{
  "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": [
        [
          0.9999999848602259,
          -0.0001604094042892938,
          6.74416131818848e-05,
          -0.0001524491601404106
        ],
        [
          0.00016042295151127257,
          0.9999999669486308,
          -0.00020091593784112954,
          4.327161288125882e-05
        ],
        [
          -6.740938214694583e-05,
          0.0002009267539819489,
          0.9999999775422072,
          -3.892656360846976e-05
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9998654565304052,
          0.0011729865948186804,
          0.016361324509118258,
          -0.0018332931124613475
        ],
        [
          -0.0011571619872083492,
          0.9999988535848625,
          -0.0009766294568926653,
          -0.0020411915937224153
        ],
        [
          -0.01636245132550921,
          0.0009575653549946945,
          0.9998656676050094,
          0.04232719873537438
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9995574929810153,
          0.0014553260249787886,
          0.02971027182084804,
          0.001154834613849839
        ],
        [
          -0.001392570700777043,
          0.9999967558958579,
          -0.0021328254976657928,
          0.003881244969473366
        ],
        [
          -0.029713279394085648,
          0.0020905080533629716,
          0.9995562769567944,
          0.08527635820038684
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9992296287070689,
          0.0009461034561363628,
          0.03923332769704365,
          0.011970528225819503
        ],
        [
          -0.0008742836704780357,
          0.9999979108183238,
          -0.0018476977705717257,
          0.002843114100893211
        ],
        [
          -0.03923499384474096,
          0.0018119732995072254,
          0.9992283682976405,
          0.13286499126956486
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9990361445569947,
          0.0016154988307378571,
          0.04386538535364203,
          0.02059267933657587
        ],
        [
          -0.0015340965435312458,
          0.9999970384872383,
          -0.001889329126408887,
          0.0008609115466562992
        ],
        [
          -0.0438683076547381,
          0.0018202143501950807,
          0.9990356642298756,
          0.17815956797857554
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9989872045073634,
          0.002515102158349255,
          0.04492482044144839,
          0.025430449288209502
        ],
        [
          -0.0024301765034401364,
          0.9999951557714408,
          -0.0019449102329142794,
          0.006252573426831987
        ],
        [
          -0.04492949446327479,
          0.0018337651935387258,
          0.998988477327186,
          0.2287322548075641
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9989803900610585,
          0.002728566303253685,
          0.0450636793813459,
          0.028152566414725428
        ],
        [
          -0.0026506137942608667,
          0.9999948859672493,
          -0.0017894931858956583,
          0.008102674985441212
        ],
        [
          -0.045068331675020605,
          0.0016682221906693059,
          0.9989825136181081,
          0.27938167068143954
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9989682985609719,
          0.002735604442676163,
          0.04533050781240266,
          0.031820116004284596
        ],
        [
          -0.0026644341050695913,
          0.9999951213162842,
          -0.0016303786461862413,
          0.006408377654515844
        ],
        [
          -0.04533474673026012,
          0.001507916431175321,
          0.9989707137483761,
          0.32835239396053306
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.9989491707732456,
          0.0024053904988733696,
          0.045768638913488965,
          0.036848564218991714
        ],
        [
          -0.0023286660357579717,
          0.9999957928927417,
          -0.0017295985982656152,
          0.009626744114884341
        ],
        [
          -0.04577260671995112,
          0.0016212012105672915,
          0.9989505694380958,
          0.3763571240245915
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9989346815409654,
          0.0015715938938565403,
          0.04611975831769956,
          0.04313781699923015
        ],
        [
          -0.001495175866684843,
          0.9999974518079431,
          -0.001691397868166312,
          0.013194491195419475
        ],
        [
          -0.04612229898625943,
          0.0016206388411818204,
          0.9989344858728068,
          0.42876067159997
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9989434952863729,
          0.0008266056711286739,
          0.04594790471946263,
          0.04845124948975329
        ],
        [
          -0.0007729214363013735,
          0.9999989978483541,
          -0.0011861259379842275,
          0.009505893446421677
        ],
        [
          -0.045948839131121307,
          0.001149358669828986,
          0.9989431330947476,
          0.48409299097727526
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9989538854871955,
          0.0006564030207104422,
          0.0457242146472713,
          0.04657865826364529
        ],
        [
          -0.0005960939936763312,
          0.9999989344292234,
          -0.0013325961011700208,
          0.012986332915671278
        ],
        [
          -0.045725040644990576,
          0.0013039461233320744,
          0.9989532123090259,
          0.5377803587272754
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9989706708048788,
          0.0008429740568483187,
          0.045352930075023265,
          0.04017995579851449
        ],
        [
          -0.0007740491841113063,
          0.9999985188003684,
          -0.0015372849214479274,
          0.020515180578848862
        ],
        [
          -0.04535415878958671,
          0.0015005971506754324,
          0.9989698436332702,
          0.5924711577989705
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.998981409455136,
          0.0009451216272153601,
          0.04511374854897235,
          0.0340224809038159
        ],
        [
          -0.0008906138357786027,
          0.9999988490244993,
          -0.0012283145657252363,
          0.015125665455952246
        ],
        [
          -0.04511485753081411,
          0.0011868844874809179,
          0.9989811013904056,
          0.6446042484667013
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9990042722679112,
          4.589086172026456e-05,
          0.04461459273029896,
          0.032813244940512645
        ],
        [
          1.7394842706644666e-05,
          0.9999989943322001,
          -0.001418108602517887,
          0.017969457630537214
        ],
        [
          -0.04461461294106541,
          0.0014174726162782107,
          0.999003266803218,
          0.6922723764482512
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9990205969185221,
          -8.146456210089326e-05,
          0.04424748915006358,
          0.03224301322126758
        ],
        [
          0.00012927175002254313,
          0.9999994110447407,
          -0.0010775894331225236,
          0.0233586184104371
        ],
        [
          -0.04424737530492084,
          0.0010822539890676874,
          0.9990200190711538,
          0.7431291793176642
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.9990114176527468,
          0.00016307819307428224,
          0.044454030244201366,
          0.03277663026834049
        ],
        [
          -0.00011057964241906274,
          0.9999992936453302,
          -0.0011834191918628015,
          0.020191041026244205
        ],
        [
          -0.044454191833752967,
          0.0011773335737718352,
          0.9990107300294949,
          0.7967990305758853
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.999021165662226,
          0.00021136761555645096,
          0.04423421619762812,
          0.031048965593178823
        ],
        [
          -0.00014822256233474693,
          0.9999989654330111,
          -0.0014307910328653277,
          0.022529947203366322
        ],
        [
          -0.04423447285725724,
          0.0014228340166044984,
          0.9990201634373562,
          0.8433322005263046
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9990308270576961,
          0.00043852313539073374,
          0.04401379654012571,
          0.026025123055273235
        ],
        [
          -0.00038051581655958107,
          0.9999990480618733,
          -0.0013263042865336557,
          0.024521568352284973
        ],
        [
          -0.0440143362568289,
          0.0013082709225755323,
          0.999030042907151,
          0.8925000609477366
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9990153340189665,
          0.0007147393543812571,
          0.04436047275028168,
          0.02187677468731316
        ],
        [
          -0.0006505524219115882,
          0.999998720604273,
          -0.001461359423260804,
          0.023411452133367143
        ],
        [
          -0.044361460486773086,
          0.0014310616593658173,
          0.9990145208584348,
          0.9372123697843203
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9989827486174526,
          0.0006336817051538191,
          0.045089537724575364,
          0.01995602864933942
        ],
        [
          -0.0005438659122549098,
          0.9999978437283112,
          -0.0020041827754401,
          0.025719409799937837
        ],
        [
          -0.0450907105132403,
          0.0019776213551731775,
          0.998980939177113,
          0.9783749998915463
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9989459525079836,
          0.0004719005334424817,
          0.045899469254057315,
          0.020802761063851222
        ],
        [
          -0.0003683541724439535,
          0.9999973684683529,
          -0.002264370016866616,
          0.028515362620081725
        ],
        [
          -0.04590041702557025,
          0.002245076002316645,
          0.998943497576626,
          1.0227577148686837
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9989131940829105,
          0.0005955451745838465,
          0.04660553629154466,
          0.022952465142014895
        ],
        [
          -0.0004988990097917948,
          0.9999977012878425,
          -0.002085310242822427,
          0.027028217610880985
        ],
        [
          -0.04660667105528441,
          0.002059792459404893,
          0.998911194985905,
          1.069646443815182
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9988888542134452,
          0.0009612873682390759,
          0.047118285778945966,
          0.023114175827964437
        ],
        [
          -0.000859162395615614,
          0.9999972380723876,
          -0.00218762144227346,
          0.027775185548770058
        ],
        [
          -0.04712025857451036,
          0.00214470841663816,
          0.9988869212566951,
          1.113958694468501
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.9988683643582037,
          0.0015645041791468041,
          0.04753465063551216,
          0.022125590255896894
        ],
        [
          -0.0014471930156809035,
          0.9999958222460985,
          -0.0025022235560664113,
          0.03336841839611744
        ],
        [
          -0.04753836678665064,
          0.002430600136304079,
          0.9988664554715185,
          1.1602165332904226
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.998871660813619,
          0.0013814819463643466,
          0.04747100937492903,
          0.02099677562058847
        ],
        [
          -0.0012656598586041614,
          0.9999961490390554,
          -0.002469820273174501,
          0.032525818261053094
        ],
        [
          -0.04747423857804407,
          0.00240695132716369,
          0.9988695626841093,
          1.2140616505882136
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9988466228330387,
          0.0015817782590497225,
          0.04798876985892572,
          0.019029435658118612
        ],
        [
          -0.0014367478743697614,
          0.9999942967144008,
          -0.0030565166802768457,
          0.03425714251885336
        ],
        [
          -0.047993330896898945,
          0.002984043600638946,
          0.9988431987420301,
          1.2581258558002095
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9988153382714527,
          0.0011974218356210682,
          0.048646543706937564,
          0.017962406083296953
        ],
        [
          -0.0010456017941011427,
          0.9999945040309534,
          -0.0031462079994292774,
          0.0414034089387381
        ],
        [
          -0.048650043685197056,
          0.003091615893845511,
          0.9988111008396899,
          1.3042949075941903
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.9988191760073619,
          0.0009601701146827813,
          0.04857295248721698,
          0.01920613611369508
        ],
        [
          -0.0008287197161102417,
          0.9999959402122435,
          -0.0027263130163740715,
          0.037863029447308655
        ],
        [
          -0.04857537301562076,
          0.0026828403571570528,
          0.998815916725405,
          1.3535621061659153
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.9988221941012903,
          0.0004342680527043029,
          0.048518408691370946,
          0.014922639707343765
        ],
        [
          -0.000272836883372439,
          0.9999944056931468,
          -0.003333788002459974,
          0.03919608124610854
        ],
        [
          -0.04851958502212865,
          0.0033166238358720845,
          0.9988167248677867,
          1.3977931426177137
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.9989846101040392,
          5.4801716215097096e-05,
          0.04505269994187579,
          0.006346193479415854
        ],
        [
          0.00010493245992293962,
          0.9999937176124261,
          -0.003543123601888299,
          0.04652327974388816
        ],
        [
          -0.04505261107260765,
          0.0035442534406138725,
          0.9989783283450593,
          1.4407565230992532
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9993351416693127,
          -0.00023637468341275875,
          0.03645845240522133,
          0.00027556105728527213
        ],
        [
          0.0003585019086992499,
          0.9999943470172252,
          -0.0033432633720481947,
          0.0466595157725441
        ],
        [
          -0.03645745604339676,
          0.0033541110003190992,
          0.9993295771857458,
          1.486716681899675
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9995905955418297,
          -0.0007762439147585319,
          0.028601376710144257,
          -0.0045142525635634406
        ],
        [
          0.0008842585859457163,
          0.9999925247894148,
          -0.0037641004297694226,
          0.04555891424277969
        ],
        [
          -0.028598241048777163,
          0.003787850403198286,
          0.9995838097919751,
          1.5290687618837646
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9997869871073375,
          -0.0011337323913585026,
          0.020608130960798623,
          -0.0062133384995485
        ],
        [
          0.0012205371744043515,
          0.9999904347956501,
          -0.004200072167552552,
          0.048756483005416976
        ],
        [
          -0.020603172081952316,
          0.004224330487963398,
          0.9997788077030288,
          1.569955495887783
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9999187705806974,
          -0.0011164497475310846,
          0.012696683832707398,
          -0.005437793451877128
        ],
        [
          0.0011677135381124334,
          0.9999911941996253,
          -0.004030876864910341,
          0.05036619145939381
        ],
        [
          -0.012692071756785989,
          0.00404537552872391,
          0.9999112691890977,
          1.6133202555733668
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.999980234538646,
          -0.001008967019656881,
          0.006205845436975387,
          -0.005201962454623987
        ],
        [
          0.0010316207588166536,
          0.9999928129161888,
          -0.0036482700802003224,
          0.048340905925483416
        ],
        [
          -0.00620211985085439,
          0.003654600049437835,
          0.9999740884682133,
          1.6579337513304135
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.9999985379416196,
          -0.001154237764684859,
          -0.0012616853038398036,
          -0.005175508217680853
        ],
        [
          0.0011496591459137489,
          0.9999927735449616,
          -0.0036236917230268698,
          0.05100484075779941
        ],
        [
          0.0012658587881619764,
          0.0036222359169291933,
          0.9999926384771494,
          1.7047746309346112
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9999686548299169,
          -0.0016430559473238197,
          -0.007745303402751851,
          -0.004268550963356009
        ],
        [
          0.0016138963015926693,
          0.9999915928260659,
          -0.003769564419866958,
          0.05493337515299046
        ],
        [
          0.007751431891877854,
          0.0037569461457126634,
          0.9999628996414237,
          1.7462840633734367
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9999254146962493,
          -0.0019097255217627922,
          -0.012063083891187468,
          -0.0034616157984895687
        ],
        [
          0.0018674498379195627,
          0.9999920792247847,
          -0.0035148426416087303,
          0.05304758206906016
        ],
        [
          0.012069700726909221,
          0.0034920532819452616,
          0.9999210608284232,
          1.7878123531898769
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9999234774337767,
          -0.0018931610776480958,
          -0.01222518784633441,
          0.00012445514753085774
        ],
        [
          0.001849499191596618,
          0.9999918750402872,
          -0.003581788122093383,
          0.053158397963328836
        ],
        [
          0.012231869419036805,
          0.0035589035594356987,
          0.9999188544956891,
          1.825375253403929
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.999915729727642,
          -0.0031188902816114304,
          -0.012601823941335143,
          0.009850274075599883
        ],
        [
          0.0030700960145046627,
          0.9999877231054775,
          -0.0038894920985435787,
          0.05947110868175047
        ],
        [
          0.012613800129178378,
          0.0038504755205273178,
          0.99991302916032,
          1.864344935226886
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.99995148648374,
          -0.003455329068224484,
          -0.009224173675154872,
          0.02338552665610917
        ],
        [
          0.003421180672704992,
          0.9999872460627754,
          -0.003715270460048403,
          0.0581865225321472
        ],
        [
          0.009236893512639791,
          0.0036835326545154143,
          0.9999505544702796,
          1.9065438799022054
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.999994726914305,
          -0.0031931985278048493,
          -0.0005912924374699715,
          0.035638647207526034
        ],
        [
          0.0031907860911790146,
          0.9999867610806144,
          -0.004036898267546533,
          0.055069217804908185
        ],
        [
          0.000604175227001886,
          0.0040349902929507275,
          0.9999916768781782,
          1.948873834287198
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9999426985191942,
          -0.003113081602410736,
          0.01024248022155868,
          0.04620707816228996
        ],
        [
          0.0031582225740846483,
          0.9999853590378872,
          -0.004394011838926312,
          0.06156558752139942
        ],
        [
          -0.010228651344377275,
          0.004426108087791604,
          0.9999378902006217,
          1.988874649026105
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.9998004269316095,
          -0.0023904792969269505,
          0.0198341099145511,
          0.05500803693805386
        ],
        [
          0.002484574197345851,
          0.9999857703213186,
          -0.004720809881480433,
          0.06625236668863208
        ],
        [
          -0.019822542683253678,
          0.004769147052688112,
          0.9997921394159691,
          2.0279904928379553
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.9994329736820892,
          -0.0015967309325135,
          0.03363304278987658,
          0.06350957462961108
        ],
        [
          0.0017642345715874984,
          0.9999861862449253,
          -0.004951241834743708,
          0.06588626082554111
        ],
        [
          -0.03362467239026917,
          0.005007770927154649,
          0.9994219847676897,
          2.071668168760119
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.9987622934144361,
          -0.0006807840469735541,
          0.04973346747027993,
          0.07309260188189066
        ],
        [
          0.0009347291453629193,
          0.9999866443969844,
          -0.005083041322284035,
          0.06731015044273814
        ],
        [
          -0.04972934279638948,
          0.00512323733010918,
          0.9987495906904286,
          2.1124347115535054
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.9977411194392316,
          -0.00020595987100859064,
          0.0671760088177377,
          0.08376433405763124
        ],
        [
          0.0005237457563654247,
          0.9999887562752771,
          -0.004713068364393359,
          0.07027933320452562
        ],
        [
          -0.06717428280623418,
          0.004737605255431315,
          0.9977300089833482,
          2.154636175900725
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.9964397891167308,
          0.0007122644470511921,
          0.08430444439270475,
          0.0932204273735208
        ],
        [
          -0.00033555930039445717,
          0.9999898973553103,
          -0.004482475574064142,
          0.07061669703373998
        ],
        [
          -0.08430678540284346,
          0.00443822787536081,
          0.9964299614465462,
          2.1974140701315825
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.9950611392498608,
          0.0023789336098132092,
          0.0992354262834084,
          0.09994941788924927
        ],
        [
          -0.0019130357158938707,
          0.9999866991296364,
          -0.0047897659822125765,
          0.07154792743529513
        ],
        [
          -0.09924550090114612,
          0.00457626908023856,
          0.9950524550556048,
          2.2390568813302623
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.9937722806201934,
          0.0034160066625459297,
          0.11137766907877487,
          0.10397959923504616
        ],
        [
          -0.002889695258213929,
          0.9999838855145137,
          -0.004886550174780484,
          0.07728912714537411
        ],
        [
          -0.11139256677289693,
          0.004534270589348751,
          0.9937661377094554,
          2.280846858744523
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.9924478735755791,
          0.004558577697848588,
          0.12258237069287081,
          0.1067255168154097
        ],
        [
          -0.003953670148473706,
          0.999978780801186,
          -0.005177493576138242,
          0.07943460452064005
        ],
        [
          -0.1226033715999229,
          0.0046537422303520775,
          0.9924448377394005,
          2.3243522811707162
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.9910390984297488,
          0.004936652166735742,
          0.13348084075602631,
          0.10839883347042809
        ],
        [
          -0.004178691992072944,
          0.9999735202370448,
          -0.005957965925391347,
          0.07719962252802112
        ],
        [
          -0.13350671862039895,
          0.005346801858812633,
          0.9910334846982197,
          2.362790180827441
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.9896454009535153,
          0.004989149416601663,
          0.14344716365148083,
          0.11428480700293528
        ],
        [
          -0.003991866865994826,
          0.9999658287287165,
          -0.007239224669481649,
          0.08050241002383551
        ],
        [
          -0.14347837945307326,
          0.006591643421020462,
          0.9896314995322906,
          2.3972306082380843
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.9881859819129647,
          0.00512750740491666,
          0.15317367208016738,
          0.12102577243354583
        ],
        [
          -0.003981693270200068,
          0.9999617590085567,
          -0.007786311014576692,
          0.08458519653533382
        ],
        [
          -0.15320773893446823,
          0.007084432816125765,
          0.9881686088630128,
          2.4317808958246374
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.9870820385031994,
          0.005509379878260425,
          0.16012087933097813,
          0.12758989282247585
        ],
        [
          -0.004311823818785215,
          0.999960083568488,
          -0.00782556356171759,
          0.08067226275497437
        ],
        [
          -0.16015760187928763,
          0.00703406021155241,
          0.9870663931859984,
          2.4640031158719777
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.9864876170627882,
          0.0064988803882869775,
          0.1637068903115599,
          0.12923049441465156
        ],
        [
          -0.005232217196074666,
          0.9999529577566338,
          -0.008167384953185983,
          0.07790693260196882
        ],
        [
          -0.16375226803008094,
          0.007200474113498858,
          0.9864752140259511,
          2.4898081163885473
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.9862561130590779,
          0.00713625375065286,
          0.1650695409092971,
          0.12700788641658728
        ],
        [
          -0.005824022157416156,
          0.9999474878947847,
          -0.008432213162612993,
          0.07673232319903703
        ],
        [
          -0.16512104717300502,
          0.007354953114474025,
          0.9862458843742643,
          2.5064166141233777
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.9861317683044112,
          0.007654189480660422,
          0.16578766215918977,
          0.12380509660397249
        ],
        [
          -0.0062200609431978075,
          0.9999386286008836,
          -0.009167871816701307,
          0.07762332673658699
        ],
        [
          -0.16584766016642621,
          0.008009520283931383,
          0.9861188575431175,
          2.51759598311444
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.9859256036466099,
          0.007874293014563188,
          0.16699910054724557,
          0.1211048727376861
        ],
        [
          -0.006258141979702151,
          0.9999283784172835,
          -0.010201651569426838,
          0.07938856591866512
        ],
        [
          -0.1670674706010423,
          0.00901296540007232,
          0.9859042685381108,
          2.526330790692361
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.9856023537286766,
          0.007964851979189138,
          0.16889215925389342,
          0.11827548551097802
        ],
        [
          -0.006164729062480849,
          0.9999184974105501,
          -0.011180100706800668,
          0.08030963437110313
        ],
        [
          -0.16896744195281851,
          0.009977959168968757,
          0.9855711257391541,
          2.533238055170789
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.9852340944180897,
          0.00829037869510845,
          0.17101183823717733,
          0.11475628084457408
        ],
        [
          -0.006306086271843132,
          0.9999063835724349,
          -0.012143202502917044,
          0.0808381118328068
        ],
        [
          -0.1710965004671308,
          0.01088548171586683,
          0.9851941401651325,
          2.5372337062393533
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.9848501611932281,
          0.008575630549911659,
          0.17319531910055863,
          0.11195095361261394
        ],
        [
          -0.0064356199096033745,
          0.9998959023555637,
          -0.012913839434205645,
          0.08184731335556733
        ],
        [
          -0.17328803419178146,
          0.01160357760454723,
          0.9848028301100294,
          2.540208627428425
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.984362811035803,
          0.008393779037487293,
          0.17595283664426012,
          0.11172706787731917
        ],
        [
          -0.006186146030180932,
          0.9998951665853351,
          -0.013091502456872251,
          0.08308033061411811
        ],
        [
          -0.17604427808646642,
          0.011798318217222927,
          0.984311542063924,
          2.5458801330677763
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.9836421693972819,
          0.008267944035194192,
          0.17994366808765513,
          0.11374222903285901
        ],
        [
          -0.006043015910887176,
          0.9998984113776527,
          -0.012909255716245023,
          0.08479722984900777
        ],
        [
          -0.18003212086211187,
          0.011610685848714414,
          0.983592205861765,
          2.5540512878991044
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.9825719457236048,
          0.007936047719048113,
          0.18571319453267238,
          0.11773306095103915
        ],
        [
          -0.005813667270948687,
          0.9999114555106406,
          -0.011970063134951445,
          0.08603007365658709
        ],
        [
          -0.18579174564493417,
          0.01068177350410571,
          0.982531081933297,
          2.567206130930445
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.9813042868219557,
          0.0078075087353984204,
          0.1923042887514465,
          0.12481902581916242
        ],
        [
          -0.005782417663017779,
          0.9999217886188257,
          -0.011089647933950775,
          0.08586849976999322
        ],
        [
          -0.19237583089053434,
          0.009770335340981703,
          0.9812726839347468,
          2.5855071702853496
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.9800078458171955,
          0.006623761649292203,
          0.19884855523325645,
          0.13588599837856408
        ],
        [
          -0.00471486519586588,
          0.9999381633290296,
          -0.010071721022333932,
          0.08374328357824551
        ],
        [
          -0.19890297178002364,
          0.008932821490451742,
          0.9799784755377513,
          2.6084155338247195
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.9789392060447408,
          0.007143966233077919,
          0.20402694580607078,
          0.14600092601685072
        ],
        [
          -0.0052645760544133635,
          0.9999385819870829,
          -0.009752768459756832,
          0.08609247741158615
        ],
        [
          -0.20408408832503333,
          0.008473252039386807,
          0.9789166914975029,
          2.63264398738602
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.9781541853119357,
          0.007163009690211563,
          0.20775726473199813,
          0.1548410404316227
        ],
        [
          -0.005435838493771999,
          0.9999457694340558,
          -0.008883121681256649,
          0.09179641847248259
        ],
        [
          -0.20780962782463486,
          0.007559727714165414,
          0.9781400764206907,
          2.6600877047083284
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.9774999121756173,
          0.007537564237499411,
          0.2108011072599621,
          0.16286902323593413
        ],
        [
          -0.005913107040595722,
          0.9999477768735817,
          -0.008335387855885987,
          0.09999060965507058
        ],
        [
          -0.2108529270884968,
          0.006901351385574003,
          0.9774934344982916,
          2.6937923194578595
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.9770117821694027,
          0.007408081263694691,
          0.21305656017630212,
          0.17084718982147348
        ],
        [
          -0.005908633746409109,
          0.9999531001991493,
          -0.007673685513557583,
          0.09797422649270356
        ],
        [
          -0.2131034151519364,
          0.00623840797805688,
          0.9770097321503408,
          2.7326202845482794
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.976409368126216,
          0.007782078841449592,
          0.215787360807507,
          0.17872920118374114
        ],
        [
          -0.006346206262210019,
          0.9999528784030512,
          -0.007346198985203645,
          0.09723462058649371
        ],
        [
          -0.21583436126215222,
          0.005803466408809767,
          0.9764127448349907,
          2.77035618693064
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.9755790183379885,
          0.007785162339269406,
          0.21951075195998462,
          0.18830854112891113
        ],
        [
          -0.006327713009134216,
          0.9999530276206753,
          -0.007341839028409002,
          0.1015395596195047
        ],
        [
          -0.21955759842638264,
          0.0057735430713087565,
          0.9755824553432904,
          2.807160571652239
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.974612474223951,
          0.007328118831163127,
          0.22377851496840576,
          0.2007684839969472
        ],
        [
          -0.005920941937409981,
          0.9999582591737659,
          -0.006958617444988984,
          0.10366385797893848
        ],
        [
          -0.223820167843835,
          0.0054569757712709015,
          0.9746151824601285,
          2.8464150571694873
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.973824274695804,
          0.00737006341461536,
          0.22718266698508585,
          0.21436371539149424
        ],
        [
          -0.0060556386602604725,
          0.9999606543299838,
          -0.0064822089111265776,
          0.10169108292786458
        ],
        [
          -0.227221502621579,
          0.0049367962501685484,
          0.9738305893681799,
          2.8869778011659384
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.9735012740139057,
          0.007928295185507148,
          0.22854411309144168,
          0.2266317512369645
        ],
        [
          -0.006575289227159044,
          0.9999560641976447,
          -0.006680961452884617,
          0.1031651006121686
        ],
        [
          -0.22858704045698092,
          0.005001180841280195,
          0.9735106332882612,
          2.9294116380242143
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.9734702290190581,
          0.008308083958801726,
          0.22866282809961946,
          0.2344859095599065
        ],
        [
          -0.007014070624147538,
          0.999954462330598,
          -0.006471172876999672,
          0.10780641099617994
        ],
        [
          -0.22870617837492296,
          0.004695636917186749,
          0.9734841729412348,
          2.971628767477814
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.9734964126143082,
          0.008400854443713746,
          0.22854793867302448,
          0.24105310511676065
        ],
        [
          -0.007201510033184559,
          0.9999555778733297,
          -0.006081162163404079,
          0.10805407054941955
        ],
        [
          -0.22858887304572584,
          0.0042740992771823005,
          0.9735136666709175,
          3.019708838609521
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.9734886762261781,
          0.008635573574822081,
          0.22857214206555743,
          0.2495183825014319
        ],
        [
          -0.007338045816866141,
          0.9999517813019093,
          -0.00652596006179593,
          0.10660713827558567
        ],
        [
          -0.2286174760227072,
          0.0046756753707263305,
          0.9735051041041514,
          3.061678207078962
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.9735612144858046,
          0.007309673159518835,
          0.22830928655494148,
          0.2619426195643817
        ],
        [
          -0.006005045237399033,
          0.9999614347588718,
          -0.006408465235575864,
          0.11150117415906254
        ],
        [
          -0.22834732553857984,
          0.004868025603856573,
          0.9735675637808082,
          3.1044456060897545
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 478.1683349609375,
        "fy": 478.1682872772217,
        "cx": 416.0,
        "cy": 240.0
      }
    }
  ]
}