{
  "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": [
        [
          0.9999999515990005,
          -0.00030861416815345516,
          3.948787109721547e-05,
          4.9426657769247775e-06
        ],
        [
          0.0003086161857500351,
          0.9999999510725109,
          -5.109819568229764e-05,
          -5.309920178159732e-05
        ],
        [
          -3.947209953801845e-05,
          5.111037980525531e-05,
          0.9999999979148412,
          -0.00021979860173555114
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9999980681173359,
          -0.0004725329690219308,
          0.0019080026700820484,
          0.0010122531560409545
        ],
        [
          0.0004702927283971624,
          0.9999991997965472,
          0.0011744066650219802,
          0.0008065062578348049
        ],
        [
          -0.001908556089159986,
          -0.0011735070764246015,
          0.9999974901442483,
          0.007909101732960628
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9999926657260628,
          -0.000638739563985297,
          0.0037763084953595615,
          0.002019563646304984
        ],
        [
          0.0006296782834070305,
          0.9999969212445835,
          0.0024002097020237897,
          0.001666111717451207
        ],
        [
          -0.0037778299779278705,
          -0.002397814238777355,
          0.999989989193659,
          0.016038002067656806
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.9999877710556931,
          -0.0006688865271460752,
          0.0049000336611637295,
          0.0030631218183457968
        ],
        [
          0.0006508027108121846,
          0.999992975670111,
          0.0036912147415891967,
          0.002746125563275677
        ],
        [
          -0.004902468245520278,
          -0.0036879806467399402,
          0.9999811821248693,
          0.023489299499723604
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9999838054685223,
          -0.0006897899347145566,
          0.005649158392101566,
          0.0037588272663730046
        ],
        [
          0.0006640790188917773,
          0.9999894195726047,
          0.004551894320220324,
          0.0034661347938253232
        ],
        [
          -0.005652238472477325,
          -0.0045480691168618805,
          0.9999736832874948,
          0.02845683112110147
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9999790914884956,
          -0.0008849315391204662,
          0.006405738209943817,
          0.004952808986486503
        ],
        [
          0.0008480410869575021,
          0.9999830549437708,
          0.005759396812037564,
          0.0037113217872053925
        ],
        [
          -0.006410726336234941,
          -0.005753844062428733,
          0.9999628972448665,
          0.03570884138756036
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9999749746101168,
          -0.0011621594096129582,
          0.006978505499284373,
          0.006222002480636344
        ],
        [
          0.001113830746339586,
          0.9999753997918209,
          0.006925257558886429,
          0.0035390953543632617
        ],
        [
          -0.006986382079832363,
          -0.006917311377627371,
          0.9999516694664498,
          0.04286120807121528
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9999718589785931,
          -0.001406355728347475,
          0.007369085049167339,
          0.0068723099956815225
        ],
        [
          0.0013469240668472224,
          0.9999665801917346,
          0.008063764332204465,
          0.003582720355624907
        ],
        [
          -0.007380179296918543,
          -0.008053611811636404,
          0.9999403343651724,
          0.049501842852164094
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.9999692617147228,
          -0.001634094356448166,
          0.007668465384073856,
          0.0072131745211743694
        ],
        [
          0.0015636090374217656,
          0.9999565615091689,
          0.00918859192357751,
          0.00373427107393844
        ],
        [
          -0.007683147303716604,
          -0.009176319000239972,
          0.9999283796438201,
          0.05588661168175984
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9999678641704307,
          -0.0018980567682187982,
          0.007788967000291847,
          0.0063593901856517435
        ],
        [
          0.0018185336460116678,
          0.999946282926553,
          0.01020412645690263,
          0.0041601943857683945
        ],
        [
          -0.0078079166110647,
          -0.0101896340402762,
          0.9999176005033215,
          0.06158696455987959
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9999673286561929,
          -0.0020860448112514254,
          0.007809611849698039,
          0.005391984341631501
        ],
        [
          0.0020012904015525054,
          0.9999391917436046,
          0.010844706168236363,
          0.004535600791493839
        ],
        [
          -0.007831759503850129,
          -0.010828722555878004,
          0.9999106971679429,
          0.06515906116146741
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9999668255885473,
          -0.0023522767723496603,
          0.0077983662616100445,
          0.003698405405700022
        ],
        [
          0.0022610596011879295,
          0.9999291692007742,
          0.011685212489706812,
          0.004785568259106626
        ],
        [
          -0.007825300751014586,
          -0.01166719226875037,
          0.9999013157770723,
          0.07014657876063561
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9999669855339575,
          -0.002586931151377859,
          0.007702962374836933,
          0.0015198861299663114
        ],
        [
          0.0024921794626991288,
          0.9999214311063113,
          0.012284976834819808,
          0.004409251444768656
        ],
        [
          -0.007734137550872967,
          -0.012265374088236749,
          0.9998948663308657,
          0.07439284175337672
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.9999669901971783,
          -0.002897508406861227,
          0.007590978924256915,
          -0.00029408729739883495
        ],
        [
          0.002799510187953879,
          0.9999130170274612,
          0.012888798305027909,
          0.0040883406095058705
        ],
        [
          -0.007627664039788761,
          -0.012867121825502252,
          0.9998881217002349,
          0.07858797105171406
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9999666341714696,
          -0.0033599675299929247,
          0.0074458822163439445,
          -0.0013789690280268524
        ],
        [
          0.003259227356678944,
          0.9999035492061,
          0.013500730427712675,
          0.003878241732393453
        ],
        [
          -0.007490526070961195,
          -0.01347601214164207,
          0.9998811374938216,
          0.0826808329612438
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9999650462161161,
          -0.0038951415209153837,
          0.0073982578038995495,
          -0.0020662014002264593
        ],
        [
          0.003790581890896576,
          0.9998934779154479,
          0.014094832779363237,
          0.0037605102592359555
        ],
        [
          -0.00745237109444548,
          -0.01406629640956874,
          0.9998732927078255,
          0.08610548052051417
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.999961060076203,
          -0.004575946993975626,
          0.007545796206155355,
          -0.0019581350555692456
        ],
        [
          0.004465011920653762,
          0.9998826630249339,
          0.014653458660502027,
          0.003827513593988297
        ],
        [
          -0.007611964255362929,
          -0.014619195985927117,
          0.999864159328106,
          0.08819369937926577
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.9999581344328953,
          -0.0050298614370076315,
          0.0076439437078046615,
          -0.0018860908257977693
        ],
        [
          0.00491458123606487,
          0.9998750263707775,
          0.015025928633899932,
          0.0038721824838231916
        ],
        [
          -0.007718566755408807,
          -0.014987732782560487,
          0.9998578856984031,
          0.08958584528510016
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9999507276920524,
          -0.005702031329605719,
          0.008125824687454722,
          -0.0007666513309289495
        ],
        [
          0.0055758224301643705,
          0.9998647739677404,
          0.015470746028123263,
          0.004113651859356519
        ],
        [
          -0.00821294054296813,
          -0.015424675593204892,
          0.9998473018368765,
          0.09148559594892983
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9999426381024488,
          -0.006374409127042822,
          0.008607404544723916,
          0.00035278816393987045
        ],
        [
          0.0062368410636761285,
          0.9998538826307997,
          0.015915878915782326,
          0.004355121234889848
        ],
        [
          -0.008707601177241868,
          -0.01586128293665031,
          0.9998362852914181,
          0.09338534661275948
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9999284588244544,
          -0.00727606225781317,
          0.009494006054989592,
          0.0017614075784258046
        ],
        [
          0.007116586487411546,
          0.9998348082124947,
          0.0167245473317335,
          0.004599796703820024
        ],
        [
          -0.009614126570778217,
          -0.016655785922754573,
          0.9998150595813091,
          0.09427484358986288
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9999126821131245,
          -0.008178413491886298,
          0.010379870042238264,
          0.0031700269929117388
        ],
        [
          0.007995592420745247,
          0.9998142977040863,
          0.017533984382518207,
          0.004844472172750199
        ],
        [
          -0.010521342650980644,
          -0.017449460141815372,
          0.999792387293272,
          0.09516434056696628
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9998916530577622,
          -0.008954537363295873,
          0.011683253229532444,
          0.0038251569652124904
        ],
        [
          0.008731895344595711,
          0.9997819163724155,
          0.01897033732941106,
          0.004975873464579884
        ],
        [
          -0.011850575897696695,
          -0.01886626500688351,
          0.9997517831419873,
          0.09535557031766514
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9998683189373394,
          -0.009732501706295223,
          0.012985499449610667,
          0.0044802869375132415
        ],
        [
          0.009466282202093742,
          0.9997469274596211,
          0.02040760976492039,
          0.005107274756409567
        ],
        [
          -0.01318083027313536,
          -0.020281998066855038,
          0.9997074103295058,
          0.095546800068364
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.999851162211276,
          -0.010194296304090321,
          0.013918683401280251,
          0.004874619966400119
        ],
        [
          0.009890242083735734,
          0.9997146970354006,
          0.021741840836100826,
          0.005166847003217124
        ],
        [
          -0.014136355127322127,
          -0.021600945680262454,
          0.9996667257688598,
          0.09525588052939316
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9998233865689136,
          -0.010889291395600657,
          0.015317277916483312,
          0.005466119509730435
        ],
        [
          0.010523785665755172,
          0.9996626827509157,
          0.023743855005105962,
          0.005256205373428459
        ],
        [
          -0.015570664890438552,
          -0.023578465771630416,
          0.9996007254632852,
          0.09481950122093688
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9997945860095349,
          -0.011445877547037497,
          0.016726555927660907,
          0.006025686104937901
        ],
        [
          0.011005713054510225,
          0.9995968020232915,
          0.02617456140932646,
          0.005336395336937884
        ],
        [
          -0.017019402638892133,
          -0.02598509711328864,
          0.9995174408992713,
          0.094905855656496
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9997642052918271,
          -0.011935428246050855,
          0.01814054491422161,
          0.006569286226083941
        ],
        [
          0.011409579091399589,
          0.99951950849497,
          0.028819674580586128,
          0.005412001097096353
        ],
        [
          -0.018475803694524832,
          -0.028605903071868864,
          0.9994200052967143,
          0.09525357696406278
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.999732842449123,
          -0.012599560852462534,
          0.019377688069582955,
          0.0071381497800881615
        ],
        [
          0.011977314783900704,
          0.9994193289151864,
          0.031899042639017425,
          0.005623089102407368
        ],
        [
          -0.019768349935296005,
          -0.031658427899117034,
          0.9993032354014432,
          0.09620119210827244
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.9997001724698384,
          -0.013352873370240244,
          0.020524763982408798,
          0.007719645050521473
        ],
        [
          0.012624936532466205,
          0.9993006907490768,
          0.03519574471394347,
          0.005901918230294656
        ],
        [
          -0.02098037514741947,
          -0.03492606821811193,
          0.9991696520699062,
          0.09744875417080352
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.999672660289695,
          -0.014133155897416016,
          0.021326654067238333,
          0.0082403518328112
        ],
        [
          0.013292127315652274,
          0.9991478736039249,
          0.039074877148624475,
          0.0061437709359198215
        ],
        [
          -0.021860732392781565,
          -0.038778609788579825,
          0.9990086725359878,
          0.09862576026766669
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9996560156916473,
          -0.014662659245063839,
          0.02174526880414391,
          0.008567226858289825
        ],
        [
          0.013743005385699492,
          0.9990291766811342,
          0.04185491539573423,
          0.006292680598915892
        ],
        [
          -0.022337862352292466,
          -0.04154167261532182,
          0.9988870353257427,
          0.09938691234368617
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.9996333778696079,
          -0.015468375275461627,
          0.02222249345449891,
          0.008905600226202431
        ],
        [
          0.014427313682407081,
          0.9988249056249653,
          0.04626727270100073,
          0.006607722081619328
        ],
        [
          -0.022912059464552482,
          -0.045929699211042355,
          0.9986818814124325,
          0.10069697258645952
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9996162956183302,
          -0.01629413214072708,
          0.022400062322854544,
          0.008940095253504383
        ],
        [
          0.015130653269045495,
          0.9985756418722733,
          0.05116395988417482,
          0.00710611754074143
        ],
        [
          -0.023201828935219004,
          -0.05080540047237155,
          0.9984390248867995,
          0.10234369708672113
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.999602293915846,
          -0.017109882926035137,
          0.02241664346944506,
          0.008771211269789008
        ],
        [
          0.01582697876257131,
          0.9982936083175263,
          0.05620834756174965,
          0.007546775068293442
        ],
        [
          -0.023340110141727252,
          -0.05583120541982506,
          0.9981673786294267,
          0.10408246345473315
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9995951166245972,
          -0.017903130240646253,
          0.02211517008400099,
          0.008195569264038985
        ],
        [
          0.01651226698136914,
          0.9979674844915667,
          0.061548720024956365,
          0.00787195673270527
        ],
        [
          -0.02317213540858549,
          -0.061158628378675535,
          0.9978590453142394,
          0.10600531355824597
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.9995889603708454,
          -0.018653591866482452,
          0.021770480362436635,
          0.0073595592059284235
        ],
        [
          0.01716039488166586,
          0.9976142518597098,
          0.06686796941658167,
          0.008123810042853782
        ],
        [
          -0.022965869289836068,
          -0.06646689399144738,
          0.9975242958699763,
          0.1078878998315515
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9995867125093157,
          -0.019097909511159895,
          0.02148660110680067,
          0.006455061764040663
        ],
        [
          0.01754245892826433,
          0.997365465748391,
          0.07038742691167185,
          0.008193941110601696
        ],
        [
          -0.022774246630116627,
          -0.06998140885120374,
          0.9972882913709716,
          0.10908927224014553
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9995829184508537,
          -0.019762497365469377,
          0.021057845073842837,
          0.005098315601209023
        ],
        [
          0.01811681119397834,
          0.9969687187304765,
          0.07566475417969674,
          0.008299137712223568
        ],
        [
          -0.022489337327629113,
          -0.07525169480345283,
          0.9969109349063097,
          0.11089133085303654
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9995771011981063,
          -0.020119426480588343,
          0.020995890990450617,
          0.002801270743608538
        ],
        [
          0.018376380815156655,
          0.9966139061646637,
          0.08014381240836435,
          0.00798054422784245
        ],
        [
          -0.02253724447502461,
          -0.07972409119772361,
          0.996562161580586,
          0.11294064463392417
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.9995711920003212,
          -0.020476072096811952,
          0.020932333709922528,
          0.000504225886008053
        ],
        [
          0.018635730793164676,
          0.99623890486526,
          0.08462123829555059,
          0.007661950743461334
        ],
        [
          -0.02258631578770858,
          -0.08419486269573591,
          0.99619329622056,
          0.11498995841481181
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.9995488169286003,
          -0.020681485345388464,
          0.021781614736847518,
          -0.0017675146581287572
        ],
        [
          0.018687899875555806,
          0.9959400129842054,
          0.08805823604446424,
          0.007255679446094567
        ],
        [
          -0.023514356782127217,
          -0.08761145302373351,
          0.9958771552376294,
          0.11590016897675136
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.9995256332304827,
          -0.02088981012128473,
          0.02263016456632685,
          -0.004039255202265567
        ],
        [
          0.018736865940479654,
          0.9956293160700883,
          0.09149423389775217,
          0.0068494081487278004
        ],
        [
          -0.02444255244304201,
          -0.09102681371389838,
          0.995548432179552,
          0.1168103795386909
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9994763167964149,
          -0.02098900452919243,
          0.024628314029708883,
          -0.005190982794571226
        ],
        [
          0.01858692369559556,
          0.995398053199657,
          0.09400660590547276,
          0.0069136122003138085
        ],
        [
          -0.026488080915886,
          -0.09349961163131267,
          0.9952669009839457,
          0.11776043881727774
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.999441160040916,
          -0.02105789162256761,
          0.02596021603300714,
          -0.005958801189441665
        ],
        [
          0.018484094333507034,
          0.9952404130438145,
          0.09568102477005279,
          0.006956414901371146
        ],
        [
          -0.02785149677734066,
          -0.09514770330801285,
          0.9950734689873266,
          0.11839381166966897
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.9993652953178099,
          -0.021124460808159686,
          0.028683857305313087,
          -0.006621911300794849
        ],
        [
          0.01823012427818661,
          0.9950524222934736,
          0.0976644226762907,
          0.006821586635588641
        ],
        [
          -0.030605049961548975,
          -0.09707952432648102,
          0.9948059594078614,
          0.11904313311764599
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.9992708567511799,
          -0.0211757049360923,
          0.031770180487721365,
          -0.007040712671671797
        ],
        [
          0.017923106660422194,
          0.9948878324448788,
          0.09938291151284487,
          0.006587242211121879
        ],
        [
          -0.03371226921169746,
          -0.0987410268003649,
          0.9945419511166975,
          0.11954208565031807
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.9991518131360994,
          -0.02134093935622881,
          0.03521673770011836,
          -0.007396225750295382
        ],
        [
          0.017692834145237177,
          0.9947460920798947,
          0.10083241498489756,
          0.00659675335674178
        ],
        [
          -0.03718357065633023,
          -0.10012380635578746,
          0.9942799432122095,
          0.11994556152051099
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.9990125974834386,
          -0.0215652295158909,
          0.03884290083554608,
          -0.007720094682792284
        ],
        [
          0.01749869695660827,
          0.9946153840005458,
          0.1021471170139804,
          0.006728192287405011
        ],
        [
          -0.04083657275303484,
          -0.10136655654294448,
          0.9940106616834712,
          0.12030129905946434
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 49,
      "c2w": [
        [
          0.998856555985969,
          -0.021856768663043976,
          0.04251896315126972,
          -0.008043263764402645
        ],
        [
          0.017363743032320206,
          0.9944976757157203,
          0.10330959986340883,
          0.006979611382325416
        ],
        [
          -0.044543024052666254,
          -0.10245318276969374,
          0.9937400386160373,
          0.12074010428753011
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 50,
      "c2w": [
        [
          0.9987437026554263,
          -0.02207420657140176,
          0.0449860624012859,
          -0.008258476535180706
        ],
        [
          0.017292760805153035,
          0.9944234132697592,
          0.10403381933129896,
          0.007187217500358076
        ],
        [
          -0.047031657740984084,
          -0.10312518870365606,
          0.9935558457504894,
          0.12106033033594477
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 51,
      "c2w": [
        [
          0.9985674505192611,
          -0.022442325173290017,
          0.048573540166221015,
          -0.008539835834649557
        ],
        [
          0.017233463364731135,
          0.9943106104506696,
          0.10511621038485651,
          0.007455018857270312
        ],
        [
          -0.05065623854886624,
          -0.10412853588730257,
          0.9932729702906685,
          0.12154006876053623
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 52,
      "c2w": [
        [
          0.9983880510349803,
          -0.022891608675344826,
          0.05193528475736605,
          -0.008738275420721925
        ],
        [
          0.01727149767080199,
          0.9941956933948171,
          0.10619142434022856,
          0.007635604573909036
        ],
        [
          -0.054064728971680805,
          -0.10512324903395005,
          0.9929884730417393,
          0.12201860588906667
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 53,
      "c2w": [
        [
          0.9982049970978575,
          -0.0233311528870105,
          0.05515832732987277,
          -0.00899580759247948
        ],
        [
          0.01730636604869893,
          0.9940776424360672,
          0.10728527626351644,
          0.007815708908099095
        ],
        [
          -0.05733474917582607,
          -0.10613810867786153,
          0.9926970476551401,
          0.12239359325297686
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 54,
      "c2w": [
        [
          0.9980279760353074,
          -0.02374770412579734,
          0.058105125416109675,
          -0.009371524935607408
        ],
        [
          0.017338779551584853,
          0.9939543536754025,
          0.10841637115018475,
          0.007994850477391825
        ],
        [
          -0.06032848228266471,
          -0.10719509950770444,
          0.9924060080768373,
          0.12256148108764657
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 55,
      "c2w": [
        [
          0.997850665650358,
          -0.024267134256304605,
          0.060869986496828454,
          -0.009668644991559564
        ],
        [
          0.017485375090007388,
          0.9938253202599966,
          0.10956958733187341,
          0.008050338652313617
        ],
        [
          -0.06315307371062266,
          -0.10826975110852419,
          0.9921135773064488,
          0.12259554156329103
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 56,
      "c2w": [
        [
          0.9976834343375998,
          -0.024988885567747414,
          0.06327179819172526,
          -0.009808570473160175
        ],
        [
          0.01786401640306539,
          0.9936857704144192,
          0.11076762430355469,
          0.007858520038493532
        ],
        [
          -0.06564024501998295,
          -0.10938073538783899,
          0.9918302339411379,
          0.12236194732088498
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 57,
      "c2w": [
        [
          0.9975684357356055,
          -0.025471542241525084,
          0.06487230965408357,
          -0.009901854127560582
        ],
        [
          0.018114771581448613,
          0.9935918269023596,
          0.11156673591794106,
          0.007730640962613476
        ],
        [
          -0.06729837349125938,
          -0.11012030715844312,
          0.9916372556922017,
          0.12220621782594762
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 58,
      "c2w": [
        [
          0.9974096343058745,
          -0.02622830220406484,
          0.06697833647765698,
          -0.010162360129891752
        ],
        [
          0.018552987781850067,
          0.9934505271164,
          0.11274678184548699,
          0.0076423745952589
        ],
        [
          -0.06949682034588713,
          -0.11121207819135277,
          0.9913637403224773,
          0.12214744593039287
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 59,
      "c2w": [
        [
          0.9972458075098253,
          -0.026987369531831874,
          0.06908314765432137,
          -0.010422866132222921
        ],
        [
          0.018988579536464212,
          0.9933075736141418,
          0.1139276000272697,
          0.007554108227904324
        ],
        [
          -0.07169542001595212,
          -0.1123020306429876,
          0.9910842651672953,
          0.12208867403483813
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 60,
      "c2w": [
        [
          0.9971059898845063,
          -0.027489128745484814,
          0.07088012935409387,
          -0.011040784057902764
        ],
        [
          0.019201409510154047,
          0.9931727108009977,
          0.11506203714962342,
          0.007620550354644066
        ],
        [
          -0.07355916536545452,
          -0.11336804806034244,
          0.9908262889476267,
          0.12232045579400791
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 61,
      "c2w": [
        [
          0.9969626664773525,
          -0.02799281640631302,
          0.07267629517256495,
          -0.011658701983582606
        ],
        [
          0.019412102958562376,
          0.993036502007716,
          0.1161967122555787,
          0.007686992481383807
        ],
        [
          -0.07542288717023175,
          -0.1144329843616867,
          0.9905637183851348,
          0.12255223755317768
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 62,
      "c2w": [
        [
          0.9968377638112234,
          -0.028636062311997997,
          0.07412454772275802,
          -0.012175105167182884
        ],
        [
          0.019798341241844843,
          0.9928958359992123,
          0.11732810634923442,
          0.0076996421053939935
        ],
        [
          -0.07695776974361672,
          -0.11548954407516364,
          0.9903230113884054,
          0.1228323910253618
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 63,
      "c2w": [
        [
          0.9967103492857127,
          -0.029280844334167257,
          0.07557189809599309,
          -0.012691508350783162
        ],
        [
          0.02018282022341983,
          0.9927536966431061,
          0.11845991545361258,
          0.00771229172940418
        ],
        [
          -0.07849288754136909,
          -0.11654496967491214,
          0.990078853753019,
          0.12311254449754591
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 64,
      "c2w": [
        [
          0.9966409055174424,
          -0.029697609465680747,
          0.07632140880117887,
          -0.013018958823105612
        ],
        [
          0.02045269076915814,
          0.9926624138146728,
          0.11917642233230932,
          0.007720842228679792
        ],
        [
          -0.07930064873425656,
          -0.11721511929632489,
          0.9899353630003702,
          0.12318134926652438
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 65,
      "c2w": [
        [
          0.9965353690686146,
          -0.030323701176068252,
          0.07744502141690575,
          -0.013510134531589287
        ],
        [
          0.020856395461226994,
          0.992524356932776,
          0.12025145181470692,
          0.007733667977593209
        ],
        [
          -0.08051253917027697,
          -0.11821960092203149,
          0.9897180694491693,
          0.12328455641999209
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 66,
      "c2w": [
        [
          0.9964433955326337,
          -0.030928203345699297,
          0.07838370836597694,
          -0.0139894321130458
        ],
        [
          0.021264823137054356,
          0.9923945665473158,
          0.12124698587723794,
          0.007712537270559097
        ],
        [
          -0.08153751772248924,
          -0.1191489426103833,
          0.9895226943726367,
          0.12340435891509247
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 67,
      "c2w": [
        [
          0.9963578741835021,
          -0.03152216240422635,
          0.07922966508760475,
          -0.014462790630988731
        ],
        [
          0.021675298585883098,
          0.9922684317772539,
          0.12220286710843585,
          0.00767442833555122
        ],
        [
          -0.08246919414996882,
          -0.12004046224365682,
          0.9893377175871664,
          0.12353245908100917
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 68,
      "c2w": [
        [
          0.9962844968711723,
          -0.0320840777835619,
          0.07992379649974997,
          -0.014933912193267295
        ],
        [
          0.022072082450070498,
          0.9921436301684053,
          0.12314154576167888,
          0.007611370761212527
        ],
        [
          -0.08324676852870859,
          -0.12091992833704754,
          0.9891654798164414,
          0.12332757322505312
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 69,
      "c2w": [
        [
          0.9962169920156895,
          -0.032630168933194405,
          0.08054177111662658,
          -0.015403915277713672
        ],
        [
          0.022461769418938377,
          0.9920189980335795,
          0.12407165854869397,
          0.007535838867208426
        ],
        [
          -0.0839474462612313,
          -0.12179318378236302,
          0.9889991135741091,
          0.12295619435816071
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 70,
      "c2w": [
        [
          0.9961606907251147,
          -0.03318718188039,
          0.08100919215064728,
          -0.015838952238775676
        ],
        [
          0.022882470347058814,
          0.9918967359829192,
          0.12496902695167009,
          0.007591785319431791
        ],
        [
          -0.08450012310570057,
          -0.12263554177019476,
          0.9888479423500118,
          0.12296638966711086
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 71,
      "c2w": [
        [
          0.9961268408720749,
          -0.03356218686157426,
          0.08127051437814663,
          -0.01611732150502222
        ],
        [
          0.023173231055354123,
          0.991815810200549,
          0.12555636184074356,
          0.007672909069656524
        ],
        [
          -0.08481932714113534,
          -0.12318676166413875,
          0.9887520940529166,
          0.1231003779316918
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 72,
      "c2w": [
        [
          0.9960815888827825,
          -0.03413827782214721,
          0.08158459582598566,
          -0.01655608365602795
        ],
        [
          0.023636989630084003,
          0.991700388736295,
          0.12637892111229976,
          0.0077575606196843404
        ],
        [
          -0.0852218341153184,
          -0.12395530229731794,
          0.9886214250269927,
          0.12329986930233619
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 73,
      "c2w": [
        [
          0.996047733923952,
          -0.034741172884841034,
          0.08174327282135277,
          -0.017037262310305515
        ],
        [
          0.024156436255867924,
          0.9915976980854422,
          0.12708450629037585,
          0.007768144019093592
        ],
        [
          -0.0854715059676423,
          -0.12460760834811804,
          0.9885178630704584,
          0.12349637862052645
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 74,
      "c2w": [
        [
          0.9960193659795464,
          -0.035335038909485396,
          0.08183433032027276,
          -0.017634581653852614
        ],
        [
          0.02467357978276796,
          0.9914920282088858,
          0.1278075602573393,
          0.007734941934806032
        ],
        [
          -0.08565417126098265,
          -0.12527965925678114,
          0.9884171032120495,
          0.12375064655111973
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 75,
      "c2w": [
        [
          0.9960023724292351,
          -0.0359106630095118,
          0.08179057645935106,
          -0.01846418237593878
        ],
        [
          0.02518639752883998,
          0.9913811426101032,
          0.12856545203360667,
          0.007614168883124846
        ],
        [
          -0.08570250576765487,
          -0.12599148526509105,
          0.9883224302553503,
          0.12412043170651899
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 76,
      "c2w": [
        [
          0.9959971518574682,
          -0.036481973823470785,
          0.0816010972827901,
          -0.019381076583673468
        ],
        [
          0.025715907849214806,
          0.9912726665347501,
          0.12929498313769536,
          0.007526157757303522
        ],
        [
          -0.08560587348600839,
          -0.1266789886564849,
          0.9882429196597706,
          0.1244913029819455
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 77,
      "c2w": [
        [
          0.9960095305338967,
          -0.03685703635744906,
          0.08128083388224147,
          -0.02010873070302796
        ],
        [
          0.02609130630585734,
          0.9912042490714132,
          0.12974351759540761,
          0.007511166241235789
        ],
        [
          -0.08534786945730272,
          -0.1271050569164012,
          0.9882105270059501,
          0.1247399986589328
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 78,
      "c2w": [
        [
          0.9960276772934554,
          -0.037419361325213334,
          0.08080010806563101,
          -0.0212002118820597
        ],
        [
          0.026654616482524575,
          0.9911009971113613,
          0.13041604558119038,
          0.007488678967134189
        ],
        [
          -0.08496115280276068,
          -0.12774429506979454,
          0.9881614228412013,
          0.12511304217441377
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 79,
      "c2w": [
        [
          0.9960837320020166,
          -0.03802270349471616,
          0.07982150624918033,
          -0.022528432420508216
        ],
        [
          0.027323542671341572,
          0.9909939746427633,
          0.1310891537756874,
          0.007277623415045478
        ],
        [
          -0.0840869957652336,
          -0.12839476718578266,
          0.988151891615093,
          0.12586751500182575
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 80,
      "c2w": [
        [
          0.9961385201880014,
          -0.03862538578813894,
          0.0788424262080785,
          -0.023856652958956732
        ],
        [
          0.02799305288251469,
          0.9908861104249176,
          0.13176154658053632,
          0.007066567862956766
        ],
        [
          -0.08321320561050154,
          -0.12904571182218935,
          0.9881410661804968,
          0.1266219878292377
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 717.9589335123698,
        "fy": 717.9590034484863,
        "cx": 416.0,
        "cy": 240.0
      }
    }
  ]
}