{
  "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": [
        [
          0.9999999999771467,
          6.751316825157251e-06,
          3.552240104481955e-07,
          0.00012730214660060197
        ],
        [
          -6.751325277644166e-06,
          0.9999999996939852,
          2.3800189117402405e-05,
          -4.145036653153681e-05
        ],
        [
          -3.5506332772226145e-07,
          -2.380019151509133e-05,
          0.9999999997167124,
          -0.0004044154094565896
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9999340907538358,
          0.0003045837228990535,
          -0.011476993380476077,
          0.0015627413116757628
        ],
        [
          -0.00031152803215344884,
          0.9999997695014048,
          -0.0006032805503343521,
          -0.0008462205269969895
        ],
        [
          0.011476806985609251,
          0.0006068161937309119,
          0.9999339551568004,
          0.012784475352062378
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9997363677145494,
          0.0005951586214164888,
          -0.022953014075160316,
          0.0029981804767509235
        ],
        [
          -0.0006234816832970754,
          0.9999990530891162,
          -0.0012268216910184583,
          -0.0016509906874624422
        ],
        [
          0.02295226218719512,
          0.0012408090450645372,
          0.999735792123801,
          0.025973366113581347
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9995880835027519,
          0.0007377124617091026,
          -0.028690052276349978,
          0.0037159000592885036
        ],
        [
          -0.0007821370105490267,
          0.9999985125776714,
          -0.0015372391296935356,
          -0.0020533757676951684
        ],
        [
          0.028688875561663003,
          0.0015590454672557187,
          0.9995871736853363,
          0.03256781149434083
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9991926942021889,
          0.0010173293640948677,
          -0.0401612362102617,
          0.005151339224363664
        ],
        [
          -0.0011047784470086905,
          0.999997067033512,
          -0.0021553164401615474,
          -0.002858145928160621
        ],
        [
          0.04015892575199828,
          0.0021979457088736093,
          0.9991908875270565,
          0.045756702255859795
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9986655891116145,
          0.0012895945211260052,
          -0.05162729966135474,
          0.006586778389438825
        ],
        [
          -0.0014344919457584132,
          0.9999951356269592,
          -0.0027696489447915627,
          -0.0036629160886260735
        ],
        [
          0.05162347680280544,
          0.002840012040628096,
          0.9986625811425998,
          0.05894559301737876
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9983526642440209,
          0.0014229589075473296,
          -0.05735793741769881,
          0.007304497971976406
        ],
        [
          -0.0016019871317179937,
          0.9999939878025788,
          -0.0030753854922163006,
          -0.0040653011688588005
        ],
        [
          0.05735321642327509,
          0.0031622059773765933,
          0.9983489415125664,
          0.06554003839813825
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9977152870733003,
          0.001835140926419039,
          -0.06753397810007973,
          0.008528522399158828
        ],
        [
          -0.002072008722256762,
          0.9999919451246951,
          -0.0034375086302935185,
          -0.006843068004209524
        ],
        [
          0.06752712580953492,
          0.0035695859015623076,
          0.9977110530290794,
          0.07709970592848371
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.996974016329824,
          0.002243147546251243,
          -0.07770314699074861,
          0.00975254682634125
        ],
        [
          -0.0025456968309004162,
          0.9999895593293503,
          -0.0037948201455663857,
          -0.009620834839560246
        ],
        [
          0.07769382337628443,
          0.0039811457368199845,
          0.9969693176260728,
          0.08865937345882915
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9961289293137855,
          0.0026469362198489094,
          -0.08786438364217575,
          0.010976571253523672
        ],
        [
          -0.003023002061145657,
          0.9999868306653358,
          -0.004147282777358261,
          -0.01239860167491097
        ],
        [
          0.08785224893370516,
          0.004396842565422976,
          0.996123812652195,
          0.10021904098917461
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9951801141514076,
          0.00304646483986718,
          -0.09801662843401057,
          0.012200595680706094
        ],
        [
          -0.0035038746392934013,
          0.999983759417199,
          -0.004494859770637229,
          -0.015176368510261693
        ],
        [
          0.09800134315458922,
          0.004816633038236301,
          0.9951746262772536,
          0.11177870851952007
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9946668390127895,
          0.003244618592591844,
          -0.10308904800459782,
          0.012812607894297305
        ],
        [
          -0.0037456330276868094,
          0.9999820954227749,
          -0.004666804806093447,
          -0.016565251927937057
        ],
        [
          0.10307206023713493,
          0.005028049727765476,
          0.9946611830741198,
          0.1175585422846928
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9936338381457458,
          0.003539801880029278,
          -0.11260224462418325,
          0.01485745434745187
        ],
        [
          -0.004131572483428105,
          0.9999788521477017,
          -0.005022486055687424,
          -0.018490084473210065
        ],
        [
          0.1125820847229631,
          0.005455736432007697,
          0.9936274498721421,
          0.1288738431442983
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.992586577433537,
          0.0037331299180435465,
          -0.1214823034017396,
          0.017723122826578577
        ],
        [
          -0.004420661360074231,
          0.9999756998552564,
          -0.005390496464139298,
          -0.01956198272840536
        ],
        [
          0.12145922794055974,
          0.005887566560588493,
          0.9925789603392154,
          0.13994477733316385
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9920331693456722,
          0.0038283439454476044,
          -0.12591876230576768,
          0.019155957066141933
        ],
        [
          -0.004566436380353897,
          0.9999740413834848,
          -0.0055735283227960515,
          -0.020097931856003007
        ],
        [
          0.12589415624549552,
          0.0061041249836634275,
          0.9920248994261277,
          0.14548024442759663
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9908668531503819,
          0.0040158624778996194,
          -0.13478409467150917,
          0.02202162554526864
        ],
        [
          -0.004860432980152993,
          0.999970559955,
          -0.0059376270116695065,
          -0.021169830111198305
        ],
        [
          0.13475628192817282,
          0.006538506851175135,
          0.9908572008160673,
          0.15655117861646217
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.9896212821571834,
          0.004199489155090983,
          -0.1436387210762086,
          0.024887294024395348
        ],
        [
          -0.005157671995443675,
          0.9999668594476175,
          -0.006299081366064685,
          -0.0222417283663936
        ],
        [
          0.1436075078857648,
          0.006974546387053462,
          0.9896101451488535,
          0.16762211280532774
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.9882965561973885,
          0.004379209259520913,
          -0.15248193183011371,
          0.027752962503522056
        ],
        [
          -0.005458129602806017,
          0.99996294015793,
          -0.00665786241576427,
          -0.023313626621588895
        ],
        [
          0.1524471247010618,
          0.007412208643150846,
          0.9882838323747938,
          0.17869304699419328
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9867253161333387,
          0.004396754980574088,
          -0.1623385938315465,
          0.032367597885230644
        ],
        [
          -0.005707819591234257,
          0.9999547487593138,
          -0.007610599793161292,
          -0.022955480055896746
        ],
        [
          0.1622977858662186,
          0.008436170893156519,
          0.9867057614727831,
          0.1897992287839235
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9859028383522485,
          0.004401694899988309,
          -0.16726092912269752,
          0.03467491557608493
        ],
        [
          -0.005836225335426187,
          0.9999502761470287,
          -0.008086019250255205,
          -0.02277640677305067
        ],
        [
          0.16721702007515488,
          0.008948201801970337,
          0.9858795047477642,
          0.1953523196787886
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.98418427070186,
          0.0044039082354971944,
          -0.17709298940190024,
          0.03928955095779352
        ],
        [
          -0.006100142179343987,
          0.9999405776588445,
          -0.009034899926865996,
          -0.02241826020735852
        ],
        [
          0.17704267725167291,
          0.009972298809703545,
          0.9841526526347476,
          0.20645850146851885
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9823676986785201,
          0.004395899488160612,
          -0.1869074120005902,
          0.043904186339502105
        ],
        [
          -0.006373510609977813,
          0.9999298756426216,
          -0.009981090112612763,
          -0.022060113641666376
        ],
        [
          0.18685042936951707,
          0.010996356897699585,
          0.9823268280869691,
          0.21756468325824907
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9814227177416385,
          0.004388062044997833,
          -0.19180770060689872,
          0.0462115040303564
        ],
        [
          -0.006513730614748946,
          0.9999241486439456,
          -0.010453146519553458,
          -0.0218810403588203
        ],
        [
          0.19174728267721275,
          0.01150833915775946,
          0.981376858151717,
          0.22311777415311418
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9794594848296653,
          0.004364722005083046,
          -0.20159381632139817,
          0.05082613941206498
        ],
        [
          -0.006801224573373991,
          0.9999119433855189,
          -0.011395122610037061,
          -0.02152289379312815
        ],
        [
          0.2015263281100259,
          0.012532145738603102,
          0.9794029223979664,
          0.2342239559428444
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.9770432048992772,
          0.004356363549577495,
          -0.21299670855854327,
          0.05626859380129349
        ],
        [
          -0.007220360709529293,
          0.9998936609636848,
          -0.01267016794933135,
          -0.023401243882765512
        ],
        [
          0.21291886283599534,
          0.01391721456556197,
          0.9769707615826396,
          0.24487603251531875
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9744942504219274,
          0.0043318600579477385,
          -0.22437065512906204,
          0.06171104819052199
        ],
        [
          -0.007654317119361688,
          0.9998735328813971,
          -0.013940217814298946,
          -0.025279593972402873
        ],
        [
          0.22428189254605993,
          0.015302066256300425,
          0.9744041663725815,
          0.2555281090877931
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9718129722482622,
          0.0042912149029750305,
          -0.2357140904669358,
          0.0671535025797505
        ],
        [
          -0.008103034070973845,
          0.9998515619091841,
          -0.015205097389021894,
          -0.027157944062040234
        ],
        [
          0.23561385317685152,
          0.01668651019301185,
          0.9717034900465963,
          0.26618018566026747
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9704228263978153,
          0.004264840863276548,
          -0.24137387832672932,
          0.06987472977436476
        ],
        [
          -0.008332908527952163,
          0.9998398862745184,
          -0.015835543881506993,
          -0.028097119106858914
        ],
        [
          0.2412676949811984,
          0.01737851970017234,
          0.9703029869125882,
          0.27150622394650464
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.9675437603532548,
          0.004199994397279021,
          -0.25266862062501244,
          0.07531718416359326
        ],
        [
          -0.008803649852869834,
          0.9998151567169363,
          -0.017092341804337847,
          -0.029975469196496275
        ],
        [
          0.2525501287878343,
          0.01876199472740239,
          0.967401891668141,
          0.282158300518979
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.9643271994650047,
          0.003981839547553224,
          -0.264683201820211,
          0.08006343953760106
        ],
        [
          -0.009177769710956907,
          0.999788637257589,
          -0.01839699306260767,
          -0.03180730509436201
        ],
        [
          0.26455400377827143,
          0.0201699222713062,
          0.9641599210299377,
          0.29226295007957453
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.962557348155851,
          0.0037974219267116857,
          -0.27105152849206776,
          0.08208846771699461
        ],
        [
          -0.009315517523268634,
          0.9997746682261222,
          -0.019074430702409204,
          -0.03269996594740907
        ],
        [
          0.2709180183089515,
          0.020885218697870155,
          0.9623758283516335,
          0.29704156135393295
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9588916256627906,
          0.003414420599337831,
          -0.2837519902410234,
          0.08613852407578171
        ],
        [
          -0.00960442446738535,
          0.9997452247228101,
          -0.020426469949268618,
          -0.034485287653503185
        ],
        [
          0.28360995268929,
          0.022312045533946494,
          0.9586801173278134,
          0.3065987839026497
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9550584198116948,
          0.0030125879306689106,
          -0.29640232634166125,
          0.0901885804345688
        ],
        [
          -0.00991117027871984,
          0.999713778340347,
          -0.021774528701531674,
          -0.036270609359597306
        ],
        [
          0.29625189189352846,
          0.023733640901210128,
          0.9548149196776712,
          0.31615600645136643
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9510584082704217,
          0.002591994960219702,
          -0.30900030035625875,
          0.0942386367933559
        ],
        [
          -0.010235700728048613,
          0.9996803346381011,
          -0.023118368637510985,
          -0.038055931065691426
        ],
        [
          0.30884160096842156,
          0.025149753477523833,
          0.9507809187248564,
          0.3257132290000832
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9468922981962065,
          0.0021527160441161975,
          -0.3215436851041238,
          0.09828869315214299
        ],
        [
          -0.010577958442023389,
          0.9996448995285446,
          -0.024457752181358604,
          -0.03984125277178554
        ],
        [
          0.32137685419442596,
          0.026560132910046403,
          0.9465788276355517,
          0.3352704515488
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9443706742233027,
          0.0018981925543245575,
          -0.3288775251245541,
          0.09916178530799657
        ],
        [
          -0.010759514339088682,
          0.9996263803059462,
          -0.025126333748065423,
          -0.03977045535154838
        ],
        [
          0.32870695538459777,
          0.0272671351898019,
          0.9440382623709325,
          0.34016669682938894
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.9391572094737479,
          0.0013727296922438383,
          -0.3434848635772395,
          0.10090796961970373
        ],
        [
          -0.011138150944967774,
          0.999587843065313,
          -0.026459130551899572,
          -0.039628860511074046
        ],
        [
          0.3433069726746165,
          0.02867506947205855,
          0.9387854189876208,
          0.349959187390567
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9337178493327006,
          0.0008254858337775634,
          -0.358008793761626,
          0.1026541539314109
        ],
        [
          -0.011537410183756022,
          0.9995473152768198,
          -0.027785836124790506,
          -0.03948726567059972
        ],
        [
          0.35782379183582524,
          0.030074625451369845,
          0.9333046934952122,
          0.3597516779517449
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9309138689724815,
          0.0005437373377079405,
          -0.3652383781920972,
          0.10352724608726449
        ],
        [
          -0.01174474319865751,
          0.999526307982646,
          -0.02844680399937166,
          -0.03941646825036256
        ],
        [
          0.36504990009844335,
          0.030771155329117263,
          0.9304792885593038,
          0.3646479232323339
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9251381584852559,
          -3.5927297073364006e-05,
          -0.3796305920546172,
          0.10527343039897165
        ],
        [
          -0.01217475310835615,
          0.9994828129686931,
          -0.029763769367124368,
          -0.03927487340988823
        ],
        [
          0.3794353213675032,
          0.032157507512525337,
          0.9246592516215483,
          0.3744404137935119
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.9191399556400981,
          -0.0006370309859066153,
          -0.39393062350805075,
          0.10701961471067882
        ],
        [
          -0.01262513402252248,
          0.9994373529022537,
          -0.03107384132432816,
          -0.039133278569413905
        ],
        [
          0.39372877458579525,
          0.033534636053775414,
          0.9186147616100608,
          0.3842329043546899
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.9131634766967913,
          -0.0012502733097477237,
          -0.4075915868166071,
          0.10723804102930537
        ],
        [
          -0.01303992625954798,
          0.9993937937843713,
          -0.03228010638810041,
          -0.038686243367196234
        ],
        [
          0.4073848612186938,
          0.03479197841360077,
          0.9125936078495692,
          0.39397909863474817
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.9069839225475878,
          -0.0018822055420674218,
          -0.421161039915243,
          0.10745646734793193
        ],
        [
          -0.013472662124001273,
          0.9993485766490328,
          -0.03347998991703661,
          -0.03823920816497857
        ],
        [
          0.42094970200189474,
          0.03603997297237863,
          0.9063677337221722,
          0.4037252929148064
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9038184237146012,
          -0.0022051362354903476,
          -0.42791049803462017,
          0.10756568050724521
        ],
        [
          -0.013695728736405796,
          0.9993253494802773,
          -0.03407745443105324,
          -0.03801569056386973
        ],
        [
          0.4276969534243055,
          0.03666037725262315,
          0.903178461197599,
          0.40859839005483556
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.8973368701980209,
          -0.0028648362209454372,
          -0.4413369847368874,
          0.10778410682587176
        ],
        [
          -0.014155196769443996,
          0.9992776644539346,
          -0.03526726141775465,
          -0.03756865536165206
        ],
        [
          0.44111922627294176,
          0.03789382584164711,
          0.896648139559462,
          0.41834458433489385
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.8906557919311022,
          -0.003542863912542004,
          -0.45466439096863387,
          0.10800253314449831
        ],
        [
          -0.014632358236137791,
          0.9992283474619634,
          -0.03645001674736863,
          -0.0371216201594344
        ],
        [
          0.4544426854863338,
          0.039117230777898,
          0.8899166746747912,
          0.4280907786149521
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.8872408976510266,
          -0.0038887032749872763,
          -0.4612900037094234,
          0.1081117463038116
        ],
        [
          -0.014877540710306801,
          0.9992030804219796,
          -0.037038667060795866,
          -0.03689810255832556
        ],
        [
          0.46106642506022266,
          0.03972508102026255,
          0.8864759836679841,
          0.43296387575498124
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.8808763086085631,
          -0.004438771754666116,
          -0.47332570840538746,
          0.10770014369157892
        ],
        [
          -0.015266954147616505,
          0.9991693600634705,
          -0.037782403594925074,
          -0.038620673070460666
        ],
        [
          0.4731002526349003,
          0.040507866096169645,
          0.8800768510426398,
          0.44140570727429257
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.8743483445028274,
          -0.0049994548651739025,
          -0.4852730962213099,
          0.10728854107934624
        ],
        [
          -0.015666463542573485,
          0.9991349832909494,
          -0.03852073577002379,
          -0.04034324358259577
        ],
        [
          0.4850459095644811,
          0.04128305481969404,
          0.8735136947979235,
          0.4498475387936039
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.8676582219809666,
          -0.0055706481093816766,
          -0.49712994046674464,
          0.10687693846711355
        ],
        [
          -0.016075994436746614,
          0.9990999565113755,
          -0.03925352597967749,
          -0.04206581409473087
        ],
        [
          0.4969011694811125,
          0.042050502715294216,
          0.8667877381399056,
          0.4582893703129153
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.8608071879123501,
          -0.0061522450313377846,
          -0.5088940313262741,
          0.10646533585488087
        ],
        [
          -0.016495470503951174,
          0.9990642862528542,
          -0.039980637650353645,
          -0.043788384606865974
        ],
        [
          0.5086638228646555,
          0.0428100667501229,
          0.8599002346165309,
          0.4667312018322266
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.8573217269015007,
          -0.006446911073246242,
          -0.5147406083846918,
          0.10625953454876454
        ],
        [
          -0.016708913618287295,
          0.999046211891847,
          -0.04034202164304294,
          -0.044649669862933526
        ],
        [
          0.5145097363396786,
          0.04318684802303575,
          0.856396302753293,
          0.47095211759188227
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.8504571422336165,
          -0.0070348271127684365,
          -0.5259973007833062,
          0.10675785100973083
        ],
        [
          -0.017048660488481547,
          0.999016711688184,
          -0.04092618896595145,
          -0.04590038922512644
        ],
        [
          0.525768002449159,
          0.04377351910940833,
          0.8495009632869168,
          0.47921775299558805
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.8436746062965945,
          -0.007620235787836722,
          -0.5368007923772323,
          0.1081660865438961
        ],
        [
          -0.01730063830881985,
          0.9989940046747843,
          -0.0413722919107085,
          -0.04667925743737715
        ],
        [
          0.5365760399089715,
          0.04419174844216116,
          0.8426940386434634,
          0.48730719228368824
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.8402317242216353,
          -0.007914930683270541,
          -0.5421697183390244,
          0.10887020431097874
        ],
        [
          -0.017428758916578472,
          0.9989825660637736,
          -0.04159412294142368,
          -0.04706869154350251
        ],
        [
          0.5419473110683046,
          0.044398046949359206,
          0.8392388965323979,
          0.49135191192773836
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.8332434347391703,
          -0.008508241426607336,
          -0.552840834501122,
          0.11027843984514402
        ],
        [
          -0.017689237370858146,
          0.9989595209683764,
          -0.04203529883169317,
          -0.04784755975575323
        ],
        [
          0.5526232616758977,
          0.044804969528601093,
          0.8322259581148821,
          0.4994413512158386
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.8261193982622839,
          -0.009106699266583897,
          -0.5634215187967447,
          0.11168667537930929
        ],
        [
          -0.017955329928948854,
          0.998936255182113,
          -0.042473099838360805,
          -0.04862642796800394
        ],
        [
          0.5632089718229861,
          0.04520427093986553,
          0.825077104243531,
          0.5075307905039388
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.8188607783126802,
          -0.009710206461044025,
          -0.5739100431527886,
          0.11309491091347457
        ],
        [
          -0.01822699313171505,
          0.9989127725048301,
          -0.04290745445828711,
          -0.04940529618025466
        ],
        [
          0.5737027126156264,
          0.04559588596789702,
          0.8177935024933094,
          0.515620229792039
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.8114307924056515,
          -0.01024843966406193,
          -0.5843586558102727,
          0.11520745772305324
        ],
        [
          -0.01830956493360464,
          0.9989097278089942,
          -0.04294316616766268,
          -0.048798874079112854
        ],
        [
          0.5841616462657222,
          0.0455447601049062,
          0.8103584675062685,
          0.5228933330154082
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.8076656218953056,
          -0.010517299218629114,
          -0.5895469698214175,
          0.11626373112784258
        ],
        [
          -0.018351021368184575,
          0.9989082164052453,
          -0.04296062398098992,
          -0.048495663028541955
        ],
        [
          0.5893551418484562,
          0.04551660812535789,
          0.8065908226365762,
          0.5265298846270927
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.8000357007938256,
          -0.011054448891102511,
          -0.5998505452319323,
          0.11837627793742125
        ],
        [
          -0.018434266771110222,
          0.9989052157971978,
          -0.04299473993135986,
          -0.04788924092740015
        ],
        [
          0.5996691214861276,
          0.045455131865035116,
          0.7989560536870526,
          0.5338029878504618
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.792274055566214,
          -0.011590765615845567,
          -0.6100553048938285,
          0.12048882474699993
        ],
        [
          -0.018517944121200308,
          0.998902245199676,
          -0.04302778498331649,
          -0.047282818826258344
        ],
        [
          0.6098843387251288,
          0.04538676775762893,
          0.7911896957685479,
          0.5410760910738309
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.7883442349822011,
          -0.011858584017898117,
          -0.6151201030330732,
          0.12154509815178927
        ],
        [
          -0.018559940473064467,
          0.9989007713079261,
          -0.04304390421495926,
          -0.046979607775687444
        ],
        [
          0.6149543851213392,
          0.04535000623506832,
          0.7872575697664106,
          0.5447126426855154
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.7803874067986529,
          -0.012393485772901459,
          -0.6251734933764151,
          0.12365764496136794
        ],
        [
          -0.018644239885788418,
          0.9988978466418383,
          -0.04307533277154755,
          -0.04637318567454564
        ],
        [
          0.625018309835124,
          0.04527133181932327,
          0.7792962330758118,
          0.5519857459088846
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.7719164361201434,
          -0.012815714218440872,
          -0.6355948183525795,
          0.12524799930324942
        ],
        [
          -0.01891795367406698,
          0.9988909271883247,
          -0.04311643085455235,
          -0.046908748801847644
        ],
        [
          0.6354424652762538,
          0.045306434972537744,
          0.7708178775000725,
          0.5578297750684049
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.7633061317012634,
          -0.013238377438367727,
          -0.6459013041247504,
          0.12683835364513088
        ],
        [
          -0.01919219685364916,
          0.998884079898968,
          -0.04315384692380779,
          -0.04744431192914965
        ],
        [
          0.6457518167896895,
          0.04533586094023111,
          0.7622002694998367,
          0.5636738042279251
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.754558048403932,
          -0.01366139910751242,
          -0.6560910895319908,
          0.12842870798701236
        ],
        [
          -0.019466919901282846,
          0.9988773060102623,
          -0.04318757422266296,
          -0.04797987505645165
        ],
        [
          0.6559445026969938,
          0.04535960440861717,
          0.7534449652559153,
          0.5695178333874454
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.7501328323811791,
          -0.013873020490849413,
          -0.6611416437392599,
          0.1292238851579531
        ],
        [
          -0.019604445875663058,
          0.9988739469739397,
          -0.04320305265384935,
          -0.04824765662010265
        ],
        [
          0.6609965200254069,
          0.04536934382557845,
          0.7490161701559843,
          0.5724398479672056
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.7411810504800863,
          -0.014296436586304216,
          -0.6711529351125343,
          0.13081423949983456
        ],
        [
          -0.019879795682167085,
          0.9988672854755818,
          -0.04323123558583346,
          -0.048783219747404655
        ],
        [
          0.671010763052927,
          0.04538455582658406,
          0.7400572937006652,
          0.5782838771267258
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.7320636657076083,
          -0.01462049489667931,
          -0.681079312914227,
          0.13117140734193516
        ],
        [
          -0.020202395090990248,
          0.9988640239667665,
          -0.04315697924445414,
          -0.04923644422901294
        ],
        [
          0.6809365995328249,
          0.04535308979435566,
          0.7309366899142349,
          0.5835078386003087
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.7274389480744592,
          -0.014732525284101872,
          -0.6860142341985898,
          0.130733398013095
        ],
        [
          -0.020386590725846844,
          0.9988640887567192,
          -0.04306877187459536,
          -0.04942188714697022
        ],
        [
          0.6858694946875106,
          0.04531539353202639,
          0.7263122960312158,
          0.5858097854941315
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.7180898769903578,
          -0.014955808586672753,
          -0.6957896609992791,
          0.1298573793554147
        ],
        [
          -0.020753171191232295,
          0.9988642907360762,
          -0.04288862993641717,
          -0.04979277298288478
        ],
        [
          0.6956408803754135,
          0.0452377329431343,
          0.7169639552088274,
          0.5904136792817771
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.7086093866380204,
          -0.015178021223287631,
          -0.7054377115240114,
          0.1289813606977344
        ],
        [
          -0.021117281384628858,
          0.9988645892153889,
          -0.042703545970976385,
          -0.050163658818799334
        ],
        [
          0.7052849052655326,
          0.045157060171343265,
          0.7074843053533207,
          0.5950175730694228
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.6989992122234079,
          -0.015399122522559552,
          -0.7149566198984316,
          0.12810534204005408
        ],
        [
          -0.021478854663262312,
          0.9988649841400263,
          -0.04251355385403135,
          -0.050534544654713895
        ],
        [
          0.7147998042203214,
          0.04507338998212102,
          0.6978750815168213,
          0.5996214668570684
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.6892611126884436,
          -0.01561907201650867,
          -0.7243446438849616,
          0.12722932338237378
        ],
        [
          -0.021837824848687747,
          0.9988654754377062,
          -0.042318688359675144,
          -0.050905430490628456
        ],
        [
          0.7241838357360421,
          0.04498673768955007,
          0.688138042467269,
          0.604225360644714
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.6846766188859399,
          -0.015698862809830134,
          -0.7286778940364498,
          0.12554767591066893
        ],
        [
          -0.022022276459379014,
          0.9988659259047392,
          -0.04221233713044803,
          -0.050902018585345474
        ],
        [
          0.7285142050025271,
          0.044948946294057365,
          0.6835544201719348,
          0.6055281406068503
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.6754260606099571,
          -0.015857721312259838,
          -0.7372571934702958,
          0.12218438096725924
        ],
        [
          -0.02238914850714373,
          0.99886688253917,
          -0.04199615453354108,
          -0.050895194774779495
        ],
        [
          0.7370877577860315,
          0.04487185800992309,
          0.6743056826697353,
          0.6081337005311229
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.6660679706142799,
          -0.01601559464092846,
          -0.7457190886990038,
          0.11882108602384954
        ],
        [
          -0.02275326369147272,
          0.9988679133125948,
          -0.04177536051226071,
          -0.05088837096421353
        ],
        [
          0.7455439272860865,
          0.044792772663014575,
          0.6649495168837996,
          0.6107392604553956
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.6613490661749089,
          -0.016094154003812252,
          -0.7499055879752317,
          0.11713943855214469
        ],
        [
          -0.022934269325746975,
          0.9988684564506036,
          -0.04166324517465096,
          -0.05088495905893054
        ],
        [
          0.7497275718286414,
          0.044752485013578286,
          0.6602316132426858,
          0.612042040417532
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.6518324775792071,
          -0.016250502491632134,
          -0.7581888566457055,
          0.113776143608735
        ],
        [
          -0.02329414065439993,
          0.9988695981211179,
          -0.04143560015891828,
          -0.05087813524836457
        ],
        [
          0.7580051478612303,
          0.044670427780872816,
          0.6507171034310903,
          0.6146476003418045
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.6422121137712178,
          -0.016405803268118434,
          -0.766351388427419,
          0.1104128486653253
        ],
        [
          -0.023651111029179536,
          0.9988708134982585,
          -0.04120343296878568,
          -0.0508713114377986
        ],
        [
          0.7661620101992727,
          0.0445864055565773,
          0.6410989210464751,
          0.6172531602660772
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 638.420918782552,
        "fy": 638.4210205078125,
        "cx": 416.0,
        "cy": 240.0
      }
    }
  ]
}