{ "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": [ [ 0.9999998923653312, -0.00040624077719806837, 0.00022413780865016228, -0.00023538204379064425 ], [ 0.00040623072210516824, 0.9999999164800714, 4.490491037300219e-05, 3.333052175301965e-05 ], [ -0.0002241560321358784, -4.4813853875818e-05, 0.9999999738728957, 5.0786686067012843e-05 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9999975115151355, -0.00010941601060993684, -0.0022282261270079994, 0.0007022313894504584 ], [ 0.00010729513822733482, 0.9999995411695658, -0.0009519182796685087, -0.00019577920330895331 ], [ 0.002228329259730626, 0.0009516768330039784, 0.9999970644256491, 0.004024263465114704 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9999890275562964, 0.00018496396849422816, -0.004680871216247286, 0.0016398448226915613 ], [ -0.00019408410129206517, 0.9999980838033057, -0.0019480043835978747, -0.00042488892837092625 ], [ 0.0046805019361559, 0.0019488914919127103, 0.999987147279193, 0.007997740244162395 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9999744405490197, 0.0004768970710609118, -0.007133780053988518, 0.002577458255932664 ], [ -0.0004979048577295985, 0.999995544391633, -0.002943346332737451, -0.0006539986534328993 ], [ 0.007132344595413219, 0.002946823046163997, 0.9999702225039039, 0.011971217023210086 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9999537505968216, 0.0007663812254007416, -0.009586935233280837, 0.0035150716891737665 ], [ -0.0008041649750357222, 0.9999919229525684, -0.003937937063690457, -0.0008831083784948722 ], [ 0.009583839838117812, 0.003945464413984047, 0.9999462902198875, 0.015944693802257777 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9999269578465271, 0.00105341437720319, -0.01204031934542523, 0.0044526851224148695 ], [ -0.0011128622798500863, 0.9999872195118115, -0.0049317695183910895, -0.001112218103556845 ], [ 0.012034970267350325, 0.004944808508561906, 0.9999153505969782, 0.019918170581305468 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9998975976442646, 0.0012738388465364443, -0.01425382614675655, 0.005602587697339004 ], [ -0.0013585073971378577, 0.9999814830253917, -0.00593195279742339, -0.0013517699984740732 ], [ 0.014246005857110536, 0.0059507092797407065, 0.9998808130853336, 0.02395226619471129 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9998829425965501, 0.0013511671356751897, -0.015240585678891694, 0.0062836835556425875 ], [ -0.0014493868992360628, 0.9999782421160619, -0.006435415455681192, -0.0014767670308603149 ], [ 0.01523155875412921, 0.006456751647877498, 0.9998631456234784, 0.02599962341859326 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9998506934382277, 0.0015043252302862254, -0.01721417545793415, 0.007645875272249754 ], [ -0.0016326343498807199, 0.9999709746623554, -0.007442065432287232, -0.0017267610956327984 ], [ 0.01720248052388398, 0.0074690587372425515, 0.999824128447301, 0.030094337866357207 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.9998145256641199, 0.0016554847173714307, -0.019187851400858526, 0.009008066988856919 ], [ -0.00181786564060237, 0.9999626597257013, -0.00844834414627164, -0.0019767551604052817 ], [ 0.019173148816602772, 0.008481658131030429, 0.9997802017642701, 0.03418905231412116 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.9997744394528473, 0.0018046448504031322, -0.02116160376031956, 0.010370258705464087 ], [ -0.002005079856603753, 0.9999532973471643, -0.009454246627950259, -0.002226749225177765 ], [ 0.021143553899794124, 0.00949454482834119, 0.9997313657913255, 0.03828376676188511 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.999730435002383, 0.0019518048927278163, -0.023135422788594578, 0.011732450422071251 ], [ -0.0021942760732945837, 0.9999428875729823, -0.010459767909497018, -0.0024767432899502483 ], [ 0.023113686042266487, 0.010507713826855985, 0.9996776207696523, 0.04237848120964905 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.9996859800225281, 0.0020319172518336584, -0.024976241884632218, 0.013123303390518166 ], [ -0.0023230315038023433, 0.9999296456742486, -0.011632163444701022, -0.0026591094620837846 ], [ 0.024950849104395184, 0.011686531309742754, 0.9996203679972294, 0.046383595815238765 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.9996418280572903, 0.002044760031615933, -0.026683975616318363, 0.014542817610804826 ], [ -0.002391573117018882, 0.9999130049503839, -0.012971619371523547, -0.0027738477415783745 ], [ 0.02665513039369944, 0.01303078998015233, 0.9995597543599823, 0.05029911057865425 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.999594762932256, 0.0020553062031941297, -0.02839164727200517, 0.01596233183109149 ], [ -0.0024623983079690524, 0.9998945613386943, -0.014310932879201179, -0.002888586021072964 ], [ 0.02835924034560443, 0.014375045102927572, 0.9994944279811214, 0.054214625342069736 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.9995447848694051, 0.0020635557168279385, -0.030099248797573724, 0.01738184605137815 ], [ -0.002535506742610588, 0.9998743149261681, -0.015650097650951517, -0.003003324300567554 ], [ 0.030063170922789775, 0.01571929033797928, 0.9994243891687543, 0.058130140105485215 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.9994918941044555, 0.002069508533609079, -0.03180677213923584, 0.018801360271664812 ], [ -0.002610898076132455, 0.9998522658082959, -0.01698910737069365, -0.0031180625800621437 ], [ 0.03176691408878109, 0.017063519345264875, 0.9993496382532141, 0.06204565486890071 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.999436090886863, 0.002073164625461491, -0.03351420924357213, 0.020220874491951472 ], [ -0.0026885719529564822, 0.999828414089071, -0.01832795572307797, -0.003232800859556733 ], [ 0.0334704618079879, 0.01840772578481834, 0.9992701755870587, 0.06596116963231619 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.9993937229502878, 0.0020027614837875886, -0.03475881865085071, 0.02144872584999403 ], [ -0.0026870417478058227, 0.9998032898869543, -0.019650988216082056, -0.003319494240181408 ], [ 0.034712624997387025, 0.019732472669741728, 0.9992025136017869, 0.06958088978638426 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.9993498067230855, 0.0019307084049087935, -0.03600327995595662, 0.022676577208036584 ], [ -0.0026871562189008566, 0.9997764105322864, -0.020973987094310392, -0.0034061876208060825 ], [ 0.035954735348587896, 0.021057096386546056, 0.9991315507468377, 0.07320060994045233 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.9993272680456523, 0.00189406321321465, -0.03662545378500565, 0.023290502887057862 ], [ -0.002687830208134604, 0.999762312700278, -0.021635472561602552, -0.00344953431111842 ], [ 0.036575769427114956, 0.021719360688932925, 0.9990948315660925, 0.07501047001748636 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.9992810296562252, 0.0018195356766925418, -0.03786968522599109, 0.02451835424510042 ], [ -0.002690411691190411, 0.9997328007851479, -0.022958412820047732, -0.0035362276917430945 ], [ 0.03781779282462569, 0.023043791445963687, 0.9990189178497415, 0.07863019017155443 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.9992332433485863, 0.0017433588084677073, -0.039113758284393695, 0.025746205603142974 ], [ -0.002694637839355336, 0.9997015339504105, -0.024281308533746136, -0.003622921072367769 ], [ 0.03905975312236052, 0.02436808809203538, 0.9989397038704384, 0.0822499103256225 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.9991839092806538, 0.0016655328602801166, -0.040357668848953476, 0.02697405696118553 ], [ -0.0027005086386633257, 0.9996685122993927, -0.025604155330954326, -0.003709614452992444 ], [ 0.040301646216041445, 0.025692246250774948, 0.9988571898899595, 0.08586963047969057 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.9991683459658115, 0.001620847551945958, -0.04074296593472388, 0.028085146135548484 ], [ -0.00271762503376278, 0.9996350143398521, -0.02687847875047561, -0.0036701417026131903 ], [ 0.04068452941992307, 0.02696684925936387, 0.9988080687033433, 0.08969874764495755 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.9991526352122425, 0.0015756706090932374, -0.041128199700001214, 0.029196235309911438 ], [ -0.002735229901396078, 0.9995998904996812, -0.02815275173783046, -0.0036306689522339363 ], [ 0.04106738445309184, 0.028241391168939374, 0.9987571745719902, 0.09352786481022454 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.9991367770478308, 0.001530002111902745, -0.04151336946106616, 0.03030732448427439 ], [ -0.002753323210317805, 0.9995631408412186, -0.02942697203141793, -0.0035911962018546828 ], [ 0.041450210636050235, 0.02951586971742322, 0.9987045075862286, 0.09735698197549153 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.9991207715007218, 0.0014838421414276927, -0.04189847453431299, 0.031418413658637345 ], [ -0.0027719049284156555, 0.9995247654296883, -0.030701137369730586, -0.0035517234514754288 ], [ 0.04183300728935198, 0.030790282642849612, 0.9986500678395326, 0.1011860991407585 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9991046185993215, 0.0014371907795935647, -0.04228351423625077, 0.0325295028330003 ], [ -0.002790975022710484, 0.9994847643331988, -0.031975245491358495, -0.0035122507010961752 ], [ 0.04221577373360314, 0.03206462768336921, 0.9985938554285221, 0.10501521630602549 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9990998884148375, 0.0013416011822046103, -0.04239826736704105, 0.033604968838306395 ], [ -0.002745913757865961, 0.9994488993288462, -0.033081075979965395, -0.0035056000377532127 ], [ 0.04233052004279599, 0.03316772130589903, 0.9985529677169261, 0.10888394898064864 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9991066618502374, 0.0011975506939921072, -0.0422426812455199, 0.03464481167455564 ], [ -0.0026362469505763534, 0.9994177216928157, -0.03401863854355536, -0.003531771461446542 ], [ 0.04217734520439684, 0.034099610535559086, 0.9985280607538439, 0.11279229716462796 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9991133958206745, 0.0010536454527656446, -0.04208695906026334, 0.035684654510804874 ], [ -0.0025264363305744397, 0.9993856534894543, -0.03495615423532957, -0.0035579428851398713 ], [ 0.04202427169086896, 0.03503149198530462, 0.9985022559604639, 0.11670064534860729 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9991200903199885, 0.0009098855901644354, -0.041931100953720296, 0.036724497347054116 ], [ -0.0024164819983109286, 0.9993526947480964, -0.03589362219768322, -0.0035841143088332006 ], [ 0.041871299642238374, 0.03596336480268482, 0.9984755533603911, 0.12060899353258661 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9991267453420556, 0.0007662712376947036, -0.04177510706846399, 0.03776434018330335 ], [ -0.0023063840543679913, 0.9993188454988916, -0.03683104157305517, -0.00361028573252653 ], [ 0.04171842919843825, 0.036895228135256766, 0.998447952978052, 0.12451734171656594 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9991300580472178, 0.0006945186688184444, -0.0416970592534065, 0.03828426160142798 ], [ -0.0022512812594845917, 0.9993015869434912, -0.03729973277264727, -0.0036233714443731947 ], [ 0.04164203212205335, 0.037361155978353586, 0.9984338161263906, 0.1264715158085556 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9991536544779743, 0.0005710547093983531, -0.04112965645161176, 0.0393260766240961 ], [ -0.002141012320864908, 0.9992702257995058, -0.03813701478677708, -0.0037939853839963704 ], [ 0.0410778627675618, 0.0381927967963047, 0.9984257205537754, 0.1304090088277092 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9991935167337522, 0.00046809682409093805, -0.040150927792522086, 0.040369863833183126 ], [ -0.0020302115352023556, 0.9992420530949596, -0.038874124655000133, -0.0041090418395493935 ], [ 0.04010229866677691, 0.038924288200729296, 0.9984371314357792, 0.1343756466820371 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9992324123548377, 0.0003658560670847437, -0.03917208507176796, 0.04141365104227014 ], [ -0.0019186905841420893, 0.9992133300819409, -0.0396111046677647, -0.004424098295102417 ], [ 0.03912677760784772, 0.03965585878399891, 0.9984470482394795, 0.138342284536365 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9992703412826264, 0.00026433259242774883, -0.03819312976418925, 0.042457438251357164 ], [ -0.0018064496357147217, 0.9991840568037273, -0.04034795371464979, -0.0047391547506554395 ], [ 0.03815130106060926, 0.040387507443843035, 0.9984554709499349, 0.14230892239069287 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.9993073034599697, 0.000163526553087189, -0.03721406334479542, 0.04350122546044418 ], [ -0.0016934888590356967, 0.9991542333044252, -0.041084670685431764, -0.005054211206208463 ], [ 0.03717587049482947, 0.04111923307787354, 0.9984623995544545, 0.14627556024502078 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9993432988311766, 6.343810094932754e-05, -0.036234887288763375, 0.0445450126695312 ], [ -0.0015798084243050395, 0.9991238596289708, -0.04182125447008598, -0.0053692676617614855 ], [ 0.036200487380207085, 0.041851034583586334, 0.9984678340425991, 0.15024219809934866 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9994195280877117, -9.203406401946134e-05, -0.03406755651154541, 0.045663555687455365 ], [ -0.0013551884244834118, 0.9990974426429349, -0.04245543037918952, -0.00561328684514377 ], [ 0.03404071593357617, 0.04247695415256516, 0.9985173699163431, 0.15364914796446993 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.9994910362115904, -0.00024614720952518784, -0.03189996777792692, 0.04678209870537952 ], [ -0.0011291972102552496, 0.9990705952539237, -0.04308910085660925, -0.005857306028526054 ], [ 0.03188092605841124, 0.04310319141922017, 0.9985618265501323, 0.1570560978295912 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9995578228367104, -0.00039890054654876376, -0.029732132185396564, 0.04790064172330368 ], [ -0.0009018359386365961, 0.9990433175993895, -0.04372226265811771, -0.006101325211908339 ], [ 0.029721128812272835, 0.043729743177380015, 0.998601203716361, 0.16046304769471248 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.9996198876211411, -0.0005502932930329652, -0.02756406083270686, 0.049019184741227836 ], [ -0.0006731057736578307, 0.9990156098189863, -0.04435491254209169, -0.006345344395290624 ], [ 0.027561335252759254, 0.044356606219263184, 0.9986355012134279, 0.16386999755983375 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9996772302471272, -0.0007003246738864371, -0.025395764819817385, 0.050137727759152 ], [ -0.0004430078863577104, 0.9989874720545707, -0.04498704726952889, -0.006589363578672908 ], [ 0.02540155643744992, 0.04498377733549448, 0.9986647188657392, 0.16727694742495502 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.9997423550027174, -0.0008330669685240116, -0.02268324520536823, 0.051345514258030446 ], [ -0.00020205039178020117, 0.9989600744694717, -0.04559307832979778, -0.006891165342168129 ], [ 0.02269763840711381, 0.04558591465983598, 0.998702529082292, 0.17015614168325366 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9997779246161174, -0.000890833964465998, -0.021054877466681388, 0.05199402924794681 ], [ -7.618269363866652e-05, 0.9989468163803238, -0.04588302779692075, -0.007070957513972209 ], [ 0.021073576974173225, 0.04587444232318869, 0.9987249070164667, 0.17133186100899164 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.9998410992666119, -0.0010049562427177853, -0.0177979291009802, 0.053291059227779554 ], [ 0.00017696634810868616, 0.998920028591535, -0.046462298281498525, -0.007430541857580367 ], [ 0.017825400423130258, 0.0464517657537098, 0.9987614773098319, 0.17368329966046764 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 49, "c2w": [ [ 0.9998936539174089, -0.0011171951964157397, -0.014540726618226859, 0.05458808920761229 ], [ 0.0004319979372452665, 0.9988928789003891, -0.047040725545795366, -0.007790126201188525 ], [ 0.014577181945599819, 0.047029441385006206, 0.9987871331818102, 0.1760347383119436 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 50, "c2w": [ [ 0.9999355879927626, -0.0012275495959611046, -0.011283305701684546, 0.05588511918744503 ], [ 0.0006889092798522559, 0.9988653676043167, -0.04761830325303229, -0.008149710544796683 ], [ 0.011328957126423627, 0.04760746288853322, 0.9988018743513374, 0.17838617696341957 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 51, "c2w": [ [ 0.9999669010332772, -0.0013360182324007664, -0.008025702037009419, 0.05718214916727776 ], [ 0.0009476975614177836, 0.9988374950047086, -0.04819502507573733, -0.00850929488840484 ], [ 0.00808076155051287, 0.04818582393195699, 0.9988057006569208, 0.18073761561489557 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 52, "c2w": [ [ 0.999989418331565, -0.0014557257111345804, -0.004363953202345413, 0.05877432371592557 ], [ 0.0012416270031275552, 0.9988142299427061, -0.048668187004903926, -0.008697247032916827 ], [ 0.004429626088443984, 0.04866225361214929, 0.9988054682900487, 0.18292485323722057 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 53, "c2w": [ [ 0.9999986963744997, -0.0015869437934257341, -0.0002980917612395377, 0.06066164283338845 ], [ 0.0015704170418950451, 0.9987957070249363, -0.04903742875470186, -0.008713566978332641 ], [ 0.00037555241463338326, 0.049036896699877354, 0.9987968971329605, 0.1849478898303946 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 54, "c2w": [ [ 0.9999914283001947, -0.0017166356467760906, 0.003767822739059607, 0.06254896195085133 ], [ 0.0019007030010264722, 0.9987770027910353, -0.049405323841247024, -0.008729886923748457 ], [ -0.0036784037623194617, 0.049412061865629735, 0.9987717043889204, 0.1869709264235686 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 55, "c2w": [ [ 0.9999676142299156, -0.0018447991073248526, 0.00783372246026638, 0.06443628106831421 ], [ 0.002232479369822278, 0.9987581175530763, -0.04977186612634544, -0.008746206869164273 ], [ -0.007732174803649129, 0.04978774284991385, 0.9987298904782598, 0.18899396301674262 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 56, "c2w": [ [ 0.9999272545609912, -0.001971432036711893, 0.011899539564341722, 0.0663236001857771 ], [ 0.002565740612715969, 0.9987390516261527, -0.05013704949437412, -0.008762526814580087 ], [ -0.011785693073679113, 0.0501639333846309, 0.9986714560986287, 0.19101699960991667 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 57, "c2w": [ [ 0.9998703499668078, -0.0020965323221134344, 0.015965206214625, 0.06821091930323998 ], [ 0.0029004811693664734, 0.9987198053283725, -0.050500867852383065, -0.008778846759995903 ], [ -0.015838890940950305, 0.050540627193180344, 0.9985964022249832, 0.19304003620309068 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 58, "c2w": [ [ 0.9997764090492985, -0.0026850028063081233, 0.02097433356319997, 0.07073273811342608 ], [ 0.0037431803305204596, 0.9987132059564175, -0.05057589197698954, -0.008861876626298558 ], [ -0.02081154750381297, 0.05064309437805936, 0.9984999531709113, 0.19492544780441062 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 59, "c2w": [ [ 0.9996570274430021, -0.0032729505978079314, 0.025982980548917893, 0.07325455692361216 ], [ 0.004586240723882768, 0.9987061023656785, -0.05064669281974732, -0.008944906492601214 ], [ -0.025783597108311636, 0.050748486597528744, 0.9983785841193795, 0.19681085940573056 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 60, "c2w": [ [ 0.9995122081867426, -0.003860360730575712, 0.03099101967815107, 0.07577637573379825 ], [ 0.0054296408896004214, 0.9986984947369755, -0.050713268578441856, -0.009027936358903869 ], [ -0.03075491319239411, 0.05085680116886067, 0.9982322981598016, 0.19869627100705048 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 61, "c2w": [ [ 0.9994302605665644, -0.004153859501780328, 0.033494771458969376, 0.0770372851388913 ], [ 0.005851461678508604, 0.9986945019684023, -0.05074497151747993, -0.009069451292055195 ], [ -0.03324025661865542, 0.05091205347778042, 0.9981498124783682, 0.19963897680771045 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 62, "c2w": [ [ 0.9992472919495528, -0.004740435115172515, 0.038501659787657655, 0.07955910394907738 ], [ 0.006695331246765123, 0.9986861386498557, -0.05080520650620115, -0.009152481158357852 ], [ -0.038210235159990655, 0.05102474638408792, 0.9979661583367735, 0.2015243884090304 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 63, "c2w": [ [ 0.9990388961122734, -0.00532643571544831, 0.04350762160058368, 0.08208092275926347 ], [ 0.007539486901101512, 0.9986772718015153, -0.05086121237594016, -0.009235511024660506 ], [ -0.04317916386451338, 0.051140354610146835, 0.9977575977853088, 0.20340980001035033 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 64, "c2w": [ [ 0.9988043913325497, -0.005855277911807865, 0.04853353042372507, 0.08481748151736478 ], [ 0.00833698849482719, 0.9986592383662105, -0.05109031462672415, -0.009891194036228089 ], [ -0.0481693105374394, 0.05143385408848961, 0.9975140481095752, 0.2051641951960075 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 65, "c2w": [ [ 0.998544323736661, -0.0063826323465799905, 0.05355833770406813, 0.08755404027546608 ], [ 0.009135622420889576, 0.998640711342438, -0.051315397810526256, -0.010546877047795672 ], [ -0.05315800914516602, 0.051729987954744525, 0.9972453230825025, 0.20691859038166466 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 66, "c2w": [ [ 0.9982586999992771, -0.0069084854851418995, 0.05858191447925545, 0.09029059903356738 ], [ 0.009935368182241106, 0.9986216912056963, -0.051536456150556145, -0.011202560059363254 ], [ -0.05814513165206977, 0.052028748608595896, 0.9969514296009545, 0.20867298556732183 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 67, "c2w": [ [ 0.9979475274509702, -0.007432823831401773, 0.06360413181851063, 0.09302715779166869 ], [ 0.010736205253298806, 0.99860217844414, -0.05175348397332169, -0.011858243070930837 ], [ -0.06313055006297799, 0.0523301283823112, 0.9966323752077476, 0.210427380752979 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 68, "c2w": [ [ 0.9976108140780255, -0.00795563392814515, 0.06862486082594745, 0.09576371654976999 ], [ 0.011538113080471103, 0.9985821735585669, -0.05196647570877452, -0.01251392608249842 ], [ -0.06811413642645388, 0.05263411954093786, 0.9962881680914558, 0.21218177593863616 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 69, "c2w": [ [ 0.9972408921428618, -0.008399873325414827, 0.07375666184302261, 0.0981780086750769 ], [ 0.012262416251704952, 0.9985679871627535, -0.05207310401154115, -0.012984732423889653 ], [ -0.07321363387907286, 0.05283386358997272, 0.995915833126664, 0.21391954565791926 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 70, "c2w": [ [ 0.9968361347245757, -0.008766322530677969, 0.07899919048101531, 0.10027003416758938 ], [ 0.012908329710946296, 0.9985598074011571, -0.05207385204723705, -0.013270662095104534 ], [ -0.07842892024910908, 0.05292884499261401, 0.9955136572826646, 0.21564068991082833 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 71, "c2w": [ [ 0.9964036838389154, -0.00913226449397918, 0.08423954283737993, 0.10236205966010187 ], [ 0.013554235081368661, 0.9985513869914521, -0.05207120364276569, -0.013556591766319416 ], [ -0.08364198433560598, 0.05302574169834296, 0.9950840613605179, 0.2173618341637374 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 72, "c2w": [ [ 0.9959435515014146, -0.00949768904771788, 0.08947757331031343, 0.10445408515261437 ], [ 0.01420011441666231, 0.9985427261675974, -0.05206515887171231, -0.013842521437534297 ], [ -0.08885268129495787, 0.053124551014910266, 0.9946270572964327, 0.21908297841664645 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 73, "c2w": [ [ 0.9954557504967277, -0.009862586038669574, 0.09471313636252573, 0.10654611064512685 ], [ 0.014845949771240884, 0.9985338251702314, -0.05205571790202924, -0.014128451108749178 ], [ -0.09406086634932909, 0.05322527019692521, 0.9941426577881456, 0.22080412266955549 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 74, "c2w": [ [ 0.9952014784496145, -0.01004483352921804, 0.0973299471440937, 0.10759212339138309 ], [ 0.015168845348086789, 0.9985292846835064, -0.05204972392098912, -0.01427141594435662 ], [ -0.09666397168804726, 0.05327634511502884, 0.9938901889186135, 0.22166469479601003 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 75, "c2w": [ [ 0.9946724513567223, -0.01030992043755277, 0.10256909891668402, 0.10951680585096384 ], [ 0.015714026092989504, 0.9985224141802181, -0.05201978242609192, -0.014475679455659715 ], [ -0.10188122445258509, 0.05335441800151538, 0.9933647478060422, 0.22346294499739555 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 76, "c2w": [ [ 0.9941160019636117, -0.01047565855767357, 0.10781296405195197, 0.11127414527761284 ], [ 0.016158444730749923, 0.9985178184868572, -0.0519718272541109, -0.014598276807051027 ], [ -0.10710872655282457, 0.05340811494549198, 0.9928118119534042, 0.22533830114725753 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 77, "c2w": [ [ 0.9935318810915127, -0.010641110036219158, 0.11305382802876514, 0.11303148470426184 ], [ 0.016602603531509007, 0.9985131488196936, -0.05192152915849227, -0.01472087415844234 ], [ -0.11233323110609812, 0.053462682418465635, 0.9922313171725061, 0.22721365729711954 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 78, "c2w": [ [ 0.9929201049995623, -0.010806270267809993, 0.11829154496648253, 0.11478882413091085 ], [ 0.01704649013200549, 0.9985084053087084, -0.05186888953929498, -0.014843471509833651 ], [ -0.11755459268713303, 0.0535181189015383, 0.9916232796215523, 0.22908901344698154 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 79, "c2w": [ [ 0.9922806907166873, -0.010971134655173456, 0.12352596907206163, 0.11654616355755985 ], [ 0.01749009217655487, 0.9985035880859385, -0.05181390986175481, -0.014966068861224962 ], [ -0.12277266595814189, 0.053574422851622866, 0.9909877162254062, 0.23096436959684352 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 80, "c2w": [ [ 0.9916136560411302, -0.011135698609271818, 0.1287569546441167, 0.11830350298420886 ], [ 0.017933397317393317, 0.9984986972854726, -0.05175659165624359, -0.015088666212616274 ], [ -0.12798730567286812, 0.05363159270148608, 0.9903246446751197, 0.23283972574670553 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 569.7588602701823, "fy": 569.7586441040039, "cx": 416.0, "cy": 240.0 } } ] }