{ "0": { "cam_K": [ 1778.81005859375, 0.0, 967.9315795898438, 0.0, 1778.870361328125, 572.4088134765625, 0.0, 0.0, 1.0 ], "depth_scale": 1.0, "cam_R_w2c": [ 0.6655318025629696, -0.7448793604905732, 0.04713977187512728, -0.6376247379140673, -0.6002583145257268, -0.48282983487223663, 0.3879460186382918, 0.2912811256464936, -0.8744445050801166 ], "cam_t_w2c": [ 36.73192619289607, 802.4887998347004, 437.4602882978816 ] }, "1": { "cam_K": [ 1778.81005859375, 0.0, 967.9315795898438, 0.0, 1778.870361328125, 572.4088134765625, 0.0, 0.0, 1.0 ], "depth_scale": 1.0, "cam_R_w2c": [ 0.8137880987196489, -0.5807088672978088, -0.022937781583120414, -0.4378153474247332, -0.586629897129242, -0.6813098306596603, 0.3821866715907543, 0.5644843445444974, -0.7316356831255225 ], "cam_t_w2c": [ -396.54731268723447, 499.29276095228266, 393.10433227047406 ] }, "2": { "cam_K": [ 1778.81005859375, 0.0, 967.9315795898438, 0.0, 1778.870361328125, 572.4088134765625, 0.0, 0.0, 1.0 ], "depth_scale": 1.0, "cam_R_w2c": [ 0.8497492022180132, -0.39571191183835136, -0.34833658458319666, -0.5195212623723308, -0.5162854599282475, -0.6808428466318333, 0.08957651072077755, 0.7595139279143701, -0.6442939096648171 ], "cam_t_w2c": [ -535.4368380374356, 533.7266103892066, 253.5881509881594 ] }, "3": { "cam_K": [ 1778.81005859375, 0.0, 967.9315795898438, 0.0, 1778.870361328125, 572.4088134765625, 0.0, 0.0, 1.0 ], "depth_scale": 1.0, "cam_R_w2c": [ 0.23911713467789528, -0.9700800934080902, 0.042042933731902904, -0.835900230290709, -0.22768791650914808, -0.49942869128201234, 0.4940584994748838, 0.08427825964669124, -0.8653342556767021 ], "cam_t_w2c": [ 566.5181451318681, 760.8792015250035, 337.7645998037462 ] }, "4": { "cam_K": [ 1778.81005859375, 0.0, 967.9315795898438, 0.0, 1778.870361328125, 572.4088134765625, 0.0, 0.0, 1.0 ], "depth_scale": 1.0, "cam_R_w2c": [ 0.09368537436085615, -0.9825504945933007, 0.16067848706446802, -0.6604539449265386, -0.18209878685180636, -0.7284508346196557, 0.7449990854100684, -0.03787555150173524, -0.6659893432605365 ], "cam_t_w2c": [ 723.0086225578613, 463.28444494408325, 351.35912682437913 ] }, "5": { "cam_K": [ 1778.81005859375, 0.0, 967.9315795898438, 0.0, 1778.870361328125, 572.4088134765625, 0.0, 0.0, 1.0 ], "depth_scale": 1.0, "cam_R_w2c": [ 0.8594997061209454, -0.15259823742438297, 0.48782582251555723, 0.015855344844726973, -0.9459759051114155, -0.3238490311680625, 0.5108902653387154, 0.2860827937566494, -0.8106465147636959 ], "cam_t_w2c": [ -415.2946242814891, 615.1032493817723, 253.77924686583538 ] } }