{ "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": [ [ 0.9999999999032615, -5.082246533031286e-06, 1.2947892917836726e-05, 6.327106805876718e-05 ], [ 5.083733234936432e-06, 0.9999999933947481, -0.00011482447316387227, 0.0001272803602762872 ], [ -1.2947309266031987e-05, 0.00011482453897639787, 0.9999999933238463, -8.131132207714602e-05 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999895687568013, -4.980966604360378e-05, -0.004567263577247606, -0.002852652499048402 ], [ 4.8958673735739596e-05, 0.9999999814223441, -0.00018643594089722248, 0.0020650477415962427 ], [ 0.004567272778710508, 0.00018621038897123838, 0.9999895526179542, 0.02508151267126303 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999647718213508, -0.0001607683714200829, -0.00839221483310844, -0.004102546881564733 ], [ 0.00015554042262921542, 0.9999997934643575, -0.0006236011704106637, -0.0007431473209005297 ], [ 0.00839231335516154, 0.0006222738734352895, 0.9999645902989645, 0.045187810383992826 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9999192645201548, -0.0004032960453208471, -0.012700464313262664, -0.0048241562934364995 ], [ 0.0003909166194091072, 0.9999994461420537, -0.0009771897371427447, -0.0005102602679590592 ], [ 0.012700851375766101, 0.0009721460206861501, 0.9999188683620511, 0.06893832870425737 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.999871769864991, -0.00047383518687735537, -0.016006851884933178, -0.0050363486888202426 ], [ 0.0004560059349477317, 0.9999992716452047, -0.0011174827280643043, 0.0002784594313839819 ], [ 0.016007369728903133, 0.0011100402136438555, 0.9998712576752502, 0.08891320745382345 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9998099576461333, -0.0004813850591417355, -0.01948889068321363, -0.005916442605607866 ], [ 0.00045380915140292574, 0.9999988897464847, -0.0014193530400640143, -0.0016534282147054867 ], [ 0.01948955230095137, 0.001410239065928579, 0.9998090660605582, 0.11187293180340221 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9997557956055237, -0.000584059191712354, -0.02209090373948145, -0.0071118023435350645 ], [ 0.0005526679898967692, 0.9999988290000256, -0.0014270797702930626, -0.0019908687068489503 ], [ 0.02209171137009088, 0.0014145223357771863, 0.999754947682332, 0.13102823992885404 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9996938769239577, -0.0006595294053672381, -0.02473292262775054, -0.008855834393425922 ], [ 0.0006309978232218179, 0.9999991265259065, -0.0011613738291471728, -0.0006586170068995139 ], [ 0.024733666984374316, 0.0011454118854781353, 0.999693419878874, 0.15441113153470507 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9996486983410173, -0.0005045033660423914, -0.026499535495240766, -0.010426243426162954 ], [ 0.00048015206568505523, 0.9999994566478293, -0.0009252880849922742, -0.0013277467996102143 ], [ 0.026499987907614066, 0.0009122392230452452, 0.9996483974180604, 0.17367282744574591 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9995995504956136, -0.0001841215161234854, -0.02829672681132532, -0.011949293851642022 ], [ 0.0001695371924819891, 0.9999998515675361, -0.0005178050272134726, -0.0035345676898156002 ], [ 0.028296817950219107, 0.0005128003248269342, 0.9995994333380342, 0.19643853403232725 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9995577960939601, 5.9369746362643984e-05, -0.029735647681166707, -0.012702867438883911 ], [ -5.487822931215941e-05, 0.9999999869628055, 0.0001518643108852857, -0.003315155230377862 ], [ 0.029735656309642904, -0.0001501653162016315, 0.9995577863206372, 0.21960989525898256 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.9995303113658652, 0.00031629405109634407, -0.03064403072263335, -0.013224918246652066 ], [ -0.0002956609988570169, 0.9999997265568459, 0.0006778427599689888, -0.004081412872370469 ], [ 0.030644236740865492, -0.0006684641401964419, 0.9995301315669594, 0.23888312444784104 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.9995033004454051, 0.0006268752318682586, -0.03150808509233213, -0.014791009123745077 ], [ -0.0005873750343720096, 0.9999990300455187, 0.0012628929450062012, -0.005199633247082905 ], [ 0.03150884620723153, -0.001243758604078811, 0.9995026991835608, 0.2604730102553012 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.9994762144565547, 0.0009364356267881973, -0.032348413004541256, -0.017175097020608005 ], [ -0.0008682836739735105, 0.999997374156779, 0.002120793014110159, -0.0030664901174338715 ], [ 0.03235031404881571, -0.002091594574497932, 0.9994744030804787, 0.28089051311734237 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.9994400218793595, 0.0013224156555055582, -0.03343492010786976, -0.02097274484661451 ], [ -0.0012276829759620789, 0.9999951745374759, 0.0028537162216653853, -0.0032151991762173434 ], [ 0.03343853256792369, -0.002811070720799652, 0.9994368226261762, 0.30494512143159 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.9994063766489837, 0.0015732566501408711, -0.03441539156921961, -0.02358024195059997 ], [ -0.001457738623761222, 0.9999932204936597, 0.0033814146187730416, -0.005111170747514754 ], [ 0.03442047808289012, -0.003329238686553552, 0.9994018945641006, 0.32511803142014384 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.9993530309092052, 0.0016899913538775046, -0.03592580607041665, -0.026685858939422272 ], [ -0.0015407178998295863, 0.9999900671157795, 0.00418232688012024, -0.0039913587556285315 ], [ 0.03593251731981091, -0.0041242695114227035, 0.9993457082511832, 0.3498581960149308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.9992983607087417, 0.0019204423700669839, -0.037404520928956485, -0.02919352010462871 ], [ -0.0017385321053083578, 0.999986506965857, 0.004895241806361605, -0.004769691787953966 ], [ 0.03741341725825515, -0.004826778151851382, 0.9992882158925585, 0.3704517992259669 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.9992058364525298, 0.0018566018679442664, -0.03980263092691787, -0.032593889211129615 ], [ -0.0016290070993802747, 0.9999821431762618, 0.005749753427827072, -0.006557726031297371 ], [ 0.039812595181307406, -0.005680348414893788, 0.9991910182276535, 0.39465655706729086 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.9991131625135277, 0.001481679680936532, -0.042079604531657884, -0.035838538013466634 ], [ -0.0012075784692917985, 0.9999778943480238, 0.006538544909489222, -0.005840108216811697 ], [ 0.04208836236370008, -0.006481931858327759, 0.9990928657101532, 0.4149953778887411 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.9989880384028359, 0.001186922754087223, -0.04496098689341803, -0.03931176720877379 ], [ -0.0008491287171458417, 0.9999712780755101, 0.007531401227717164, -0.005268743418237029 ], [ 0.04496863471883482, -0.00748560207377946, 0.998960353394026, 0.43986741530502455 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9988495685953384, 0.000996785644826932, -0.047943151077968815, -0.04176411763148501 ], [ -0.0005912773974168069, 0.9999639410139496, 0.008471544303727584, -0.006499663085282926 ], [ 0.04794986661030434, -0.008433450671521249, 0.9988141404694997, 0.4652026120845788 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9987279661691734, 0.0007305347625712771, -0.050417416738138085, -0.04307878938436958 ], [ -0.0002648716917468447, 0.9999572547087203, 0.009242218261124554, -0.006493602061788347 ], [ 0.05042201339269707, -0.009217107700359583, 0.9986854687493288, 0.48667914281149705 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.9985724599231579, 0.0006221301166083712, -0.05341025404481576, -0.04445139035812011 ], [ -8.678486838755068e-05, 0.9999497446448291, 0.010025001402900208, -0.006648231906763755 ], [ 0.05341380674882074, -0.010006055109759344, 0.9985223303010007, 0.512681525181843 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9984376725399723, 0.0007528710118701149, -0.05587170337660026, -0.046560067376345146 ], [ -0.00017479176003360472, 0.999946414653887, 0.010350713438091666, -0.008741809300809348 ], [ 0.05587650222413661, -0.010324776320887184, 0.9983843025073661, 0.534351854011268 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9982858396571497, 0.0008818068086426756, -0.05852012266538887, -0.04975816790842103 ], [ -0.0002643891115770545, 0.999944233897128, 0.010557423657486083, -0.00820194123765911 ], [ 0.05852616883427112, -0.010523854457288866, 0.9982304022864383, 0.5603423907250912 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.998154332150899, 0.0010533309403731835, -0.060719187266654165, -0.05232410745134068 ], [ -0.0004034498115975513, 0.9999425185625479, 0.01071432681218275, -0.007519070954179658 ], [ 0.06072698277242569, -0.010670054578997655, 0.9980973817712573, 0.5822751930804803 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.998000870693183, 0.001570876464917566, -0.06318064927476233, -0.053844914723879 ], [ -0.0009011623996047474, 0.9999431248458667, 0.010627087080334994, -0.010213056998252874 ], [ 0.0631937497065817, -0.010548906133597569, 0.9979455248546417, 0.6079439158332679 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9978389541299649, 0.0016518104390435702, -0.06568632386647777, -0.05514488189566573 ], [ -0.0009445915681300181, 0.9999412731026521, 0.010796207325594463, -0.008198677591733632 ], [ 0.06570029960044138, -0.010710829478675708, 0.9977819144303486, 0.6287283795450072 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9975840505493996, 0.002041100855459668, -0.0694398732483782, -0.05726745080478595 ], [ -0.0012388699833668175, 0.9999320199930147, 0.011593989557245086, -0.00807474282036688 ], [ 0.06945881722731322, -0.011479952089927779, 0.9975187634372576, 0.6535552495652925 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9972915886704772, 0.002420594698231822, -0.07350937279301854, -0.06026448973792729 ], [ -0.0014741607529986534, 0.9999153621501792, 0.012926538057441135, -0.009000091574180615 ], [ 0.073534441027252, -0.012783163042965838, 0.9972107484004706, 0.6738378215265223 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9968336615095074, 0.0025977241781086494, -0.07947265637087877, -0.0644046846498516 ], [ -0.0013462489271762364, 0.9998743169044351, 0.015796772097984236, -0.007944468618510104 ], [ 0.07950370365822831, -0.015639764192085705, 0.9967118735525532, 0.6973872500897633 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9962186978263513, 0.0031013041211117717, -0.08682561841943696, -0.06816035746809115 ], [ -0.0013551384961502802, 0.9997957896265769, 0.020162902683547177, -0.0081440769626468 ], [ 0.08687041902066288, -0.019968999917830573, 0.9960194623306596, 0.7205649310712923 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9955771754253748, 0.0035113484938343684, -0.0938816180292368, -0.07059512192699842 ], [ -0.001189889027985374, 0.9996924170281578, 0.02477207097723733, -0.008623434396066892 ], [ 0.09393972501627708, -0.02455079974573234, 0.9952751309541054, 0.7401043839416628 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9946774856817228, 0.004034723975889384, -0.10295834342259357, -0.07279356910689792 ], [ -0.0008283055337154406, 0.9995138590515295, 0.03116664040063052, -0.007840307636917744 ], [ 0.10303403994714148, -0.030915474545246454, 0.9941972742096074, 0.7635064217374667 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9938432120133431, 0.004739853869659732, -0.11069419009277628, -0.07426336496551038 ], [ -0.000669540971769782, 0.9993231975596109, 0.03677905020690987, -0.007977783524829139 ], [ 0.11079359931823021, -0.03647849509683132, 0.9931737500284541, 0.7829804728483756 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9927962953936141, 0.005626039945928628, -0.11968234425863555, -0.07609112607889876 ], [ -0.00044966728652490314, 0.9990648707048588, 0.04323403662411621, -0.010203551250204121 ], [ 0.11981366220947914, -0.04286877416034668, 0.9918704323398002, 0.8064019959837293 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9919548599072325, 0.006170986580572689, -0.12644158663606306, -0.07809906454825827 ], [ -8.281708774872994e-05, 0.9988425776724863, 0.04809883751103799, -0.010864453095495434 ], [ 0.126592057601386, -0.047701404100986895, 0.9908072602676273, 0.8255946628385126 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9910465960218614, 0.007040596023352008, -0.13333069609477524, -0.08086212207841731 ], [ -2.1361571668868616e-05, 0.998617046180726, 0.05257370655532132, -0.011019969193125926 ], [ 0.13351645612869076, -0.052100144768683125, 0.989676174745011, 0.8489679956764913 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.9904101638369303, 0.007508867422801301, -0.13795406582820197, -0.08234100599385197 ], [ 5.2305960446430606e-05, 0.9985015092737296, 0.05472415592926661, -0.013807879516107659 ], [ 0.1381582593716047, -0.054206576059653296, 0.9889256506326941, 0.8679530680329005 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9898307494948808, 0.00799526157401904, -0.1420252201081392, -0.08458804384172625 ], [ -0.00014028109219772333, 0.9984735903827789, 0.05523105674652421, -0.013365459802836516 ], [ 0.14225001819197616, -0.054649474841809965, 0.9883209839034567, 0.8896406774002004 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9894160577725962, 0.008032453064116523, -0.14488389944885985, -0.08656305048513188 ], [ -0.00028157706562210007, 0.9985711027011521, 0.053438502641461154, -0.014840811213427896 ], [ 0.14510611750057503, -0.05283211663352227, 0.9880045455947717, 0.9121112348139333 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.9892264256245599, 0.007662898468253423, -0.14619288229295616, -0.08802694544159213 ], [ -0.0003315311214284718, 0.9987437913194671, 0.05010717900592702, -0.018648775132366846 ], [ 0.14639319975044066, -0.04951887809595173, 0.9879862912910005, 0.9313322036320635 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9890619305304457, 0.006655799144056857, -0.1473505952249331, -0.09034474506632743 ], [ -7.564988897823055e-05, 0.9990041607945433, 0.0446170482246949, -0.018512389444964437 ], [ 0.14750081983664498, -0.04411787679551709, 0.988077487393865, 0.9552096446138689 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9889912794645903, 0.00598519208068112, -0.14785271934851338, -0.09213871318622241 ], [ -0.00019517372059326592, 0.999233552183451, 0.039144221771055636, -0.01854181257146662 ], [ 0.1479736836407464, -0.038684437007666904, 0.9882344374100653, 0.9758476595178199 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9889706640872591, 0.005042197754827031, -0.14802567958502064, -0.09330049906540158 ], [ -0.0003034940839509626, 0.9994872507798551, 0.03201786095085421, -0.020134298606604987 ], [ 0.14811121991985274, -0.03161980028919294, 0.9884651004276908, 1.0011167091860573 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.9889924286664719, 0.004258518592503485, -0.1479048378512048, -0.09343090169654784 ], [ -0.0003835948334518797, 0.9996561909758787, 0.026217412126326344, -0.020141236003798482 ], [ 0.14796563417022765, -0.025872086560523037, 0.9886540376904387, 1.0215049580887197 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9890451953998277, 0.0035135684901213956, -0.14757119059281912, -0.0934963587921467 ], [ -0.0006043735737989008, 0.9998046869415941, 0.019754055335669946, -0.0202583583283152 ], [ 0.1476117752386313, -0.01944846539155835, 0.9888541454657575, 1.045464040626661 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.9891170935860835, 0.0030507906506934707, -0.14709883701860083, -0.09422866227666803 ], [ -0.0008566438812413811, 0.9998874687401972, 0.014977183232575719, -0.02167076243481183 ], [ 0.14712797605173522, -0.014688176630441809, 0.9890084004345935, 1.0654499208247903 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9892478484128606, 0.002652644108395538, -0.146224682901897, -0.09626085365061492 ], [ -0.0011431873330895919, 0.9999452034182377, 0.010405925407237187, -0.02189136681326199 ], [ 0.14624427350582858, -0.010126877114575614, 0.9891966734813956, 1.0893935513620672 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.9894100048307372, 0.0025493500988437528, -0.14512526711401538, -0.09874640671563287 ], [ -0.0015445050654180879, 0.9999740526283877, 0.007036232945367957, -0.020614315300407512 ], [ 0.145139439315934, -0.006737572562288952, 0.9893882697258061, 1.1137446464820815 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9895618046511444, 0.002668673216854037, -0.14408439526483185, -0.10035191633328844 ], [ -0.0019967773540318845, 0.9999864497621685, 0.004807616067525673, -0.02183539167893915 ], [ 0.14409527284324453, -0.004469728774316348, 0.989553724599587, 1.1340540912692914 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.9897601868947891, 0.002377176933697345, -0.14272043115061772, -0.10183691031628773 ], [ -0.0019909203455241685, 0.9999939593325854, 0.0028491287295393224, -0.022569945294164617 ], [ 0.14272634190705685, -0.0025358091737364063, 0.989758940852602, 1.1574916342404185 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9899556063912717, 0.0024079623950743513, -0.14135805280065855, -0.10290207140225008 ], [ -0.0021678199257166375, 0.9999959338504246, 0.0018527923216268664, -0.02144896377711508 ], [ 0.1413619394719085, -0.0015277433427514442, 0.9899568011125635, 1.1778075504509256 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.990155673262575, 0.0021905534986402476, -0.139953364308639, -0.10472763027909004 ], [ -0.002143893477987769, 0.9999975846516733, 0.0004841606911346996, -0.024444478489883882 ], [ 0.13995408685241054, -0.00017934935013401467, 0.9901579780050852, 1.2014742297883638 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.990303488192346, 0.0018795760682222614, -0.1389081295960599, -0.10661224013984827 ], [ -0.0019458087690065004, 0.999998048768919, -0.00034100819516554715, -0.02420430711170039 ], [ 0.1389072176033573, 0.0006079902618289224, 0.9903052131769957, 1.2211693455220893 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.9904773775863286, 0.0015255330535676483, -0.13766712475610096, -0.10947176361493931 ], [ -0.001709213344309498, 0.9999977999270878, -0.0012160307264360928, -0.02279009626438413 ], [ 0.13766496678332155, 0.0014397534116906677, 0.9904778059253324, 1.2449635379695914 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.9905997337961828, 0.0013318285129692493, -0.1367859409286782, -0.11100560908240185 ], [ -0.0016423689957228652, 0.9999963240440313, -0.0021574342416211378, -0.024157520833506745 ], [ 0.13678256477714437, 0.0023618067738647086, 0.990598279749036, 1.264678028690123 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.9907138126928476, 0.001220428770717096, -0.13595827261780252, -0.11197632910698019 ], [ -0.0016886918147621345, 0.999993033383753, -0.0033288892914982654, -0.024385837056916746 ], [ 0.13595326277642572, 0.0035275682241315207, 0.9907089716979797, 1.2882870841483256 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.9907872284662754, 0.0012255331230060027, -0.13542217682743463, -0.1127382921803381 ], [ -0.0018280933843911678, 0.9999889751723019, -0.0043252292918785394, -0.024020372715741 ], [ 0.1354153831095068, 0.004532946328139573, 0.9907785455967907, 1.308601052583755 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9908688046931627, 0.0014273590326065158, -0.13482201056257523, -0.11434080547021791 ], [ -0.0022306296667757653, 0.9999806505361486, -0.00580713738350101, -0.025530075571318915 ], [ 0.13481111295895756, 0.006054849254373862, 0.9908528158224481, 1.3325951471803412 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.990919327762692, 0.0015905297533114744, -0.1344483398240326, -0.11681070413134788 ], [ -0.002631503266293753, 0.9999679209475418, -0.007565201015856952, -0.02599773387120496 ], [ 0.13443199417138096, 0.00785030515041732, 0.9908917254938358, 1.3560977613739897 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.990934638294449, 0.0016094555130142622, -0.13433522353128807, -0.1193766534632066 ], [ -0.0028553684896686247, 0.9999546764167843, -0.0090825097298445, -0.024960411151336317 ], [ 0.13431451708224884, 0.009383750058273105, 0.9908943211744663, 1.376148930184166 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.9909490101000257, 0.001664256295646651, -0.13422849784141067, -0.12264023613867578 ], [ -0.0031768125037078486, 0.999933843832907, -0.011055126406516382, -0.025855788079998856 ], [ 0.13420121923475758, 0.011381485339364578, 0.9908887397419421, 1.4003330328285293 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.9909521267071403, 0.0016078264374890993, -0.13420617522581732, -0.12489127505572274 ], [ -0.0033544950958175656, 0.9999125815094622, -0.012789710776065728, -0.026967233320683508 ], [ 0.13417387948944462, 0.013124185050135, 0.9908708926139277, 1.4202225685993153 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.9909534667240982, 0.001358209665901496, -0.13419903894586957, -0.12713180493737647 ], [ -0.00335147135354898, 0.9998873848091706, -0.014628237735420121, -0.025200696974642552 ], [ 0.1341640578816022, 0.014945667130679725, 0.9908464223111275, 1.4439668131354575 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.9909490108238952, 0.0011855694560419842, -0.13423357393815008, -0.12897465441081446 ], [ -0.003365099520932269, 0.999866150944509, -0.016011130523068757, -0.02593279887651354 ], [ 0.1341966245937584, 0.016317923289359552, 0.9908203627939651, 1.464920344595566 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.9909438928415211, 0.000732288683174222, -0.13427458804024162, -0.13200596039118012 ], [ -0.003139062566674171, 0.9998381770927196, -0.01771343879967697, -0.026855912009783982 ], [ 0.134239887985258, 0.017974520332734653, 0.990785834119823, 1.488423013077129 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.9909465167062912, 0.00036318993663380446, -0.13425672840025038, -0.13497835682093856 ], [ -0.0029032468511920742, 0.9998204733345497, -0.018724109025488888, -0.025207932755601275 ], [ 0.13422582532951588, 0.01894437104121641, 0.990769669812547, 1.5076150196902838 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.9909651130635766, 3.2268932353155845e-05, -0.13411988536234654, -0.13740760934377377 ], [ -0.0026858928587022383, 0.9998042041186996, -0.019604576152654464, -0.026662868028051692 ], [ 0.13409299262245045, 0.019787682665983415, 0.9907711728468214, 1.5311749627098687 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.9909798771814373, -0.0003846809781797182, -0.1340102049920393, -0.13855906577001856 ], [ -0.0023225368025490537, 0.9997963878517373, -0.020044666657724714, -0.027801275303477854 ], [ 0.13399062968828895, 0.020175104935626045, 0.9907772082040303, 1.5502997100108598 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.991016363753116, -0.0008990343836012204, -0.133737648067883, -0.1396739044145933 ], [ -0.0017907908074167327, 0.9997985551648313, -0.01999105196331544, -0.027290317721233835 ], [ 0.13372867995249146, 0.020050955775049954, 0.9908151186425604, 1.5733310829912814 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.9910533839065137, -0.0011007717814962307, -0.1334615246014136, -0.14081360988851283 ], [ -0.001501389032641491, 0.9998107670732774, -0.019395253937945976, -0.028673409612831154 ], [ 0.13345761903473827, 0.019422109716243665, 0.9908641912874584, 1.5961253806484101 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.9910749276148261, -0.0013008737327913633, -0.1332996458389848, -0.14183592912324966 ], [ -0.001171941252187505, 0.9998287159577399, -0.01847066051874255, -0.029032090705154744 ], [ 0.13330084173390977, 0.018462027890471487, 0.9909036477474502, 1.6149514033110908 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.9911082332798683, -0.0014801654636348346, -0.13304991181905695, -0.14327506188308237 ], [ -0.0007803100092682528, 0.9998562723153497, -0.016935933040231867, -0.02748700785237576 ], [ 0.1330558568464688, 0.016889162852375017, 0.9909646286003343, 1.6383483994305235 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.9911474589365319, -0.0012662850649707465, -0.132759599147445, -0.14432830736051314 ], [ -0.0007811381001993498, 0.9998815876120679, -0.015368818355329928, -0.02748794398283075 ], [ 0.13276334007143864, 0.015336468840803648, 0.9910291056556163, 1.6584802424600775 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.9911973282125576, -0.0007967979410700875, -0.13239041376674057, -0.1448660113685988 ], [ -0.0009536789544704205, 0.9999129730347991, -0.013158147786109999, -0.029280487648955862 ], [ 0.132389376615873, 0.013168578881201178, 0.9911103074277405, 1.6824505927789002 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.9912383800918961, -0.0006105861391033198, -0.1320836894448402, -0.14499320369790866 ], [ -0.000864272026077932, 0.999937925525778, -0.011108471050021202, -0.028965853509305296 ], [ 0.13208227309771434, 0.011125299086809077, 0.9911763217781033, 1.7023549875590271 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.9912857632226879, -5.515044933278399e-05, -0.1317290119542442, -0.1454417383740561 ], [ -0.0010474851036242501, 0.999964996021117, -0.008301175064138555, -0.029673302640592484 ], [ 0.1317248587282262, 0.008366820836836942, 0.9912510065074908, 1.7264570162356585 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.9913309056689236, 0.0004330032892421499, -0.13138815766188258, -0.14666718851030008 ], [ -0.0012353575239310165, 0.9999810846502637, -0.006025299450710126, -0.0319308748093686 ], [ 0.13138306343444836, 0.006135376910521976, 0.9913126892120094, 1.745473894142459 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.9913810412228361, 0.0012043285617226087, -0.13100450639821906, -0.1492281301966129 ], [ -0.0015715169353906497, 0.9999951214486853, -0.0026995209484472343, -0.029810812883790595 ], [ 0.13100061617583095, 0.0028821296890917713, 0.9913780973422844, 1.769102698898903 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 660.4403686523438, "fy": 660.4405403137207, "cx": 416.0, "cy": 240.0 } } ] }