00030637580784409853, 0.9999756602430179, 0.00697029808580336, -0.01951944755557023 ], [ 0.013664714898100314, -0.006965461183428746, 0.9998823720404595, 0.051010343763849636 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9998842404952898, 0.0004494959983218951, -0.01520866734810367, -0.016310871205628276 ], [ -0.0003242935134235903, 0.999966049304732, 0.008233776266317654, -0.02303715659016197 ], [ 0.015211852052755888, -0.008227891056286362, 0.9998504394987738, 0.05992563723894582 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9998662227666631, 0.000514014473275006, -0.016348466577845135, -0.01979171139618744 ], [ -0.00036105605067838196, 0.9999561505038366, 0.009357708484281232, -0.025954471408186935 ], [ 0.01635255970342026, -0.009350553923152587, 0.9998225647245996, 0.06793680227866966 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9998469021213541, 0.0005798126829423854, -0.017488171304756356, -0.023272551586746612 ], [ -0.00039653625299542627, 0.9999449871626132, 0.010481670065491808, -0.028871786226211896 ], [ 0.017493286636074558, -0.010473130650119181, 0.9997921276230645, 0.07594796731839348 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9998326996319913, 0.0005809098802658845, -0.018282103005827666, -0.026947760530560198 ], [ -0.0003702462995423413, 0.9999335254700688, 0.011524216184939345, -0.031145174454690738 ], [ 0.018287582242668347, -0.01151551929834483, 0.9997664513030068, 0.08353270030920715 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.9998265224548034, 0.000532689483650399, -0.018618303839203553, -0.0298499438033612 ], [ -0.0003047207757288808, 0.9999249804321194, 0.012245025646145895, -0.032367270683890274 ], [ 0.018623429898483593, -0.012237228025167293, 0.9997516782226858, 0.08890142601563475 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.9998181055412074, 0.00046877317733448, -0.019066622241492432, -0.03371952150042921 ], [ -0.00021697678568048252, 0.9999127726379992, 0.013206060595956642, -0.03399673232282299 ], [ 0.019071149757317673, -0.013199521472304012, 0.9997309957582774, 0.09605972695753821 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.9998127457982131, 0.00037713745814885045, -0.019347638273839684, -0.03757028475702702 ], [ -0.00010443333863044906, 0.9999006687586061, 0.014094030997916512, -0.035458325016738776 ], [ 0.01935103183593753, -0.014089371292932485, 0.9997134725427353, 0.10302107796696221 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.9998159803655291, 0.0002451366179099908, -0.019181900681494595, -0.04041602470841745 ], [ 3.486971849903823e-05, 0.9998934760789985, 0.014595728099695348, -0.03617681441088753 ], [ 0.01918343529764403, -0.014593711066622644, 0.9997094674991756, 0.10779895387595138 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.999820221329334, 6.900546286732094e-05, -0.018961019466468724, -0.04421034464360468 ], [ 0.00022047625632578947, 0.9998834635594624, 0.01526468769918511, -0.03713480026975252 ], [ 0.018959863163591346, -0.015266123888510506, 0.9997036906254966, 0.11416945508793694 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.999824380242369, -0.0001072742173874529, -0.018740255206513432, -0.04800466457879192 ], [ 0.00040593313600595203, 0.9998729684390423, 0.015933681407233002, -0.03809278612861752 ], [ 0.018736165329438743, -0.015938490428531626, 0.9996974145368226, 0.12053995629992251 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.9998449175087589, -0.00039381951381266955, -0.017606414685945454, -0.05316928859182356 ], [ 0.0006810603907542925, 0.9998667260242838, 0.016311540277482557, -0.03852351556418678 ], [ 0.017597644406200534, -0.01632100167484614, 0.9997119324163749, 0.12557502865063455 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.9998640847591291, -0.0006807984082153725, -0.016472659843408198, -0.058333912604855195 ], [ 0.0009557570671829368, 0.9998602603151452, 0.01668970853426522, -0.03895424499975605 ], [ 0.01645899563210925, -0.016703184009570354, 0.9997250147449172, 0.1306101010013466 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.9998775611063505, -0.0008963168662242077, -0.015622400970777177, -0.062207380614628924 ], [ 0.0011614967571583496, 0.9998552645022328, 0.016973537417201274, -0.03927729207643299 ], [ 0.015604926186929829, -0.01698960456412518, 0.999733884398971, 0.13438640526438062 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.9999073812229528, -0.0011371191119555473, -0.013562298329638086, -0.06831898381245162 ], [ 0.0013746732349694637, 0.9998455797305363, 0.017519331231675896, -0.04045936108442243 ], [ 0.013540282469503255, -0.017536352341160955, 0.9997545384229136, 0.13755077886024616 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9999364219131223, -0.0013635776932827363, -0.011193426082162965, -0.074746246738538 ], [ 0.0015662905886923953, 0.9998345698030989, 0.018121251624652644, -0.041891876616551915 ], [ 0.011166864616992454, -0.018137631668070236, 0.9997731379928645, 0.1400915862044962 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9999544835941214, -0.0015343561725798935, -0.009416819587825923, -0.07956669393310278 ], [ 0.0017090655017430814, 0.9998260465391271, 0.01857298460264423, -0.04296626326564903 ], [ 0.009386683925899905, -0.018588233188632373, 0.9997831603661868, 0.1419971917126837 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.999977617138474, -0.001891249795738116, -0.006417818653545734, -0.08648061414178193 ], [ 0.002013473612067746, 0.9998157088176138, 0.019091734482390633, -0.044568827419579404 ], [ 0.006380528667217623, -0.01910422926324737, 0.9997971380626093, 0.1444984716345763 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9999932850970037, -0.002377615518000019, -0.0027886744793036277, -0.0938811916330538 ], [ 0.0024316280706415177, 0.9998063576795987, 0.019527783498921505, -0.04634144019531067 ], [ 0.00274170491282743, -0.019534433390893332, 0.9998054255535264, 0.14696022413411142 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9999955412862074, -0.0028655390771517956, 0.0008402937002463363, -0.10128176912432571 ], [ 0.002848192218545516, 0.9997966157476413, 0.01996534348940007, -0.04811405297104193 ], [ -0.000897334269697984, -0.01996286115166934, 0.9998003195467823, 0.1494219766336466 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.9999833273782205, -0.0034051786429877763, 0.004663659935322809, -0.10793524688838049 ], [ 0.00331007533329435, 0.9997894576512799, 0.02025052519436692, -0.04934331343821268 ], [ -0.004731634693307538, -0.02023475049930473, 0.9997840599376249, 0.15219931553705593 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.9999631272141006, -0.003848039982001559, 0.0076770307081293464, -0.11236503041600877 ], [ 0.003691123584301315, 0.999786098839921, 0.020350237667837043, -0.04985774455717036 ], [ -0.007753697110543986, -0.02032115042877633, 0.999763437532284, 0.1545190095175186 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9999217622057155, -0.004438921992342342, 0.011694675667266978, -0.11827140845284648 ], [ 0.004198714784112028, 0.9997813444392941, 0.020484972670701988, -0.0505436527157806 ], [ -0.011783049757102189, -0.020434267364004704, 0.9997217615195331, 0.15761193482480215 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9998617537507146, -0.005019105500764018, 0.015851875804384796, -0.1239768240447975 ], [ 0.004692395719260729, 0.9997771865756504, 0.020580539965976852, -0.05125758972795447 ], [ -0.015951639695006382, -0.02050331150935154, 0.9996625227586514, 0.16111435466260027 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9997993022216467, -0.005429187548191709, 0.01928416966516634, -0.12780372023776573 ], [ 0.005032482088838344, 0.9997759376082709, 0.020560853667306866, -0.051856107407603026 ], [ -0.019391477538699384, -0.02045967991121672, 0.9996026070878351, 0.16466253223460658 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9996974447233556, -0.005975724778065659, 0.023860212215528677, -0.13290624849505675 ], [ 0.005486031038235167, 0.9997740539013479, 0.02053642152645307, -0.05265413098046777 ], [ -0.023977541096633997, -0.02039931025896358, 0.9995043499974964, 0.16939343566394835 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9995743449003611, -0.00652197840956217, 0.0284357664682918, -0.13800877675234774 ], [ 0.00593968596013974, 0.9997719206118986, 0.020514065581710875, -0.053452154553332513 ], [ -0.028563073148891772, -0.020336434142224167, 0.9993851010990059, 0.17412433909329011 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9994204568860995, -0.007095370378787738, 0.03329273309249286, -0.14166242689894643 ], [ 0.006416744338561846, 0.9997703593695583, 0.02044636686939521, -0.05502840405201765 ], [ -0.033430162274115306, -0.020220886361685265, 0.9992364785200119, 0.18041295917085534 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9992426414302942, -0.007668192021009257, 0.03814894990085184, -0.14531607704554508 ], [ 0.00689412503268328, 0.9997685164119282, 0.02038098701059386, -0.056604653550702794 ], [ -0.03829640436702254, -0.02010254766494028, 0.9990641986328689, 0.1867015792484206 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9990935799951799, -0.008097425722388241, 0.04179055047598045, -0.1480563146554941 ], [ 0.00725236519558877, 0.9997669493443444, 0.020333474808131326, -0.05778684067471665 ], [ -0.041945459962728714, -0.020011963806021233, 0.9989194660697837, 0.1914180443065945 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9988879026433336, -0.008677592077552209, 0.046342824132090454, -0.1522020866534098 ], [ 0.007738356615916188, 0.9997617830134851, 0.020408210665860023, -0.059938082777811735 ], [ -0.046508878611370194, -0.020026897449001428, 0.9987171008793632, 0.19827525338432142 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.998666249902769, -0.009260704970140766, 0.050793313030326755, -0.15651189926843118 ], [ 0.008226600122618387, 0.9997553810448314, 0.020530492500838837, -0.0622809890823768 ], [ -0.050971014857105666, -0.020085253679266158, 0.9984981413247983, 0.2053219921287689 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.998486773389364, -0.00969820540558221, 0.05413047365771365, -0.15974425872969722 ], [ 0.008592419981201095, 0.9997503869322528, 0.02062363080734686, -0.0640381688108006 ], [ -0.05431697419190388, -0.020127310816952827, 0.9983208690966618, 0.2106070461871045 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.998247228082023, -0.01020261354633699, 0.05829561135610422, -0.1651226412620152 ], [ 0.009002210112972557, 0.999742766827641, 0.020817309838096907, -0.06562842554402544 ], [ -0.05849300675841294, -0.020256032499913024, 0.9980822918515904, 0.2168758672714014 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9980085881560411, -0.01062853247795022, 0.06217629985895477, -0.17156959371162978 ], [ 0.009333612575109583, 0.9997342213757527, 0.021080092184692957, -0.06646603270591006 ], [ -0.062383825171940674, -0.02045778354520729, 0.9978425414108852, 0.22236677069554772 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9977546770242324, -0.011055231173258753, 0.06605593341991146, -0.17801654616124432 ], [ 0.00966398665511654, 0.9997254794206644, 0.02134415983477864, -0.06730363986779468 ], [ -0.06627376432797293, -0.02065787164324186, 0.9975876104387884, 0.2278576741196941 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.997512584407095, -0.01146992567932018, 0.06954915351310505, -0.18290081305141737 ], [ 0.009995519948713132, 0.9997186529701455, 0.021510566810597407, -0.06730739097984698 ], [ -0.06977631066797284, -0.020761881139944146, 0.9973465850751673, 0.23278193513928463 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9973438533564772, -0.011771519936062196, 0.07187954848528601, -0.18539199904946602 ], [ 0.010245519768032648, 0.9997150164552082, 0.021561892278870516, -0.06668481227651198 ], [ -0.0721128802415806, -0.020768177396142735, 0.9971802321099761, 0.2360501491005607 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9971102678230741, -0.01217366552923273, 0.07498610317505387, -0.18871358038019756 ], [ 0.010578663278846018, 0.9997100487520296, 0.021631234533594227, -0.06585470733873197 ], [ -0.0752276922750542, -0.020775473323054166, 0.9969499355650578, 0.2404077677155955 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9968748421539719, -0.012578167144074101, 0.07798935050242108, -0.191966458270864 ], [ 0.010901844672987129, 0.9997010996542702, 0.021882895895407508, -0.06522524126827717 ], [ -0.07824128618076147, -0.020964280606281614, 0.9967140011434783, 0.24445867944314706 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.9967107063565763, -0.012887552130218064, 0.08001049202614546, -0.19425153394871741 ], [ 0.011121435111570105, 0.99968542969572, 0.02248010976714676, -0.06520457916691773 ], [ -0.08027503668784033, -0.021516334589672642, 0.9965404988411617, 0.2468067727419735 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.996485333898928, -0.013301804235626142, 0.08270454236871715, -0.1972983015191886 ], [ 0.01141232445916616, 0.9996639118732551, 0.023277073456503913, -0.0651770296984385 ], [ -0.08298637342829586, -0.022251411243735524, 0.9963022315155585, 0.2499375638070754 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.996252506281094, -0.01371804046317747, 0.08539765274578297, -0.2003450690896598 ], [ 0.01170104262174403, 0.9996416804453612, 0.024074806706151752, -0.06514948022995926 ], [ -0.08569731226942205, -0.02298534494466127, 0.996056044902882, 0.2530683548721773 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9960834893332575, -0.014015570662121932, 0.08729974831978252, -0.20497878115047932 ], [ 0.011890268027242547, 0.9996212844486846, 0.024817518074989078, -0.06534495074428931 ], [ -0.0876145182257064, -0.02368230259449328, 0.9958729059171658, 0.2552038673078664 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.995910751504516, -0.014314430445776887, 0.08920130110443086, -0.20961249321129888 ], [ 0.012078062623425624, 0.9996003087927485, 0.025560576376651337, -0.06554042125861936 ], [ -0.08953153322140156, -0.02437867392732905, 0.9956855853212752, 0.2573393797435556 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9957787567468273, -0.014539447058013744, 0.09062710461550996, -0.21308777725691352 ], [ 0.012217969120587816, 0.9995841967030545, 0.02611809587389274, -0.0656870241443669 ], [ -0.09096916423883278, -0.024900565872218765, 0.9955423511719287, 0.2589410140703224 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.9956409725058235, -0.014774317455516373, 0.09209111472548176, -0.21831372535192997 ], [ 0.012334790556363117, 0.9995592347784337, 0.02700350183000319, -0.06640596402745699 ], [ -0.09244948247334256, -0.025749868210846336, 0.9953843667034034, 0.2609392009689413 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9955149773368984, -0.01498829246096271, 0.09340921253827077, -0.2237370854583454 ], [ 0.012427515762232097, 0.9995324510419165, 0.02793628762235372, -0.06729939370013376 ], [ -0.09378425640743047, -0.026650148278087482, 0.9952357925872953, 0.2628916126885367 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.9954193057905766, -0.015149555745267496, 0.09439754562554935, -0.22780460553815696 ], [ 0.012496238490968106, 0.9995117942643549, 0.02863594157744283, -0.06796946595464133 ], [ -0.09478528199558982, -0.027325154842578744, 0.9951226488377428, 0.26435592147823334 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.9953107152136971, -0.015376598134838807, 0.09549942623177762, -0.23276349769095372 ], [ 0.012605429300132304, 0.9994837141549595, 0.02955348187890366, -0.06835479560269728 ], [ -0.0959045532441418, -0.02821108592037876, 0.9949906790006803, 0.26624465710709233 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.995221586759742, -0.015615502693902043, 0.09638542069752193, -0.23725792189013184 ], [ 0.012732347775007695, 0.9994550204062399, 0.030455697412783134, -0.06823202522613239 ], [ -0.09680847363509976, -0.029082954808263322, 0.9948780333146686, 0.2680697166452149 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.9951316205431738, -0.01585518294920899, 0.09727112093917686, -0.24175234608930993 ], [ 0.01285844604452839, 0.99942550303397, 0.031358001381084216, -0.06810925484956751 ], [ -0.09771242582413361, -0.029954583271066218, 0.9947637934608498, 0.26989477618333746 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.9950482862482661, -0.01596296229961333, 0.0981024559784815, -0.2463077168348078 ], [ 0.012830236134301691, 0.9993899808208043, 0.032481552852818174, -0.06869571242163978 ], [ -0.09856111340243084, -0.031062035825320345, 0.9946460962851359, 0.27197637146986176 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.994990936514111, -0.015944926993099705, 0.09868533608372368, -0.249769954803671 ], [ 0.01269330626105121, 0.9993584438566748, 0.033490008488036495, -0.06966747656217187 ], [ -0.09915601964044307, -0.032069611714991474, 0.9945549878078708, 0.2737299697460563 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9949139212883338, -0.015921798365236817, 0.09946248319586672, -0.25438627209548864 ], [ 0.012509794890291862, 0.999314798752515, 0.034834437357639754, -0.07096316208288131 ], [ -0.09994895826607776, -0.03341301140330279, 0.9944313834601605, 0.2760681007809824 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.9948666176013685, -0.015929084740256328, 0.09993336500764158, -0.2586433915546512 ], [ 0.012376005104906045, 0.9992724766923199, 0.03607425429361825, -0.07203821526390786 ], [ -0.1004352910089682, -0.034652295516098615, 0.9943399673830924, 0.27903826253077463 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.994899152358111, -0.016000760093502042, 0.09959745134059672, -0.26102803602554925 ], [ 0.012389797742216288, 0.9992469783759297, 0.03676913268600826, -0.07234808238539125 ], [ -0.10011078637698992, -0.0353475866645023, 0.9943482179638963, 0.2826879529515678 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.9949423612392239, -0.016095961807992956, 0.09914947213774573, -0.26420756198674666 ], [ 0.012408540673684654, 0.9992122245563995, 0.037695602069755044, -0.0727612385473691 ], [ -0.09967811158959373, -0.03627465107382068, 0.9943582974760181, 0.2875542068459587 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.9949853748846332, -0.016190745803599974, 0.0987013855830251, -0.2673870879479441 ], [ 0.012427686727946367, 0.9991766066971275, 0.03862203039465624, -0.07317439470934696 ], [ -0.0992454349996906, -0.03720172549139267, 0.9943673241072362, 0.2924204607403496 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.9951167212147826, -0.016148228132399925, 0.09737528375786532, -0.26903225171086087 ], [ 0.012399895510544323, 0.9991631778469471, 0.03897674468343561, -0.07326992083078238 ], [ -0.09792320332826333, -0.03757896702909902, 0.9944842218391188, 0.297977715167704 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.9952463047607395, -0.016105207446500475, 0.09604902473840415, -0.27067741547377766 ], [ 0.01237257597016238, 0.999149615031558, 0.03933149051526194, -0.07336544695221778 ], [ -0.09660078790546145, -0.03795614674061061, 0.9945992251659205, 0.3035349695950584 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.9953423354445076, -0.016072611877926673, 0.09505422883436151, -0.2719112882959652 ], [ 0.012352395884250626, 0.9991393550208757, 0.03959757018287175, -0.07343709154329434 ], [ -0.09560885726642893, -0.03823899051871318, 0.9946842343258073, 0.3077029104155742 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.9955121483862649, -0.01576257127460312, 0.09331186292308502, -0.27357290628701325 ], [ 0.012052648982383594, 0.9991193918906444, 0.040189232395963885, -0.07432438656848293 ], [ -0.09386317738000882, -0.03888421395479664, 0.9948254730540663, 0.3141136337841845 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.9956929244103232, -0.01536253767341517, 0.09143080834954727, -0.27524000902077167 ], [ 0.011662988694918577, 0.9990967900228062, 0.04086048042824733, -0.07547560456158925 ], [ -0.09197594780115585, -0.039618134766264315, 0.9949727777299846, 0.32080884679988014 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.9958260649178938, -0.015061600749806402, 0.09001997896576225, -0.2764903360710905 ], [ 0.011371578341127588, 0.9990794136594526, 0.0413643857432464, -0.07633901805641899 ], [ -0.09056012166607577, -0.04016806423936707, 0.9950805952178385, 0.3258302565616519 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.9960391877245237, -0.014577262461601822, 0.08771225647648466, -0.27863813699967976 ], [ 0.01091825335388691, 0.9990557580175373, 0.042052159465410584, -0.07740466777096566 ], [ -0.08824244024714746, -0.04092793411753833, 0.9952578439520581, 0.33205322456511377 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.9962843604806385, -0.01400907924886027, 0.08497775450248411, -0.28126663612309993 ], [ 0.010400809526367568, 0.9990313860292975, 0.04275643682040208, -0.07838474920695268 ], [ -0.08549442217408997, -0.04171373187548635, 0.9954650512951917, 0.3378039475563419 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.9965216944820594, -0.013438735516969811, 0.08224301073228224, -0.2838951352465201 ], [ 0.009885309174418471, 0.9990061690537223, 0.04346210826837601, -0.07936483064293971 ], [ -0.08274535086113005, -0.04249793618884116, 0.9956641664389444, 0.34355467054757005 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.9968071254614833, -0.012829862615888398, 0.07880957590592916, -0.28533403694895715 ], [ 0.009375403410826664, 0.9989854382854, 0.044047654927498, -0.07997821834144139 ], [ -0.07929474408874299, -0.04316814472484437, 0.9959160882528788, 0.3487242819419636 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.9970534557835843, -0.012344439806312215, 0.07571011237530006, -0.28552101516004763 ], [ 0.008996982199986866, 0.9989734571756648, 0.04439691621940996, -0.08016323881220366 ], [ -0.076180447762568, -0.043584936209297376, 0.9961410004182772, 0.35216565679013284 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.9973665374024195, -0.011695192957102992, 0.07157662000684382, -0.28577031944150155 ], [ 0.008494120329628383, 0.9989569731463586, 0.04486441487516755, -0.08040993277322 ], [ -0.0720266616589564, -0.044138285693505246, 0.9964255976972414, 0.35675415658769183 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.9976705415769225, -0.010990496459339506, 0.06732532552604054, -0.28613003398409265 ], [ 0.007939870424104833, 0.9989367497798355, 0.04541286598472611, -0.0808394669075517 ], [ -0.06775285180166593, -0.04477252424060447, 0.9966970312717229, 0.3613206314700947 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.9979044409346878, -0.010340199122144003, 0.06387336725852968, -0.2866482429785946 ], [ 0.007406089702170668, 0.9989138243145352, 0.04600349365682614, -0.08157300789825997 ], [ -0.06427967484479055, -0.04543403873116117, 0.9968971218367639, 0.3646959315727957 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.9981970619503538, -0.009469574679452628, 0.059270166771081344, -0.28733918830459715 ], [ 0.006697585703116064, 0.9988821148366499, 0.04679383511971653, -0.08255106255253766 ], [ -0.05964702724722281, -0.04631250171230302, 0.9971446155526876, 0.36919633170973026 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.998467682847248, -0.00859489829292413, 0.054666388512337814, -0.2880301336305997 ], [ 0.005992757751606364, 0.9988491006601514, 0.047587403427141024, -0.08352911720681536 ], [ -0.055012481894367686, -0.04718688200910504, 0.9973700541935681, 0.3736967318466649 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 686.3661193847656, "fy": 686.3659858703613, "cx": 416.0, "cy": 240.0 } } ] }