{ "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": [ [ 0.9999999773127682, 0.0001735146220590681, 0.0001235602642212247, -1.0666557460709146e-05 ], [ -0.0001734979015274917, 0.9999999757933861, -0.0001353207494937281, 4.682161014083724e-05 ], [ -0.00012358374135895423, 0.0001352993089771203, 0.9999999832105777, 8.189826718238941e-05 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999799446670666, 0.006220420875908165, 0.001190221734415483, -0.0008008494391353606 ], [ -0.006209721437439406, 0.9999420741053248, -0.00879134765611979, 0.0002292858101172538 ], [ -0.0012448386722441489, 0.008783780397296105, 0.9999606470149774, -0.0008672114325575573 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999557919743205, 0.00924720457806888, 0.001703908595257167, -0.0011959408799726865 ], [ -0.009224064935889401, 0.9998713627839309, -0.013121528518562015, 0.00032051791010546206 ], [ -0.0018250268677871447, 0.013105231478164838, 0.9999124572605522, -0.0013417662824275307 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9999222158528099, 0.01227609511635031, 0.0022044801429978783, -0.0015910323208100123 ], [ -0.012235783129675557, 0.9997728135363086, -0.017452991860908623, 0.0004117500100936703 ], [ -0.0024182339030993146, 0.017424660753877406, 0.9998452546981469, -0.001816321132297504 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9998267973680801, 0.018339855703439188, 0.003166221322822072, -0.0023812152024846635 ], [ -0.01825100467154286, 0.9994922131386782, -0.026119278390231142, 0.0005942142100700869 ], [ -0.0036436373539891023, 0.02605696774231614, 0.9996538192488981, -0.002765430832037451 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9996936999533905, 0.024411020087011577, 0.004075337018195937, -0.003171398084159315 ], [ -0.024254708976539266, 0.9991003044974281, -0.03478923174790804, 0.0007766784100465034 ], [ -0.004920911090819086, 0.03467972969124449, 0.9993863622156239, -0.0037145405317773974 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9996130261634737, 0.02744916517557093, 0.004510128098735912, -0.0035664895249966407 ], [ -0.02725203092808383, 0.9988626228818087, -0.039125278528959584, 0.0008679105100347117 ], [ -0.005578954615117928, 0.03898722791938569, 0.9992241346787839, -0.004189095381647371 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9995229385904777, 0.030488904883516764, 0.004931724897067059, -0.003961580965833967 ], [ -0.030246220254568155, 0.9985971317266532, -0.04346187602501378, 0.0009591426100229199 ], [ -0.00624991134086193, 0.04329197600370517, 0.999042913703874, -0.0046636502315173444 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.999314532500614, 0.036572825952939605, 0.005735288562541443, -0.004751763847508618 ], [ -0.03622486408800665, 0.9979827514645813, -0.05213623500972704, 0.0011416068099993366 ], [ -0.0076304885089407545, 0.05189273726640395, 0.9986235123729639, -0.005612759931257291 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9989429598652811, 0.04588336177054196, -0.00277128999289344, -0.005171577168328893 ], [ -0.04596386321916171, 0.9977600016513041, -0.0486035223287353, 0.0011861652143907461 ], [ 0.000534989309553625, 0.04867952564911911, 0.9988143058491981, -0.0057564326012907 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9986970524091912, 0.05054728793153865, -0.007012074725747695, -0.00538148382873903 ], [ -0.05082092202170124, 0.9976103640064985, -0.04680593457763214, 0.0012084444165864508 ], [ 0.004629405367593594, 0.04710130900078622, 0.9988793897645275, -0.005828268936307404 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.9984110777028151, 0.05521671925200701, -0.011244280116952343, -0.005591390489149168 ], [ -0.055669408711953666, 0.997435226073747, -0.044987628531351076, 0.0012307236187821555 ], [ 0.008731371826059705, 0.04554210911078245, 0.9989242611148139, -0.005900105271324108 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.9977189773905606, 0.06457129492669843, -0.019682226150094437, -0.006011203809969443 ], [ -0.06533983315385299, 0.9970084805283477, -0.041289174828059425, 0.001275282023173565 ], [ 0.016957250902218324, 0.0424810266594951, 0.9989533592794984, -0.006043777941357516 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.9968667778313381, 0.07394548167869464, -0.028083678453353012, -0.006431017130789717 ], [ -0.07497347516612599, 0.9964798383299829, -0.03750879661313565, 0.0013198404275649746 ], [ 0.02521121333216193, 0.03949680418916347, 0.9989015953441877, -0.0061874506113909255 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.9963806855128123, 0.07863942605613394, -0.03227026815166069, -0.006640923791199856 ], [ -0.07977598530042773, 0.9961773336839973, -0.035588088226088783, 0.0013421196297606793 ], [ 0.029348282852054278, 0.038033676180508534, 0.998845392325475, -0.0062592869464076295 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.9958546254330157, 0.08333766902289143, -0.03644719365738348, -0.006850830451609993 ], [ -0.08456867968925967, 0.9958493902993719, -0.03364714335548456, 0.001364398831956384 ], [ 0.03349184108530332, 0.03658995438915075, 0.9987689782019246, -0.0063311232814243345 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.9946826940833562, 0.0927462433816832, -0.04477133491043418, -0.0072706437724302676 ], [ -0.09412379826730101, 0.9951172447474748, -0.02970487848706182, 0.0014089572363477935 ], [ 0.04179771154995332, 0.03376097665619685, 0.9985555306363322, -0.006474795951457743 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.9942591648999912, 0.09393932936790575, -0.05122612039067799, -0.0073753736802387535 ], [ -0.09558532277231868, 0.9949482130046254, -0.030683863990937248, 0.0016806639756175139 ], [ 0.04808491533614019, 0.035404178239450794, 0.9982156004993639, -0.006553269884203306 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.9940314816134438, 0.09453181824905278, -0.05445318080617968, -0.0074277386341429965 ], [ -0.09631832411771289, 0.9948624153946777, -0.031169775010794376, 0.001816517345252374 ], [ 0.05122688747657472, 0.036228576753667655, 0.9980297070858495, -0.006592506850576087 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.9937931891916628, 0.09512159561647583, -0.05767997194555503, -0.007480103588047239 ], [ -0.09705280735673143, 0.9947757645580974, -0.03165329101421295, 0.0019523707148872342 ], [ 0.05436772664404451, 0.037054828231000106, 0.9978331974855967, -0.006631743816948869 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.9932847876324822, 0.09629298967336085, -0.06413260323470878, -0.0075848334958557246 ], [ -0.09852618691212199, 0.9945999070589723, -0.03261311654597096, 0.0022240774541569543 ], [ 0.060645866721914, 0.03871285339586204, 0.9974083385612426, -0.006710217749694432 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9927339827788856, 0.09745345956689898, -0.07058372797192282, -0.0076895634036642105 ], [ -0.10000539606852919, 0.9944206483095842, -0.03356329800128627, 0.002495784193426675 ], [ 0.06691905702524668, 0.04037818017183699, 0.996941042576171, -0.006788691682439995 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9924426866800199, 0.09802958184373456, -0.07380863593703954, -0.007741928357568453 ], [ -0.10074716624819852, 0.9943297459455427, -0.03403475900943657, 0.002631637563061535 ], [ 0.07005370902601624, 0.041213558587133915, 0.9966914870913081, -0.0068279286488127765 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.9921407990686295, 0.0986029538101043, -0.07703305993782235, -0.007794293311472696 ], [ -0.10149036919734743, 0.9942379962631699, -0.03450379322311597, 0.002767490932696395 ], [ 0.07318701922914884, 0.04205073467277202, 0.9964313302630707, -0.006867165615185558 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9915052628197095, 0.09974142140295178, -0.08348031299257314, -0.007899023219281182 ], [ -0.10298104041423911, 0.9940519590235185, -0.03543456048416981, 0.003039197671966115 ], [ 0.07944947524068383, 0.043730442691839184, 0.9958792242365316, -0.006945639547931121 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9912814807890724, 0.10268858289380926, -0.08255955903398114, -0.00793384403008666 ], [ -0.10571684028627949, 0.9938427575532469, -0.03317413056650573, 0.0031997529165862233 ], [ 0.07864461535610322, 0.04161283698835687, 0.9960338328958868, -0.006683403715321803 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.9911662839351769, 0.10416111539829119, -0.08209664809915308, -0.007951254435489398 ], [ -0.10708510193321501, 0.9937333198887086, -0.032044810608250554, 0.0032800305388962776 ], [ 0.07824435145162405, 0.04055306378005932, 0.9961090655565611, -0.006552285799017145 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.9910488837120169, 0.10563294235562884, -0.08163204997093593, -0.007968664840892136 ], [ -0.10845359847776623, 0.9936206581002455, -0.030916092470724847, 0.003360308161206332 ], [ 0.07784553340037212, 0.03949264850231419, 0.9961829167597104, -0.006421167882712486 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9908074747725062, 0.10857445948381894, -0.0806977984998744, -0.008003485651697614 ], [ -0.11119127752590896, 0.9933856637047779, -0.0286604771065393, 0.00352086340582644 ], [ 0.07705224031192129, 0.03736990625643484, 0.9963264737872318, -0.006158932050103169 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9905572572751253, 0.11151309401269595, -0.07975681740952845, -0.008038306462503092 ], [ -0.11392983995531199, 0.9931377775836223, -0.02640731535049699, 0.0036814186504465483 ], [ 0.07626474694993896, 0.03524463930840023, 0.9964645020133345, -0.005896696217493851 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9904288463828889, 0.11298131773014045, -0.07928380727879651, -0.00805571686790583 ], [ -0.11529944072360437, 0.9930090011794104, -0.025281664215278443, 0.0037616962727566026 ], [ 0.07587317853816548, 0.034181068161061055, 0.9965314422324489, -0.005765578301189192 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9902982346450389, 0.11444880571603537, -0.0788091195807502, -0.008073127273308568 ], [ -0.11666924827848714, 0.9928770031300297, -0.02415663804555905, 0.0038419738950666565 ], [ 0.0754830640942226, 0.033116876750451836, 0.9965969995485854, -0.005634460384884533 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9900304104279416, 0.11738155440762263, -0.07785471798633535, -0.008107948084114046 ], [ -0.11940946499636718, 0.9926033439136749, -0.021908476000677555, 0.004002529139686765 ], [ 0.07470720244503097, 0.03098664770899286, 0.996723964579259, -0.005372224552275216 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9906659300391902, 0.11191695630664505, -0.07781779970316983, -0.008095687193105452 ], [ -0.11400638462017301, 0.9932152908778952, -0.022933168821059283, 0.00390044071050046 ], [ 0.07472321811474221, 0.031590835022115626, 0.9967037974329094, -0.00535000373247654 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9909725412836403, 0.10918339619243513, -0.07779722628558007, -0.008089556747601156 ], [ -0.11130355774486671, 0.9935098539099028, -0.02344543062643592, 0.003849396495907307 ], [ 0.07473245918059389, 0.031892886037636015, 0.9966934851623199, -0.005338893322577202 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9912717170049804, 0.10644902327234133, -0.07777524355707768, -0.00808342630209686 ], [ -0.10859990066756885, 0.9937968069487294, -0.02395763079906057, 0.0037983522813141548 ], [ 0.07474252230820419, 0.03219490554225078, 0.99668302053167, -0.005327782912677864 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9918477527729229, 0.10097792276163173, -0.07772705085135231, -0.008071165411088266 ], [ -0.10319017871358033, 0.9943478743170913, -0.024981830560257705, 0.003696263852127849 ], [ 0.07476511443422076, 0.03279884076957613, 0.9966616345118386, -0.0053055620928791885 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9923940197017679, 0.09550382232844136, -0.07767322306190828, -0.00805890452007967 ], [ -0.09777738443239774, 0.9948684761063946, -0.026005736738257464, 0.003594175422941544 ], [ 0.074790993800902, 0.03340262220841285, 0.9966396400283684, -0.005283341273080513 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9926559845879107, 0.09276569952677947, -0.07764419651920516, -0.008052774074575374 ], [ -0.09506988696815989, 0.9951173473900741, -0.026517569933992676, 0.0035431312083483916 ], [ 0.07480516595574792, 0.03370444947852071, 0.9966284148225371, -0.005272230863181175 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.9929105010619432, 0.09002688961856868, -0.07761376183723612, -0.008046643629071077 ], [ -0.09236168359230214, 0.9953585963730692, -0.02702931797565767, 0.003492086993755239 ], [ 0.07482015961568528, 0.03400623136779194, 0.9966170377548459, -0.005261120453281837 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9933971810360683, 0.08454729236455152, -0.07754866899835186, -0.008034382738062484 ], [ -0.0869432420505889, 0.9958182201070501, -0.02805254292500754, 0.0033899985645689337 ], [ 0.07485261098535978, 0.034609649762020495, 0.9965938283834718, -0.005238899633483161 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9928736899738579, 0.08852137004009118, -0.07978598124934543, -0.008257330523007056 ], [ -0.09106082057750294, 0.9954297930001745, -0.028765503009361905, 0.0035048628010901166 ], [ 0.07687498106307063, 0.03582588804000592, 0.9963968802804922, -0.005454067094132735 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.9926040515188304, 0.09050683437813148, -0.08090556123810626, -0.008368804415479342 ], [ -0.09311958616628854, 0.9952290470381152, -0.02911849247170074, 0.003562294919350708 ], [ 0.07788414203560727, 0.03643702598257448, 0.99629634324177, -0.005561650824457523 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9923291530953988, 0.09249123439018023, -0.08202574887161637, -0.008480278307951627 ], [ -0.09517832077322086, 0.9950239476109319, -0.029469152270596252, 0.0036197270376112996 ], [ 0.07889194617803902, 0.037050171952886485, 0.9961944316178962, -0.00566923455478231 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9917635824606985, 0.09645679749314547, -0.08426792226041761, -0.008703226092896199 ], [ -0.09929565144633794, 0.994600692927691, -0.030163475124797633, 0.003734591274132483 ], [ 0.080903461659986, 0.038282474386110994, 0.9959864868793693, -0.005884402015431884 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9911769905956046, 0.1004179715225746, -0.08651245175772093, -0.008926173877840771 ], [ -0.10341272140920392, 0.9941600383243895, -0.03084845619460761, 0.003849455510653666 ], [ 0.08290948295932724, 0.039522768047539895, 0.9957730506703208, -0.006099569476081458 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.9908758157432981, 0.10239688521548597, -0.08763558451462866, -0.009037647770313056 ], [ -0.1054711301296757, 0.9939331890874497, -0.031187438811504972, 0.003906887628914257 ], [ 0.0839104194020209, 0.040145903011626766, 0.9956642747368002, -0.006207153206406245 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9905693904915284, 0.10437466874926145, -0.0887592876533168, -0.009149121662785342 ], [ -0.10752943947994266, 0.9937019935603258, -0.031524080309562816, 0.003964319747174849 ], [ 0.08490996564815957, 0.04077102546804978, 0.9955541277177812, -0.006314736936731033 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.9899407956051551, 0.10832680154314868, -0.09100838018591516, -0.009372069447729914 ], [ -0.1116457144844714, 0.9932265687799424, -0.03219033250643091, 0.004079183983696032 ], [ 0.08690486542124488, 0.04202721900214161, 0.9953297228702968, -0.006529904397380607 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9889819186883554, 0.11391203212717806, -0.09454529837150297, -0.009731798857414353 ], [ -0.11709647703235988, 0.992702038368372, -0.02882842496373776, 0.004187652431470649 ], [ 0.09057140594089166, 0.03958171239267695, 0.9951030642450832, -0.006550371348629482 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.9884860621604115, 0.11670657406359326, -0.09630618092802905, -0.009911663562256572 ], [ -0.11981584406194197, 0.9924250999484006, -0.027140090348627605, 0.004241886655357957 ], [ 0.09240924426878326, 0.038366607391666585, 0.9949816757161541, -0.00656060482425392 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9879792689142849, 0.11950235134992959, -0.09806198150880467, -0.010091528267098792 ], [ -0.12253115381278223, 0.9921383842070265, -0.025446864804509597, 0.004296120879245266 ], [ 0.09425009570766212, 0.03715662262516159, 0.9948549164849053, -0.006570838299878356 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.9869328991164705, 0.12509746463568455, -0.10155824429007285, -0.01045125767678323 ], [ -0.12794945845142697, 0.9915356359970422, -0.022045830216337256, 0.004404589327019882 ], [ 0.0979407408770478, 0.03475207748703176, 0.9945852926656367, -0.006591305251127231 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9858428644322171, 0.13069707715610643, -0.10503390248358821, -0.01081098708646767 ], [ -0.13335110543669462, 0.9908938254995724, -0.018625500412995155, 0.004513057774794499 ], [ 0.10164314697456345, 0.032368203683147065, 0.9942942069948077, -0.0066117722023761065 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.9852814906173104, 0.13349847843020995, -0.10676394758414298, -0.010990851791309889 ], [ -0.13604559332653826, 0.9905582823812674, -0.016908156088214162, 0.004567291998681808 ], [ 0.10349869942835527, 0.031184057829153965, 0.9941406207141659, -0.006622005678000543 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.9847092222997026, 0.1363008938457763, -0.1084887729433676, -0.011170716496152108 ], [ -0.13873581013474226, 0.990212986534115, -0.015186055624997877, 0.004621526222569117 ], [ 0.10535711890599463, 0.03000512682911389, 0.9939816748108574, -0.006632239153624981 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.9835320324549511, 0.14190861941774124, -0.11192267361881451, -0.011530445905836547 ], [ -0.14410328880448225, 0.9894931549767297, -0.01172767709010304, 0.004729994670343733 ], [ 0.10908246096767797, 0.027662971444666243, 0.993647712582325, -0.006652706104873856 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.98324285131895, 0.1424704993133738, -0.11373500848718203, -0.011566837700880983 ], [ -0.14500326338787273, 0.9893282246181799, -0.014272966780161746, 0.004785555308109658 ], [ 0.11048777731970456, 0.03052573994579568, 0.9934085918008326, -0.006816057142881912 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.9830970944292717, 0.14274945053551838, -0.11464160368963416, -0.0115850335984032 ], [ -0.14545456938042597, 0.9892428027422634, -0.015544949951223894, 0.0048133356269926195 ], [ 0.11118934828066218, 0.031957340227853855, 0.9932852849179247, -0.00689773266188594 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.9829505605067871, 0.14302707495248826, -0.11554848086378583, -0.011603229495925418 ], [ -0.14590675291100916, 0.9891554100357194, -0.01681648750583139, 0.004841115945875582 ], [ 0.11189019194888841, 0.03338907946624721, 0.9931594808076081, -0.006979408180889969 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9826551631207033, 0.1435783404278456, -0.11736307150126021, -0.011639621290969855 ], [ -0.14681374778466735, 0.988974713063523, -0.019358212271347153, 0.004896676583641506 ], [ 0.11328968997064257, 0.03625295961584573, 0.9929003822466017, -0.007142759218898025 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.9823566622959113, 0.1441242898885663, -0.11917876114037061, -0.011676013086014292 ], [ -0.14772423838241883, 0.9887861356194259, -0.021898114100005747, 0.0049522372214074305 ], [ 0.1146862565313355, 0.039117349998678136, 0.9926312988677668, -0.007306110256906082 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.9822062490827613, 0.14439526930046429, -0.12008701206383353, -0.01169420898353651 ], [ -0.14818079155942285, 0.9886888923426087, -0.02316737298807642, 0.004980017540290393 ], [ 0.11538343588052745, 0.040549727027344634, 0.9924930137600024, -0.0073877857759101105 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.9820550612005623, 0.14466491754019273, -0.12099553051021829, -0.011712404881058727 ], [ -0.1486382150407331, 0.9885896797049024, -0.02443616603445168, 0.005007797859173355 ], [ 0.11607987680844904, 0.04198222021341596, 0.9923522335270313, -0.007469461294914138 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.9817503630357122, 0.14520021764475044, -0.12281336032844473, -0.011748796676103164 ], [ -0.14955566805908033, 0.988385347405046, -0.026972341136963413, 0.005063358496939279 ], [ 0.1174705360107354, 0.04484753985363801, 0.992063189186267, -0.007632812332922195 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.981546520123677, 0.14602037748722466, -0.12346853117935974, -0.011610544167097779 ], [ -0.15050485323775784, 0.9882194798369413, -0.027758761187886633, 0.005094222780153153 ], [ 0.11796066287106513, 0.04582912861154538, 0.9919601670358167, -0.00762165328683626 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.9814441759006726, 0.14643016938909084, -0.12379634519375732, -0.011541417912595086 ], [ -0.1509795452326914, 0.9881359508129903, -0.02815172520889853, 0.00510965492176009 ], [ 0.1182053573742724, 0.046320062646652366, 0.9919082343061937, -0.0076160737637932935 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.9813415498995688, 0.1468397690113235, -0.12412431138746834, -0.011472291658092394 ], [ -0.15145430318910752, 0.9880520250167354, -0.028544524971180284, 0.005125087063367027 ], [ 0.11844980576688986, 0.04681108946638183, 0.9918560205073902, -0.007610494240750326 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.9811354527635655, 0.14765839061729225, -0.12478069967244548, -0.01133403914908701 ], [ -0.15240401605945259, 0.9878829832713623, -0.029329630952743366, 0.005155951346580901 ], [ 0.1189379637432221, 0.04779342050099725, 0.9917507498043203, -0.007599335194664391 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.980928229118044, 0.14847624070687931, -0.1254376947527788, -0.011195786640081626 ], [ -0.15335398999460287, 0.987712354930853, -0.030114077599759113, 0.0051868156297947745 ], [ 0.11942513584699715, 0.048776119797518745, 0.9916443551321333, -0.007588176148578457 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.9808241949805585, 0.14888487593398786, -0.12576641944040745, -0.011126660385578933 ], [ -0.15382907428190606, 0.9876264458914045, -0.03050605319415843, 0.005202247771401712 ], [ 0.11966835189936932, 0.04926760694446233, 0.9915907363724485, -0.007582596625535489 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.980719879367582, 0.14929331768333942, -0.1260952953457714, -0.011057534131076241 ], [ -0.15430422313985853, 0.9875401403283376, -0.030897863380698103, 0.005217679913008649 ], [ 0.11991132112707528, 0.049759185437354546, 0.9915368366985519, -0.007577017102492522 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.9805104039189548, 0.15010961995143657, -0.12675350016754416, -0.010919281622070856 ], [ -0.15525471364001364, 0.9873663398000426, -0.031680986765321086, 0.0052485441962225226 ], [ 0.12039651863424332, 0.050742615501197526, 0.9914281947134912, -0.007565858056406588 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.9804875182543071, 0.15088422967262863, -0.1260086337661318, -0.010964823421190826 ], [ -0.1561073079898553, 0.9872019316943866, -0.03260144860327559, 0.005271769524241354 ], [ 0.11947692220537881, 0.05163618203323145, 0.9914933029352043, -0.007610476128035549 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.9804755700322048, 0.1512717482577035, -0.12563643877904626, -0.01098759432075081 ], [ -0.15653324566654064, 0.9871191685730196, -0.03306191217713757, 0.00528338218825077 ], [ 0.11901680373426898, 0.05208267672430339, 0.9915252872287776, -0.00763278516385003 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.9804632848922934, 0.15165940904129196, -0.12526440287431878, -0.011010365220310793 ], [ -0.15695894336498764, 0.9870360327999859, -0.03352253051623319, 0.005294994852260185 ], [ 0.11855647209646615, 0.052528978704247345, 0.9915568916206112, -0.007655094199664511 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.9804377038862865, 0.15243515635012317, -0.12452080913124568, -0.011055907019430763 ], [ -0.15780961788971576, 0.9868686434822264, -0.03444423047554557, 0.005318220180279016 ], [ 0.11763517033476216, 0.05342100354789406, 0.9916189606296602, -0.007699712271293472 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.9804107752926274, 0.15321146989056786, -0.12377785417464977, -0.011101448818550732 ], [ -0.15865932969046095, 0.9866997641097764, -0.03536654645120318, 0.005341445508297848 ], [ 0.11671301894939935, 0.05431225459952039, 0.9916795098256462, -0.007744330342922433 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.9803968056688468, 0.1535998384633809, -0.12340661675268905, -0.011124219718110716 ], [ -0.1590838239844263, 0.9866147657691493, -0.035827934810412354, 0.005353058172307263 ], [ 0.11625162528246158, 0.05475758933983828, 0.991709214451936, -0.007766639378736914 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.9803824991706256, 0.15398834795282454, -0.12303553964086143, -0.0111469906176707 ], [ -0.15950807689576482, 0.9865293950545869, -0.03628947641183969, 0.005364670836316679 ], [ 0.11579001997138148, 0.05520272989617932, 0.9917385390752124, -0.007788948414551395 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.9803528755825583, 0.15476578882584868, -0.12229386716480059, -0.01119253241679067 ], [ -0.16035585763629367, 0.9863575366918893, -0.03721301832473656, 0.00538789616433551 ], [ 0.11486617543357922, 0.0560924274766325, 0.9917960482483489, -0.007833566486180357 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 439.82716878255206, "fy": 439.82720375061035, "cx": 416.0, "cy": 240.0 } } ] }