{
  "format_version": "1.0",
  "camera_model": "opencv_pinhole",
  "pose_type": "c2w",
  "coordinate_system": "opencv",
  "image_hw": [
    480,
    832
  ],
  "num_frames": 49,
  "frames": [
    {
      "frame_index": 0,
      "c2w": [
        [
          0.9999829857023188,
          -0.003509531066093761,
          -0.004659559804519271,
          -0.00359170138835907
        ],
        [
          0.003379859238663714,
          0.9996146763924427,
          -0.027551321063758648,
          0.0028777867555618286
        ],
        [
          0.004754456583311032,
          0.027535103641126678,
          0.9996095303717694,
          -0.0024996399879455566
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1228.573486328125,
        "fy": 1228.573486328125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 1,
      "c2w": [
        [
          0.9999831104821644,
          -0.003604623255311316,
          -0.004559105351178553,
          -0.003867320716381073
        ],
        [
          0.0034726488226113177,
          0.9995840052291558,
          -0.02863140234417116,
          0.0034676045179367065
        ],
        [
          0.004660414205914803,
          0.028615086601760716,
          0.9995796403279746,
          -0.0011806190013885498
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1228.272705078125,
        "fy": 1228.272705078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 2,
      "c2w": [
        [
          0.9999845666177171,
          -0.0026101879456507295,
          -0.004904431186747869,
          -0.0030223242938518524
        ],
        [
          0.002465151065663235,
          0.9995661711495003,
          -0.029349489326940374,
          0.0036108791828155518
        ],
        [
          0.004978911186255903,
          0.02933694620128567,
          0.9995571789702591,
          -0.0019508600234985352
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1229.614990234375,
        "fy": 1229.614990234375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 3,
      "c2w": [
        [
          0.999984619838898,
          -0.003328401050794651,
          -0.004436421091314805,
          -0.003961768001317978
        ],
        [
          0.003190967460857954,
          0.9995255870402365,
          -0.030633618436855838,
          0.0036417245864868164
        ],
        [
          0.004536277363448969,
          0.030618990811524,
          0.9995208349951319,
          -0.0022770166397094727
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1229.80322265625,
        "fy": 1229.80322265625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 4,
      "c2w": [
        [
          0.9999887707577163,
          -0.0027454633444430315,
          -0.003862743778165535,
          -0.002314601093530655
        ],
        [
          0.002622007920225727,
          0.999496822854658,
          -0.03161053903226113,
          0.003305777907371521
        ],
        [
          0.003947585709989423,
          0.0316000559250792,
          0.9994927978893061,
          -0.003349810838699341
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1231.298095703125,
        "fy": 1231.298095703125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 5,
      "c2w": [
        [
          0.9999864251573676,
          -0.003966837535273082,
          -0.003378416930698141,
          -0.001380477100610733
        ],
        [
          0.003847174905925554,
          0.9993897220435514,
          -0.03471862207744594,
          0.004911527037620544
        ],
        [
          0.0035140782905474705,
          0.03470515341677761,
          0.9993914166031672,
          -0.007086127996444702
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1233.6405029296875,
        "fy": 1233.6405029296875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 6,
      "c2w": [
        [
          0.9999935131821122,
          -0.0022750630953979993,
          -0.0027924329192924703,
          0.001737300306558609
        ],
        [
          0.0021694821687930996,
          0.9993037191872056,
          -0.03724741824258921,
          0.0063451677560806274
        ],
        [
          0.0028752288284722457,
          0.03724111849194485,
          0.999302172594783,
          -0.006581693887710571
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1231.705078125,
        "fy": 1231.705078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 7,
      "c2w": [
        [
          0.9999950778316993,
          -0.003003208436897253,
          -0.0009083234324244641,
          -0.003968920558691025
        ],
        [
          0.0029645437412223093,
          0.9991980193671406,
          -0.03993156111635458,
          0.007169678807258606
        ],
        [
          0.001027517775866298,
          0.039928671801943545,
          0.9992020042890991,
          -0.011586964130401611
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1232.0262451171875,
        "fy": 1232.0262451171875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 8,
      "c2w": [
        [
          0.99999096873225,
          -0.0041098892010541605,
          -0.0010822498281862986,
          -0.0013275146484375
        ],
        [
          0.004062129118179776,
          0.9991530275656338,
          -0.04094785236682118,
          0.006012707948684692
        ],
        [
          0.0012496243286636754,
          0.04094308631726244,
          0.9991606988477149,
          -0.009841471910476685
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1232.3154296875,
        "fy": 1232.3154296875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 9,
      "c2w": [
        [
          0.9999949822541327,
          -0.0031578951105447413,
          -0.0002513265357888021,
          -0.002660539001226425
        ],
        [
          0.00314398377256773,
          0.9990496433610175,
          -0.043473273010677806,
          0.007810190320014954
        ],
        [
          0.00038837172222683984,
          0.0434722647062916,
          0.9990545587547813,
          -0.012357115745544434
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1235.2672119140625,
        "fy": 1235.2672119140625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 10,
      "c2w": [
        [
          0.9999974024906753,
          -0.002214390633671895,
          0.0005398944564023365,
          -0.00636783242225647
        ],
        [
          0.0022372048605743817,
          0.998904644984605,
          -0.04673868999654342,
          0.006730511784553528
        ],
        [
          -0.0004358053629433898,
          0.0467397764468624,
          0.9989070043659638,
          -0.011866718530654907
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1234.14990234375,
        "fy": 1234.14990234375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 11,
      "c2w": [
        [
          0.9999861921820764,
          -0.005076410179953658,
          0.0013584936053582968,
          -0.004054158926010132
        ],
        [
          0.005141484908784127,
          0.9985712339845966,
          -0.053188869055585876,
          0.00373801589012146
        ],
        [
          -0.0010865441195287695,
          0.053195119307736995,
          0.9985835461811452,
          -0.019228219985961914
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1234.473876953125,
        "fy": 1234.473876953125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 12,
      "c2w": [
        [
          0.9999840064899751,
          -0.005655669938665718,
          1.2720140919527148e-05,
          0.0013316832482814789
        ],
        [
          0.005645274115668462,
          0.9980044650304524,
          -0.06289052917125551,
          0.008328080177307129
        ],
        [
          0.0003429933178268874,
          0.06288959513962872,
          0.9980204312431477,
          -0.024271667003631592
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1239.2001953125,
        "fy": 1239.2001953125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 13,
      "c2w": [
        [
          0.9999849069164942,
          -0.005471511396165418,
          0.0004985000022188258,
          -0.002050381153821945
        ],
        [
          0.0054934222929527545,
          0.9972242143697738,
          -0.07425421594830664,
          0.007460117340087891
        ],
        [
          -9.083348430136785e-05,
          0.07425583369424966,
          0.9972392205041124,
          -0.02344653010368347
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1241.796875,
        "fy": 1241.796875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 14,
      "c2w": [
        [
          0.9999824986982829,
          -0.005873236545957223,
          0.0007123128628153942,
          -0.006267227232456207
        ],
        [
          0.005913028790915926,
          0.9961509287909037,
          -0.08745492072798204,
          0.009578347206115723
        ],
        [
          -0.000195927683339888,
          0.08745760207949407,
          0.9961682234697351,
          -0.030822426080703735
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1245.429443359375,
        "fy": 1245.429443359375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 15,
      "c2w": [
        [
          0.9999867798363596,
          -0.005141901709888459,
          -3.16119186398275e-05,
          -0.007178060710430145
        ],
        [
          0.005112878787351733,
          0.9949582323046555,
          -0.10015974460680388,
          0.007373347878456116
        ],
        [
          0.0005464641007456423,
          0.10015825885068165,
          0.9949713687141889,
          -0.03329479694366455
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1245.392333984375,
        "fy": 1245.392333984375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 16,
      "c2w": [
        [
          0.9999875097686564,
          -0.004886543375164492,
          -0.0010497621274277043,
          -0.010312825441360474
        ],
        [
          0.004737251580900643,
          0.993627967682727,
          -0.11261003634735722,
          0.004842281341552734
        ],
        [
          0.0015933468363165388,
          0.11260365683465398,
          0.9936387058248702,
          -0.04190227389335632
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1247.6116943359375,
        "fy": 1247.6116943359375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 17,
      "c2w": [
        [
          0.999982392871367,
          -0.0033647709232473115,
          -0.004887971346974428,
          -0.007047425955533981
        ],
        [
          0.002720276339561403,
          0.9919827480693226,
          -0.12634408426780883,
          0.004553496837615967
        ],
        [
          0.005273902150324536,
          0.12632856307846146,
          0.9919744352082059,
          -0.043555229902267456
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1247.2193603515625,
        "fy": 1247.2193603515625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 18,
      "c2w": [
        [
          0.9999636403547708,
          -0.003364446418173934,
          -0.007835717499599583,
          -0.010042592883110046
        ],
        [
          0.0022212828360264943,
          0.9899249374020895,
          -0.14157571900587915,
          0.010747477412223816
        ],
        [
          0.008233096076001159,
          0.14155316601817325,
          0.9898964174696439,
          -0.045850932598114014
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1245.009521484375,
        "fy": 1245.009521484375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 19,
      "c2w": [
        [
          0.9999307108419435,
          -0.001074816173234295,
          -0.011722554555988602,
          -0.007745616137981415
        ],
        [
          -0.0007537494996314851,
          0.9879336037987049,
          -0.15487616455411599,
          0.01454991102218628
        ],
        [
          0.011747568974735787,
          0.15487426918470193,
          0.98786434056893,
          -0.060935765504837036
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.07275390625,
        "fy": 1254.07275390625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 20,
      "c2w": [
        [
          0.9998790489371269,
          -0.0035085819748619297,
          -0.015151810093587693,
          -0.007896970957517624
        ],
        [
          0.0009035677674936464,
          0.9856808826128268,
          -0.16861904167942537,
          0.015907153487205505
        ],
        [
          0.015526463276484435,
          0.16858495633989395,
          0.9855648337040035,
          -0.06474548578262329
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1255.277587890625,
        "fy": 1255.277587890625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 21,
      "c2w": [
        [
          0.9998172398448795,
          -0.001678069981386587,
          -0.019043922655404357,
          -0.01743922010064125
        ],
        [
          -0.0018074925292206063,
          0.9833808305791782,
          -0.18154579317671588,
          0.0106392502784729
        ],
        [
          0.01903207502413411,
          0.1815470355873202,
          0.9831980746470838,
          -0.0624813437461853
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.6988525390625,
        "fy": 1254.6988525390625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 22,
      "c2w": [
        [
          0.9997123297570025,
          -0.0020136758355685483,
          -0.023899850239171502,
          -0.013509459793567657
        ],
        [
          -0.0026401861968354274,
          0.9811744352727659,
          -0.19310555917428973,
          0.010217338800430298
        ],
        [
          0.0238387740597457,
          0.19311310850586544,
          0.9808868641054026,
          -0.06414610147476196
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1257.927734375,
        "fy": 1257.927734375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 23,
      "c2w": [
        [
          0.9996066309976952,
          -0.0011845351973286669,
          -0.028021066036173513,
          -0.015567328780889511
        ],
        [
          -0.004572020057738135,
          0.9788602997971755,
          -0.20447887449214683,
          0.011893540620803833
        ],
        [
          0.027670921524751382,
          0.20452655171725223,
          0.9784698307789671,
          -0.06813293695449829
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1258.79541015625,
        "fy": 1258.79541015625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 24,
      "c2w": [
        [
          0.9994352464921837,
          -0.0010575826681913205,
          -0.03358674720789629,
          -0.015450429171323776
        ],
        [
          -0.006213834892360196,
          0.9764508158057893,
          -0.21565062617145045,
          0.015525564551353455
        ],
        [
          0.033023875076036616,
          0.21573753922557853,
          0.9758927901382686,
          -0.07252630591392517
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1262.0428466796875,
        "fy": 1262.0428466796875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 25,
      "c2w": [
        [
          0.9992794307567774,
          -0.0013121187485121129,
          -0.03793280388792744,
          -0.01307116448879242
        ],
        [
          -0.007305361120395483,
          0.9740670222581487,
          -0.2261416986051972,
          0.015303924679756165
        ],
        [
          0.037245818091576025,
          0.2262558606832827,
          0.9733555540197816,
          -0.07420554757118225
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1262.9659423828125,
        "fy": 1262.9659423828125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 26,
      "c2w": [
        [
          0.9990436990872887,
          -0.0003342914887435108,
          -0.043721568626791434,
          -0.008612394332885742
        ],
        [
          -0.01003177463902557,
          0.9715417812539138,
          -0.23665572204272575,
          0.017069846391677856
        ],
        [
          0.04255644265652951,
          0.23686801288306683,
          0.9706093414248851,
          -0.07931327819824219
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1265.131103515625,
        "fy": 1265.131103515625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 27,
      "c2w": [
        [
          0.9988712699618201,
          -0.0020474033316955813,
          -0.04745518079681484,
          -0.008280616253614426
        ],
        [
          -0.009753856537588309,
          0.9689383155837781,
          -0.24711010274028591,
          0.00969475507736206
        ],
        [
          0.046487076994635515,
          0.24729405317004235,
          0.9678246757234633,
          -0.08651912212371826
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1263.0654296875,
        "fy": 1263.0654296875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 28,
      "c2w": [
        [
          0.9986443740288472,
          -0.0029271785238270515,
          -0.05196966275069863,
          0.0004050806164741516
        ],
        [
          -0.010538520510377368,
          0.9663704692776445,
          -0.2569378440276116,
          0.010369554162025452
        ],
        [
          0.05097405031958955,
          0.257137215770091,
          0.9650295842408259,
          -0.09487992525100708
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1267.783935546875,
        "fy": 1267.783935546875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 29,
      "c2w": [
        [
          0.9984608128216558,
          -0.0031863607113485426,
          -0.05537013965067898,
          -0.0004551820456981659
        ],
        [
          -0.01174369910130864,
          0.9635645931032901,
          -0.2672178146177934,
          0.005769610404968262
        ],
        [
          0.05420415842844916,
          0.26745676664296375,
          0.9620440671746566,
          -0.09845137596130371
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1262.525146484375,
        "fy": 1262.525146484375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 30,
      "c2w": [
        [
          0.9982943581073944,
          -0.003094548186113771,
          -0.05829921390953273,
          -0.005628917366266251
        ],
        [
          -0.013159962863528865,
          0.96096556051612,
          -0.2763548568043793,
          0.001877903938293457
        ],
        [
          0.056878730193071034,
          0.2766507098734113,
          0.959285773259544,
          -0.10675352811813354
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1263.6663818359375,
        "fy": 1263.6663818359375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 31,
      "c2w": [
        [
          0.9980673139548216,
          -0.0022555042306631194,
          -0.06210112330443944,
          -0.0029279328882694244
        ],
        [
          -0.01553010278623282,
          0.9585770350891554,
          -0.2844097109930206,
          -0.001957923173904419
        ],
        [
          0.060170197959262726,
          0.2848244731415294,
          0.9566893784176725,
          -0.11798018217086792
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1260.201416015625,
        "fy": 1260.201416015625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 32,
      "c2w": [
        [
          0.997824327282574,
          -0.0017388017180350365,
          -0.06590590604539398,
          -0.0017783716320991516
        ],
        [
          -0.01767434039930337,
          0.9560059646255198,
          -0.2928142983050516,
          0.003855004906654358
        ],
        [
          0.0635155852884038,
          0.29334207364272785,
          0.9538952763571358,
          -0.1273210644721985
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1258.8349609375,
        "fy": 1258.8349609375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 33,
      "c2w": [
        [
          0.9976199132632673,
          -0.0021132142296646154,
          -0.06892055561449738,
          -0.003707271069288254
        ],
        [
          -0.018523760086824197,
          0.9545736347742964,
          -0.2973987997723499,
          0.0014250129461288452
        ],
        [
          0.06641821265915929,
          0.2979676326707449,
          0.9522625220535333,
          -0.12704461812973022
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1253.278564453125,
        "fy": 1253.278564453125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 34,
      "c2w": [
        [
          0.9973501644389574,
          -0.0006535252003362351,
          -0.07274766249438773,
          -0.0002575702965259552
        ],
        [
          -0.021215870522317215,
          0.9538814783372767,
          -0.29943281737824284,
          0.00045843422412872314
        ],
        [
          0.06958833473769266,
          0.3001827746388928,
          0.9513399841689252,
          -0.13232910633087158
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1256.893310546875,
        "fy": 1256.893310546875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 35,
      "c2w": [
        [
          0.9970648075345125,
          -0.0013787922800054995,
          -0.07654977797495205,
          0.0008607544004917145
        ],
        [
          -0.02185844820832724,
          0.9530971101743091,
          -0.3018743228883583,
          0.0010331422090530396
        ],
        [
          0.07337559415834208,
          0.3026615230075166,
          0.950269448458005,
          -0.13674920797348022
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.5225830078125,
        "fy": 1254.5225830078125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 36,
      "c2w": [
        [
          0.9968311162727277,
          -0.0021067148586632295,
          -0.07951910074298259,
          0.007125601172447205
        ],
        [
          -0.02229253011684201,
          0.9521938207194609,
          -0.30468011238783926,
          0.005964383482933044
        ],
        [
          0.07635947047654286,
          0.30548729848584666,
          0.9491294652113387,
          -0.13526630401611328
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1258.2269287109375,
        "fy": 1258.2269287109375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 37,
      "c2w": [
        [
          0.9964812979309831,
          -0.0009632179141891371,
          -0.0838098746272372,
          0.011497490108013153
        ],
        [
          -0.024926654884280416,
          0.9512843745250793,
          -0.3073055493490281,
          0.004067569971084595
        ],
        [
          0.08002302637405943,
          0.30831333249744075,
          0.9479130784276892,
          -0.14633238315582275
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1256.49267578125,
        "fy": 1256.49267578125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 38,
      "c2w": [
        [
          0.9963141489294239,
          -0.0002163632909632656,
          -0.0857791922902337,
          0.007614467293024063
        ],
        [
          -0.026473944006955245,
          0.9504042080430585,
          -0.3098886439073945,
          0.00670391321182251
        ],
        [
          0.08159195384200064,
          0.3110173540511425,
          0.9468954316857123,
          -0.13787734508514404
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1252.2120361328125,
        "fy": 1252.2120361328125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 39,
      "c2w": [
        [
          0.9961241399424535,
          -0.0010371582118095,
          -0.08795238556600406,
          0.012928426265716553
        ],
        [
          -0.026509644451522565,
          0.9498952398454326,
          -0.3114422451595838,
          0.0035440921783447266
        ],
        [
          0.08386856726426903,
          0.312566725071355,
          0.946186084131027,
          -0.1353737711906433
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1255.67578125,
        "fy": 1255.67578125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 40,
      "c2w": [
        [
          0.9959464541678958,
          -0.0008666973836279591,
          -0.08994392289665816,
          0.01640777662396431
        ],
        [
          -0.027496733620096782,
          0.9491515149460524,
          -0.3136165354630392,
          0.004095733165740967
        ],
        [
          0.08564222130830192,
          0.3148184405514702,
          0.945280254431521,
          -0.13576483726501465
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.409423828125,
        "fy": 1254.409423828125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 41,
      "c2w": [
        [
          0.9958363603530783,
          -0.0008722122462254027,
          -0.0911547181693354,
          0.011929504573345184
        ],
        [
          -0.0279733356664832,
          0.948786113069648,
          -0.3146782549492099,
          0.0036541521549224854
        ],
        [
          0.08676079696743047,
          0.31591794961981373,
          0.9448113109068864,
          -0.14042776823043823
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.055419921875,
        "fy": 1254.055419921875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 42,
      "c2w": [
        [
          0.9956981210624716,
          -0.00012352832246862992,
          -0.0926565510550489,
          0.013156257569789886
        ],
        [
          -0.029334755389976864,
          0.9481392363094843,
          -0.316498753072864,
          0.010290652513504028
        ],
        [
          0.08789040811643536,
          0.3178552710137447,
          0.944056832425837,
          -0.14464938640594482
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1258.3519287109375,
        "fy": 1258.3519287109375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 43,
      "c2w": [
        [
          0.9955604646682559,
          -0.0006919814457502471,
          -0.09412163593565946,
          0.01761605590581894
        ],
        [
          -0.029394876593130947,
          0.9476724603426971,
          -0.3178881078903289,
          0.009427472949028015
        ],
        [
          0.08941645497111106,
          0.3192435262768808,
          0.9434448942628825,
          -0.15052181482315063
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1261.6812744140625,
        "fy": 1261.6812744140625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 44,
      "c2w": [
        [
          0.9953146179307845,
          -0.0017209032405804425,
          -0.09667393560486634,
          0.019080977886915207
        ],
        [
          -0.02945944986359364,
          0.946905939719586,
          -0.32015821422774954,
          0.010561063885688782
        ],
        [
          0.09209208514867949,
          0.3215061116305629,
          0.9424186267456542,
          -0.15431606769561768
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1259.87939453125,
        "fy": 1259.87939453125,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 45,
      "c2w": [
        [
          0.995103941602389,
          -0.000802511069607831,
          -0.0988306702566152,
          0.019735615700483322
        ],
        [
          -0.031365821625635455,
          0.9457099878222236,
          -0.32349467409377713,
          0.010733932256698608
        ],
        [
          0.09372476002176504,
          0.3250107304525087,
          0.9410545650755803,
          -0.14881950616836548
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1257.57666015625,
        "fy": 1257.57666015625,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 46,
      "c2w": [
        [
          0.9949163202687552,
          -0.0009541219894664456,
          -0.10070057256097822,
          0.01406262069940567
        ],
        [
          -0.03201732039608606,
          0.945074231590773,
          -0.32528385754255335,
          0.006143197417259216
        ],
        [
          0.09547987671511679,
          0.32685438108481674,
          0.9402392284456799,
          -0.14303970336914062
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.614990234375,
        "fy": 1254.614990234375,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 47,
      "c2w": [
        [
          0.9947255316493964,
          -0.0010555025707970104,
          -0.10256706391014915,
          0.015125758945941925
        ],
        [
          -0.032752510309823665,
          0.9443313805277955,
          -0.32736144675094636,
          0.008685573935508728
        ],
        [
          0.09720282790757936,
          0.3289941179790166,
          0.9393159641898875,
          -0.14739865064620972
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1254.614013671875,
        "fy": 1254.614013671875,
        "cx": 416.0,
        "cy": 240.0
      }
    },
    {
      "frame_index": 48,
      "c2w": [
        [
          0.9944751369652347,
          -0.0009915625355715273,
          -0.10496770342212534,
          0.017327483743429184
        ],
        [
          -0.03378854723120923,
          0.9437144563765922,
          -0.329030939125544,
          0.009956449270248413
        ],
        [
          0.0993857939243912,
          0.3307597944575052,
          0.9384670598036178,
          -0.1479519009590149
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "intrinsics": {
        "fx": 1256.255126953125,
        "fy": 1256.255126953125,
        "cx": 416.0,
        "cy": 240.0
      }
    }
  ]
}